CN104828028A - Electric vehicle battery pack replacement system composed of computer, Internet and multiple robots - Google Patents
Electric vehicle battery pack replacement system composed of computer, Internet and multiple robots Download PDFInfo
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- CN104828028A CN104828028A CN201410053423.XA CN201410053423A CN104828028A CN 104828028 A CN104828028 A CN 104828028A CN 201410053423 A CN201410053423 A CN 201410053423A CN 104828028 A CN104828028 A CN 104828028A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- 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
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- 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
Electric vehicle battery replacement system hardware, composed of a computer, a first palletizing robot, a second palletizing robot, a ferry robot, a four-post lifting machine, a ferry robot steel rail, a first conveying line and a second conveying line, is connected with an electric vehicle vehicle-mounted device through multiple types of computer monitoring software, an cable Internet/wireless Internet and a 3G/4G wireless network, to form a man-machine dialogue system through which an electric vehicle is controlled, commanded and guided to replace a battery by the computer of a monitoring center. By applying the system, an accident caused by faulty operation of the battery replacement system by an unskilled driver in an electric vehicle of which the battery is to be replaced is rapidly and safely prevented. The system is ingenious in combination, simple in structure, low in cost and small in floor area, so that the system can be firstly conveniently built in large scales at a plurality of underground parking lots of megalopolises with severe haze. After station networks form a scale, the electric vehicle can be produced in mass and used in mass, and the use of fuel vehicles is stopped gradually, so that harm to people caused by motor vehicle exhaust emissions can be lowered.
Description
Technical field
Patent of the present invention relates to automobile manufacturing field, be related specifically to one to be made up of computing machine, multiple supervising software, wired internet/wireless Internet, robot palletizer, ferry-boat robot, travel line, lifting machine, after being connected with vehicle-bone 3 G/4G wireless network by computer internet, divide 15 steps by supervisory control computer remote control program, complete the system changed batteries of electric automobile group and change.
Background technology
Pure electric automobile a kind ofly adopts single storage battery as the automobile in stored energy power source, provides electric energy by battery to motor, and driving motor operates, thus propelling vehicle advances.From the appearance, electronlmobil and the daily automobile seen do not have any difference, and difference is mainly propulsion source and drive system thereof.Namely the electrical motor of pure electric automobile is equivalent to the driving engine of orthodox car, and storage battery is equivalent to original fuel tank.
The pernicious gas of itself not exhaust emission air, even if be scaled the discharge in power plant by institute's consumption of current, outside sulphur removal and particulate, other pollutants also significantly reduces, and because power plant is built in away from densely populated city mostly, injures less to the mankind.Because electric power can obtain from various energy resources, as coal, nuclear energy, waterpower etc., the worry of people to oil resources day by day exhaustion can also be removed.The power charge of having more than needed when electronlmobil can also make full use of low power consumption in night, makes generating set day and night can make full use of, improves its economic benefit.
The delayed bottleneck becoming the industry development of latent electricity electrical automobile of battery technology and charging technique, national governments and enterprise work hard and improve the supporting infrastructure service industry of electronlmobil.At present, electric automobile energy supply mainly contains charging and changes electricity two kinds of patterns.The charging duration that charging needs is longer, and large current charge is comparatively large on battery impact, and easily produces harmonic pollution to distributing net, and this pattern has larger drawback.In contrast to this, change electricity simple to operate, electric energy can be realized by specialized industrial robot and supplement fast, efficiently.Although electronlmobil has extraordinary application prospect as green transportation means, want real electronlmobil realization of socialization to be not easy.In addition, how to ensure charging service Cybersecurity Operation, provide intelligence, efficiently fill change electricity service, realize quick, the orderly charging of electronlmobil and controlled, reasonably dispatch, be also need key problems-solving.An electronlmobil operation also can be divided into three pieces and come, and namely car load enterprise, battery manufacture enterprise and electronlmobil replacing battery station operator share out the work and help one another.Lot of domestic and international electronlmobil manufacturing enterprise eagerly look forward to the construction that electronlmobil changes battery station, because it is that the indispensability that electronlmobil is set out on a journey is supporting that electronlmobil changes battery station.From technical standpoint, now a lot of car enterprise can produce pure electric automobile, but how to allow battery durable is farther, the life-span is longer, volume is less, and can reduce again the purchase cost of customer, this is only the ultimate challenge that enterprise faces simultaneously.Electronlmobil is as a kind of new traffic tool, and can the use habit whether auxiliary facility gets caught up in customer adapt to this, and all the needs time solves.If you have bought an electronlmobil, reach and do not had electricity on the way, can not find battery-charging station; Find in other words before battery-charging station and arrange a lot of car, also will wait within 5 hours, just it's your turn; In evening, Ni Cong draws for 6th floors a wire to charge to oneself, and the electric current of more than 20 ampere allows full building jump lock.More than show, under prior art condition, electronlmobil has obvious limitation and shortcoming convenience.Existing electronlmobil, automatically can easily not change the defects such as battery and all be badly in need of improving.Therefore, need provide that a whole set of is economical, stable battery replacement of electric automobile system and replacing options, realize electronlmobil fast, safety, accurately energy recharge, meet the daily traveling demand of electronlmobil, promote electronlmobil commercialization and industrialized development.
Electronlmobil mainly starts extensive universal in the big city that haze is extremely serious, the petrol service station of 1100 gasoline is had nearly for Beijing, Beijing, if run 500 li according to automobile to add once oil, when using air-condition or warm braw, electronlmobil runs the ratio that 200 kilometers will be changed battery, 2500 battery change station will be built in Beijing, if surface construction change battery station to want by each station investment 5,000 ten thousand calculating the investment of 1,250 hundred million just can meet completely following electronlmobil popularize after to the demand changing battery station, invest in a short time and can not to realize for electronlmobil maker so greatly, so change battery station must build underground parking in, necessary miniaturization, densification, high mechanization, high density is to reduce floor area, each station will set up electronlmobil to change the position in storehouse of battery more.The batteries of electric automobile group that the present invention adopts the multiple robot of computer internet be made up of computing machine, multiple supervising software, wired internet/wireless Internet, robot palletizer, ferry-boat robot, travel line, lifting machine to form changes system investments 500,000 just can change battery station Construction of Underground Parking Lots one, invest 2500 electric automobile battery replacing stations need 12.5 hundred million just passable, this just just can bring comprehensive dawn popularized fast for electronlmobil.
Summary of the invention
Drive battery group replacing system bulk large to overcome existing electronlmobil, cause floor area large, degree of automation is low, investment is large, without shortcomings such as practicality, the invention provides a kind of batteries of electric automobile group and change system, this system adopts by computing machine, multiple supervising software, wired internet/wireless Internet, robot palletizer, ferry-boat robot, travel line, lifting machine forms, after being connected with vehicle-bone 3 G/4G wireless network by computer internet, completed the system changed batteries of electric automobile group and change by remote control program 15 steps by staff before supervisory control computer.
The technical scheme that the present invention solves the employing of its technical matters is: electronlmobil (200) car-mounted device comprises main control module, CAN communication module, 3G/4G wireless communication module, gps data receiving processing module and user interactive module; Described CAN communication module is bi-directionally connected by spi bus and described main control module, and described 3G/4G wireless communication module, gps data receiving processing module and user interactive module are all bi-directionally connected by serial ports and described main control module.
Main control module comprises master controller and Android/Windows embedded OS; Described liquid crystal display connects master board by liquid crystal socket, shows for man-machine interaction; Described embedded OS provides the authority of access framework application programming interfaces, and provides driver module and ICP/IP protocol stack; Described master controller comprises and connects 32/64 bit microprocessor of ARMCortex-A8 series of master board, ROM clock, ram clock and reset circuit by pin.
CAN communication module comprises CAN physical interface, data processing and memory cell, CAN transceiver, CAN controller and external crystal; Described CAN physical interface is articulated on CAN Bus in Electric, and described CAN transceiver is connected with CAN controller by CAN_H with CAN_L, and described CAN controller is connected with described master board by SPI interface; Described data processing and memory cell process observed reading, and described device is gathered comprise the real time data of observed reading, quantity of state and alert event and the centralized stores of historical data.The running state of CAN physical interface Real-time Collection electronlmobil and battery information, described running state comprises running velocity and distance travelled, and described battery information comprises car load charge/discharge voltage, car load charge/discharge current, battery SOC, battery module temperature, cell maximum voltage, cell minimum voltage.Module when 3G/4G wireless communication module comprises 3G/4G communication chip, real time data interactive module and real time data pair; Described 3G/4G communication chip is connected with described master board by pin, described real time data interactive module forwards the running state of electronlmobil and battery information to monitoring and control centre, and receives monitoring and control centre and issue the information on services comprising and fill/electrical changing station site information, electricity price information and news; When described pair unit receive monitoring and control centre issue synchronized clocke pair time instruction, to ensure the conformability of setup time in region.Gps data receiving processing module provides navigation Service and monitors Operation Network; Described navigation Service comprises destination retrieval, route checks, analogue navigation and truly navigating; Show electrical changing station in operational area, dispersion charging pile distributing position and electronlmobil running state monitoring Operation Network in real time by map, and display comprises the status information of electronlmobil geographic position, electronlmobil speed and dump energy.
Schematic diagram disposed by the monitored control system hardware that electronlmobil changes system, the monitor workstation of distributing monitoring system, server, chopping machine, switching arrangement communication processor is connected by the network switch of native industry ethernet with charging monitoring system with power information acquisition terminal, the network switch of distributing monitoring system is connected with the communication gate of superior system by native industry ethernet, switching arrangement communication processor is connected with the communication gate of switching arrangement and superior system by other communication links such as 3G/4G wireless networks, power information acquisition terminal is connected with the communication gate of metering system and superior system by other communication links such as 3G/4G wireless networks, the intelligent communications terminal of battery replacement of electric automobile monitored control system is connected with the network switch of described charging monitoring system by native industry ethernet, battery replacement of electric automobile system comprises by the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), ferry-boat robot ambulation rail (198), the first travel line (607) and the second travel line (610), by each step of monitoring and control centre computer controlled, commander, guiding electronlmobil replacing battery.The video server of video monitoring system is connected with the communication gate of superior system by native industry ethernet.Wherein data server can store monitored control system historical data, and front server can gather conciliates phase separation pass real time data, and is transmitted to other computing machines.Safety monitoring workstation is used for the monitoring and controlling of video monitoring system.Communication gate can realize the conversion between CAN and native industry ethernet.The network switch has 24 mouthfuls, can divide VLAN (Virtual Local Area Network, VLAN), realize the communication between subsystems.After the vehicle-mounted device of electronlmobil in Fig. 1 is connected by Industrial Ethernet or other networks with electric automobile charging station monitored control system hardware, the electronlmobil charged is contacted by 3G/4G network and monitor workstation (03) computing machine, find and nearest apart from it change battery station, after battery station is changed in arrival, automobile driver is opened electronlmobil and is changed the battery station chaufeur changed in four post lifting machine (21) electric car cabs of battery system and start on the LCD screen of the vehicle-mounted device of electronlmobil and change battery mode by computer controlled remote monitor and control, at this time monitor workstation (03) transfers monitor workstation (01) or monitor workstation (02) by network to the cell process of changing of automobile, complete this car by monitor workstation (01) or monitor workstation (02) and change the whole process of battery until vehicle leaves four post lifting machines (22).The computer network of monitor workstation (01) monitor workstation (02) and monitor workstation (03) is linked together by telecommunications network or Industrial Ethernet.
Electronlmobil change station station monitored control system comprises superior system, distributing monitoring system, battery altering monitored control system and video monitoring system, by native industry ethernet and GPRS/CDMA (General Packet Radio Service, GPRS (general packet radio service) between distributing monitoring system and superior system; Code DivisionMultiple Access, CDMA wireless network) other communication link such as wireless network, all by native industry ethernet communication between distributing monitoring system and battery altering monitored control system, between video monitoring system and superior system.Distributing monitoring system, battery altering monitored control system are structured in unified software platform, subsystem computer equipment realizes sharing, consider that network safety prevention and public security department access requirement to video monitoring system, video monitoring system is independently arranged, and realizes information interaction by the communication gate of superior system and charging monitoring system and distributing monitoring system.
Electronlmobil change station monitored control system is divided into measures acquisition module, signal acquisition module, control output module, information management module, measurement acquisition module, signal acquisition module, control output module are connected with information management module by native industry ethernet, and information management module connects the computer monitoring platform of superior system by other communication links such as 3G/4G/CDMA wireless networks; Wherein measure acquisition module and comprise monitor workstation (01), front server, signal acquisition module comprises monitor workstation (02), data server, power information acquisition terminal, metering system, control output module and comprise chopping machine, switching arrangement, signal management module comprises the network switch, switching arrangement communication processor; Monitor workstation (01), monitor workstation (02), front server, data server, chopping machine, the network switch, switching arrangement communication processor and power information acquisition terminal pass through native industry ethernet communication, all by other communication link such as 3G/4G/CDMA wireless networks between the communication gate of switching arrangement communication processor and switching arrangement and superior system, between power information acquisition terminal and the communication gate of metering system and superior system.Measure acquisition module, signal acquisition module, control output module and belong to parallel relationship, wherein measure acquisition module and gather secondary current transducer signal and secondary voltage transducer signal, signal acquisition module gathers remote signalling amount, on-off signal, guard signal, warning signal, accident signal, a series of signal amounts such as status signal, two class signals transfer to information management module by CAN, after information management module and superior system realize information interaction, control command is assigned to information management module by superior system, transferred to by CAN again and control output module action.
Battery altering station monitored control system comprises intelligent communications terminal and battery replacement of electric automobile system; Connected by CAN between intelligent communications terminal and battery replacement of electric automobile system, battery replacement of electric automobile system comprises by the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), the first travel line (607) and the second travel line (610); First robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), to be connected by native industry ethernet between the first travel line (607) and the second travel line (610), intelligent communications terminal is integrated with dispatcher software, is connected between dispatcher software and intelligent communications terminal by digital communi-cations link.Dispatcher software assigns control command to the first robot palletizer (608), the second robot palletizer (609), the first travel line (607) and the second travel line (610) by intelligent communications terminal, first robot palletizer (608), second robot palletizer (609), first travel line (607), second travel line (610) and four post lifting machines (22) are built-in with PLC (Programmable logicController, programmable controller) program, the whole Renewal process of electronlmobil first battery box (817) or the second battery case (823) can be controlled, after internal analysis, take off electronlmobil first battery box (817) or the second battery case (823) from station two B is positioned over ferry-boat robot (199), transported by ferry-boat robot (199) again, the simultaneously position of the first robot palletizer (608), the second robot palletizer (609), the first travel line (607), the second travel line (610) and four post lifting machines (22), breakdown signal, the signals such as module battery charger mode of operation, temperature, breakdown signal, power, voltage, electric current, battery pack temperature, SOC, terminal voltage, electric current, battery coupled condition, battery failures are uploaded to dispatcher software by intelligent communications terminal.
Electric automobile battery replacing station monitored control system video monitoring system comprises safety monitoring workstation, ball machine, video server; Ball machine is connected by CAN and video signal cable with between video server, is connected between the communication gate of video server and safety monitoring workstation and superior system by native industry ethernet.Ball machine can gather the video filling electrical changing station and perimeter security, by CAN and video signal cable, video information is uploaded to video server, video server is responsible for signal to be uploaded to safety monitoring workstation and superior system, superior system and safety monitoring workstation have warning, control, image management, pair time etc. function, wherein warning classification comprises anti-theft alarm, break in and picture unusual fluctuation warning, gate inhibition reports to the police, humiture is reported to the police, vision facilities fault alarm etc., before warning (at least 15 second), (at least 5 minutes) video recording storage after reporting to the police, long automatic cycle video recording storage can be set to the control point of important area.The relevant warning information of the equipment such as switching arrangement monitoring and electrically-charging equipment can be obtained by communication processor simultaneously, in order to complete video linkage monitoring, the smart machine filling electrical changing station surveillance zone with electronlmobil coordinates, realize antitheft, fire-proof function, equipment, place, lounge, watch house, business window etc. are monitored.
By the first column (13), second column (18), 3rd column (19), 4th column (20), cantilever beam (16), crossbeam (17), hold car race plate (15) composition one and have the four post lifting machines (22) holding car race plate (15), crossbeam between the first column (13) and the second column (18) is arranged opening (23), so that ferry-boat robot (199) enters four post lifting machines (22) inside, between the 3rd column (19) and the 4th column (20), crossbeam (17) is set, first column (13) second column (18), 3rd column (19) and the 4th column (20) are arranged on movable stand (7) and go up and move up and down with movable stand (7), lifting is held car and is run plate (15) to suitable position, get on the bus swash plate (21) with hold car and run plate (15) and link together and facilitate the car that holds of the upper and lower four post lifting machines (22) of electronlmobil (200) to run plate (15).
The bottom symmetrical of lifting machine fixed mount (1) is provided with four or more scroll wheel, and every platform lifting machine column is connected and composed by fixed mount (1), power unit (2), hydraulic actuating cylinder (3), hoisting chain (4), check-out console (5), detector switch (6), movable stand (7), chain pulley seat (11) and sprocket wheel (12).The pile internal fixtion of fixed mount (1) connects strip check-out console (5), this check-out console (5) is provided with some breach of decile, the bottom of movable stand (7) upper end is provided with detector switch (6), detector switch (6) matches with check-out console (5), when check-out console (5) is in detector switch (6) detection range, detector switch (6) just can output signal.(5) have breach with check-out console, when just in time detector switch (6) detects breach, and detector switch (6) not output signal, and so forth.The signal that the detector switch (6) of every platform lifting machine column produces all is calculated by data line connection control device (8), and the data simultaneously calculated by controller (8) connect display panel (9) display by data line.The upper end of movable stand (7) is provided with chain pulley seat (11) and sprocket wheel (12), sprocket wheel (12) supporting hoisting chain (4), hoisting chain (4) one end connects movable stand (7), other end Connection Bracket (1).The base of one end Connection Bracket (1) of hydraulic actuating cylinder (3), other end connection chain wheel seat (11).When hydraulic actuating cylinder (3) is elevated, the sprocket wheel (12) on chain pulley seat (11) is driven to rotate, related hoisting chain (4) runs, while movable stand (7) is elevated thereupon, check-out console (5) and detector switch (6) work and produce electric signal.
The fractional hardware of battery replacement of electric automobile system is made up of robot ambulation rail (198) of ferrying, ferry-boat robot (199), four post lifting machines (22), background monitoring system (407), the first travel line (607), the second travel line (610), the first robot palletizer (608) and the second robot palletizer (609); The first battery box (817) and the second battery case (823) is provided with above electronlmobil (200) chassis.
Ferry-boat robot (199) comprises the degree of freedom in X-axis, Z axis, R axle three directions, is followed successively by straight walking mechanism (201), hydraulic lifting mechanism 202) and angle deviation correction mechanism (203).Straight walking mechanism (201) is positioned at the bottom of Quick change robot (199), comprises several parts such as pulley (301), universal coupling (204), belt (302), the first servomotor (303), the first reductor (304) and base (305); Two, front end pulley is robot engine installation, is connected with one group of universal coupling, and two, rear end pulley is hunting gear; First servomotor (303) is connected with supporting the first reductor (304) expansion set, the power transmission of the first reductor (304) and pulley (301) is realized, drive pulley (301) straight line moving on slide rail by belt.Straight walking mechanism (301) lower end is furnished with three photoelectric switchs, coordinate with initial point catch and former and later two limit catch successively, be supplied to PLC control system (401) location switch signal, realize the search of robot initial point and reset, and stopping its operation of crossing the border; Front limit catch, initial point catch and rear limit catch are arranged in order along the line slide rail laid, and initial point catch is positioned in the middle of the limit catch of front and back.Hydraulic lifting lifting mechanism (202) is positioned at the top of straight walking mechanism (201) base, comprises two hydraulically extensible cylinders; One-stage hydraulic cylinder (306) is positioned at the bottom of two-stage hydraulic cylinder (307), and after one-stage hydraulic cylinder (306) is stretched out completely, two-stage hydraulic cylinder (307) carries out fore and aft motion; I and II hydraulic actuating cylinder side welding beam be furnished with anti-rotation beam respectively, anti-rotation beam coordinates with two anti-rotating holes be positioned on one-stage hydraulic cylinder welding beam and base welding beam, prevents battery with the rotation in hydraulic gear (202) lifting process; I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar (205), coder (206), catch and the first proximity switch; Catch matches with proximity switch, first proximity switch is arranged at the bottom of one-stage hydraulic cylinder welding beam, when one-stage hydraulic cylinder (306) is stretched out completely, catch triggers the on-off signal of proximity switch, and two-stage hydraulic cylinder (307) starts fore and aft motion; The tooth bar (205) be positioned on two-stage hydraulic cylinder (307) side is engaged with coder (206) by gear, obtains two-stage hydraulic cylinder (307) rise height by calculation code device (206) revolution; Coder (206) is connected with PLC control system (401), PLC control system 401) start high-speed counting.Angle deviation correction mechanism (203) is positioned at the upper end of hydraulic lifting mechanism (202), comprises several part such as mounting flange (308), large miniature gears (309), the second servomotor (310) and the second reductor (311).Two-stage hydraulic cylinder (307) is provided with mounting flange (308), second servomotor (310), the second reductor (311), large miniature gears (309) are arranged on mounting flange (308) successively, miniature gears is installed in second servomotor (310) upper end, (307) install big gear wheel to two-stage hydraulic cylinder, size gear mechanism engages, and drives to coordinate to rotate with the second servomotor (310).Big gear wheel lower end is furnished with catch, upper layout three the second proximity switches of mounting flange (308); Big gear wheel triggers successively and rotates Derivative limit on the left or on the right, former reset on-off signal in rotary course, guarantees that big gear wheel rotates within the limits prescribed dynamic.Angle deviation correction mechanism (203) upper end is provided with battery tray (312), and big gear wheel rotation center is concentric with battery box pallet (312) center of gravity.Battery box pallet (312) is provided with four limiting stoppers (313), is coupled with four projections bottom electronlmobil to be changed (200) battery pack box, can realize battery outer box fine position and reliably fix.Battery box pallet (312) is provided with ultrasonic range finder sensor (408) and DMP sensor (409); Ultrasonic range finder sensor (408) is for measuring the distance of battery tray (312) to electric manned vehicle chassis to be changed; DMP sensor (409) coordinates with the reflector be installed on electric manned vehicle chassis to be changed, searches and calculates reflector target position, obtains the level angle deviation of ferry-boat robot (199) and electronlmobil to be changed (200).Straight walking mechanism (201), hydraulic lifting mechanism (202) link, when only having (199) straightaway of ferry-boat robot and vertical lifting to arrive desired location, angle deviation correction mechanism (203) just starts action, only have the battery tray (312) on angle deviation correction mechanism (203) to produce a desired effect, hydraulic lifting mechanism (202) is just restarted.Straight walking mechanism (201), angle deviation correction mechanism (203) adopt driven by servomotor, and drive motor is connected with corresponding coder, and each coder is connected with corresponding actuator; Actuator sends position pulse signal to servomotor, and the motor rotation information transmission of collection is returned actuator by coder, forming position pattern full closed loop control.
Ferry-boat robot (199) control system block diagram, ((401) are the core of ferry-boat robot (199) action control to described PLC control system, comprise touch-screen (402), wireless communication module (403), Omron PLC controller (404), A/D module (405), D/A module (406) etc.; Wireless communication module (403) is communicated with touch-screen (402) by serial ports RS (485), Omron PLC controller (404) is communicated with touch-screen (402) by serial ports RS (232), and touch-screen (402) is communicated with background monitoring system (407) by Industrial Ethernet; Ultrasonic range finder sensor (408), DMP sensor (409), hydraulic proportional flow valve (410), each coder (411), proximity switch (412), photoelectric switch (413) etc. and PLC control system (401) real-time Data Transmission communication.Ultrasonic range finder sensor (408) is connected with the A/D module (405) in PLC control system (401) with DMP sensor (409), the analog signal of sensor collection is converted into digital signal, and sends PLC control system (401) to.Hydraulic proportional flow valve (410) is connected with the D/A module (406) in PLC control system (401), the digital controlled signal of PLC control system (401) is converted into analogue flow rate control information, realizes the speeds control to hydraulic lifting mechanism (202).Coder is connected with the A/D module (405) of PLC control system (401), coder (411) gathers the rise height of two-stage hydraulic cylinder (307) single rack, two-stage hydraulic cylinder (307) lifting distance is obtained through calculating, by this data feedback to PLC control system (401), form the full closed loop control in lifting process.Proximity switch (412) is connected with the Omron PLC controller (404) in PLC control system (401) with photoelectric switch (413), the end position information of real-time Transmission ferry-boat robot (199) each degree of freedom, trigger interrupt mode and the high-speed counting pattern of PLC control system (401), realize ferry-boat robot (199) accurate, quick action in specialized range.
The structure of the first robot palletizer (608) and the second robot palletizer (609), comprise base (501), frame (502), arm mechanism and handgrip (503), the driver train driving arm mechanism action is provided with in frame (502), frame (502) is rotated by θ axle (504) and is arranged on base (501), is equipped with AC servomotor and reductor realizes the rotation of complete machine around θ axle (504).Driver train comprises vertical component and horizontal component, both include motor (505), driving wheel (506), flower wheel (507), Timing Belt (508), ball-screw (509) and shifting sledge (510), driving wheel (506) is connected with motor (505), Timing Belt (508) is set on driving wheel (506) and flower wheel (507), flower wheel (507) and ball-screw (509) are coaxially connected, and shifting sledge (510) is threaded with ball-screw (509).The ball-screw (509) of vertical component is vertically arranged, the ball-screw (509) of horizontal component is horizontally disposed with, and the annexes such as above-mentioned motor (505), driving wheel (506), flower wheel (507) and Timing Belt (508) are also thereupon corresponding to be arranged.Arm mechanism comprises forearm (511), postbrachium (512) and the parallel arms (513) parallel with postbrachium (512), the front end of forearm (511) is rotationally connected by P axle (522) and handgrip (503), end, rear end is rotationally connected by J axle (514) and postbrachium (512), and the other end of postbrachium (512) is rotationally connected by the shifting sledge (510) of Z axis (515) with vertical component.The upper end of parallel arms (513) is rotationally connected by rotating shaft (521) and forearm 11, and lower end is rotationally connected by the shifting sledge (510) of R axle (516) with horizontal component.Rotating shaft (521) is also rotatably connected to rotating disk (520), rotating disk (520) is triangular in shape, rotating shaft (521) is arranged on wherein one end of rotating disk (520), the other two ends of rotating disk (520) are rotatably connected to front tension bar (518) and back stay (519) respectively, front tension bar (518) is then connected with handgrip (503) and cylinder (517) respectively with the other end of back stay (519), in (3), upper 3-D scanning recognizer (523) of installing installs 3-D scanning recognizer (523) in a side of handgrip (503), 3-D scanning recognizer (523) with there is between control setup information communication be connected, identify and location for carrying out three-dimensional to crawl object, 3-D scanning recognizer arranges (523) on the side of the link span parallel with handgrip (503) move toward one another direction.Robot selects the industrial robot IRB660_180/3.15 of ABB; 3-D scanning recognizer adopts SICKLMS400-2000 type product.
Battery case automatic-exchanging system (815) in electronlmobil (200) is arranged on the chassis of electronlmobil (200), in battery case automatic-exchanging system (815), in battery case automatic-exchanging system (815), 1 vacuum sound insulation board (816) links together with 1 cold chamber (818); 1 the first battery box (817) is arranged on below cold chamber (818); The inside that vibration damper plate (821) is arranged on the first battery box (817) is fixed on 1 the first battery case top; First damping spring (819) is arranged on the first battery case top and fixes between vibration damper plate (821) and the first battery box upper enclosure (820); 1 the first battery pack (822) is arranged on the fixing and vibration damper plate (821) in the first battery case top and the first battery case bottom is fixed between vibration damper plate (832); 3rd damping spring (834) to be arranged on bottom the fixing and vibration damper plate (832) in the first battery case bottom and the first battery case between Crashworthy plate (833); 1 the second motor-driven jack (829) is arranged under cold chamber (818), 1 the second jack front carriage (830) is installed together with the second damping electro-insulating rubber (831), and 1 the second yielding rubber (831) has contacted with the first battery box (817) effect fixing the first battery box (817); 1 battery case intermediate bracket (836) is installed together with the 3rd yielding rubber (835) and the 4th yielding rubber (837).1 the second battery box (823) is arranged on below cold chamber (818), 1 the second battery pack (824) is arranged on the second battery case top and fixes bottom vibration damper plate (825) and the second battery case and fix between vibration damper plate (841), second damping spring (27) is arranged on the second battery case top and fixes vibration damper plate, 825) and the second battery case upper sealing panel (826) between; 4th damping spring (840) is arranged on 1 the first motor-driven jack (828) and is arranged under cold chamber (818), second jack front carriage (843) and the first insulation yielding rubber (842) are installed together, and play fixation after the first insulation yielding rubber (842) contacts with the second battery box (823).
The battery replacement of electric automobile system be made up of the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), rail track (198), the first travel line (607) and the second travel line (610); First travel line (607) transports electronlmobil first battery box (817) or second battery case (823) of the power shortage unloaded; Second travel line (610) transports electronlmobil first battery box (817) or the second battery case (823) that are full of battery; The operating area of the first travel line (607) and the second travel line (610) is positioned within the swinging radius of the first robot palletizer (608); Can be 2 ~ 10 arranged in parallel with four post lifting machines (22) and supporting the first travel line (607) of robot (199) first robot palletizer (608) of ferrying and the second travel line (610) or pile up arrangement up and down, also can only with (1) strip transmission line (607) or (1) bar second travel line (610) and four post lifting machines (22) and robot (199) first robot palletizer (608) of ferrying supporting; The system formed with the first travel line (607) and the supporting four post lifting machines (22) of the second travel line (610), robot (199) of ferrying, the first robot palletizer (608) is 1 ~ 80 to overlap; Be the first travel line (607) and the second travel line (610) supporting carry out piling de-stacking the second robot palletizer (609) be 1 ~ 20.
The exchonge step of battery replacement of electric automobile system:
The first step, electronlmobil (200) the chaufeur electronlmobil car-mounted device that will charge are contacted by 3G/4G network and monitor workstation (03), find the batteries of electric automobile group nearest apart from it and change workshop, after arriving batteries of electric automobile group replacing workshop, electronlmobil is opened upper four post lifting machines (22), and the chaufeur in electronlmobil (200) operator's compartment starts and can change battery mode by monitor workstation (03) control remote monitor and control on the LCD LCD screen of the vehicle-mounted device of electronlmobil.
Second step, monitor workstation (03) manipulation personnel transfer monitor workstation (01) by network to the cell process of changing of electronlmobil (200), at this time monitor workstation (01) starts to carry out remote monitor and control, above ferry-boat robot (199) the top battery pallet (312) waited under the first motor-driven jack (828) the second battery box (823) ejected under electronlmobil (200) chassis started in the battery case automatic-exchanging system (815) under the chassis of electronlmobil (200) drops on four post lifting machines (22), ferry-boat robot (199) carries the second battery box (823) along ferry-boat robot ambulation rail (198) track travel to station one A position, accurate location.
3rd step, the first robot palletizer (608) grab the second battery box (823) on ferry-boat robot (199) the top battery pallet (312) of station one A position and are put into station seven H, second battery box (823) of the power shortage unloaded is input to the second robot palletizer (609) by the first travel line (607) and captures station five E position, and accurate positioning.
4th step, the second robot palletizer (609) are after station five E position grabs second battery box (823) of power shortage, move to station six F position and carry out piling, after the complete buttress of code, second battery box (823) of whole buttress power shortage fork is walked by artificial fork truck.
5th step, whole buttress be full of electricity the second battery box (823) move to station four D by fork truck after, second battery box (823) is torn open into station three C place by the second robot palletizer (609), the second battery box (823) with the second travel line (610) to station two B position diffluence and accurate positioning.
6th step, ferry-boat robot (199) enter into station one A along ferry-boat robot ambulation rail (198) walking, first robot palletizer (608) grabs the second battery box (823) to station two B position, be put into station one A position wait for ferry-boat robot (199) top battery pallet (312) above, upload delivery of energy due to single second battery box (823) at the second travel line (610) accurately to locate, so 3-D scanning recognizer does not work.The height of electronlmobil second battery box (823) before the first robot palletizer (608) captures on travel line is judged by photoelectric switch.
7th step, ferry-boat robot (199) are along under ferry-boat robot ambulation rail (198) track travel four post lifting machine (22), after ferry-boat robot (199) completes location, X/Y direction, after the process that robot rises utilizes the output of ultrasonic range finder sensor and the output difference operation of hydraulic gear coder, input comparative example flow valve as PID controller carries out PID control, stops rising when hydraulic gear is lifted to desired location; Accurate positioning.By monitor workstation (01) or monitor workstation (02) to the instruction of installing electronlmobil second battery box (823) ferry-boat robot (199) sends, ferry-boat robot (199) is electronlmobil second battery box (823) placement location above electronlmobil second battery box (823) top to battery case automatic-exchanging system (815), supervisory control computer (01) manipulation personnel start the first motor-driven jack (28) and the second battery box (823) are fixed on battery case automatic-exchanging system (815).
8th step, monitor workstation (01) starts to carry out remote monitor and control, above ferry-boat robot (199) the top battery pallet (312) waited under the second motor-driven jack (829) the first battery box (817) ejected under electronlmobil (200) chassis started in the battery case automatic-exchanging system (815) under the chassis of electronlmobil (200) drops on four post lifting machines (22), ferry-boat robot (199) carries the first battery box (817) along ferry-boat robot ambulation rail (198) track travel to station one A position, accurate location.
9th step, the first robot palletizer (608) grab the first battery box (817) on ferry-boat robot (199) the top battery pallet (312) of station one A position and are put into station seven H, first battery box (817) of the power shortage unloaded is input to the second robot palletizer (609) by the first travel line (607) and captures station five E position, and accurate positioning.
Tenth step, the second robot palletizer (609) are after station five E position grabs first battery box (817) of power shortage, move to station six F position and carry out piling, after the complete buttress of code, first battery box (817) of whole buttress power shortage fork is walked by artificial fork truck.
11 step, whole buttress be full of electricity the first battery box (817) move to station four D by fork truck after, second battery box (823) is torn open into station three C place by the second robot palletizer (609), the first battery box (817) with the second travel line (610) to station two B position diffluence and accurate positioning.
12 step, ferry-boat robot (199) enter into station one A along ferry-boat robot ambulation rail (198) walking, first robot palletizer (608) grabs the first battery box (817) to station two B position, be put into station one A position wait for ferry-boat robot (199) top battery pallet (312) above, upload delivery of energy due to single second battery box (823) at the second travel line (610) accurately to locate, so 3-D scanning recognizer does not work.The height of electronlmobil first battery box (817) before the first robot palletizer (608) captures on travel line is judged by photoelectric switch.
13 step, ferry-boat robot (199) are along under ferry-boat robot ambulation rail (198) track travel four post lifting machine (22), after ferry-boat robot (199) completes location, X/Y direction, after the process that robot rises utilizes the output of ultrasonic range finder sensor and the output difference operation of hydraulic gear coder, input comparative example flow valve as PID controller carries out PID control, stops rising when hydraulic gear is lifted to desired location; Accurate positioning.By monitor workstation (01) or monitor workstation (02) to the instruction of installing electronlmobil first battery box (817) ferry-boat robot (199) sends, ferry-boat robot (199) is the placement location of the first battery box (817) above the first battery box (817) top to battery case automatic-exchanging system (815), and supervisory control computer (01) manipulation personnel start the second motor-driven jack (829) the first battery box (817)) be fixed on battery case automatic-exchanging system (815).
14 step, battery altering process terminate, and four post lifting machines (22) fall, and driver electronlmobil (200) sails out of batteries of electric automobile group changes workshop.
15 step, monitor workstation (01) send the complete signal of battery altering, and whole battery change system completes initial point and resets.
The invention has the beneficial effects as follows: the vehicle-mounted device of electronlmobil is with electric automobile charging station monitored control system bare machine, lifting machine, travel line, ferry-boat robot, robot palletizer is connected by Industrial Ethernet or other networks, carry out man machine communication being connected with vehicle-mounted computer by 3G/4G wireless network, use monitoring and control centre computer controlled, commander, electronlmobil is guided to change 15 steps of battery, there is accident in the chaufeur faulty operation fast and safely prevented in unskilled electronlmobil to be changed, this system in combination is ingenious, the simple floor area of structure is little cheap, be convenient to first multiple underground parking Large scale construction in the megalopolis that haze is serious, after changing battery Web Hosting formation scale, electronlmobil just can be produced in a large number, a large amount of use, gradually reduce the use of gasoline car, reduce the various pernicious gases of gasoline automobile exhaust emissions to the harm of the mankind.
Accompanying drawing explanation
Fig. 1 is the vehicle-mounted apparatus structure schematic diagram of electronlmobil of the present invention;
Fig. 2 is main control module structural representation of the present invention;
Fig. 3 is CAN communication module schematic diagram of the present invention.
Fig. 4 be the present invention's automobile mounted device of the present invention with fill with electronlmobil electrical changing station monitored control system connected by Industrial Ethernet after schematic diagram;
Fig. 5 is that electronlmobil of the present invention fills electrical changing station monitored control system schematic diagram;
Fig. 6 is distributing monitoring system structural representation of the present invention;
Fig. 7 is battery altering monitored control system structural representation of the present invention;
Fig. 8 is video monitoring system structural representation of the present invention;
Fig. 9 is the portable automatic leveling hydraulic lifting unit of the present invention four lifting machine working state schematic representations;
Figure 10 is the present invention's portable automatic leveling hydraulic jack structural representation;
Figure 11 is the structural representation of electric passenger vehicle battery change system of the present invention;
Figure 12 is the system authority left view of Quick change robot of the present invention;
Figure 13 is the system authority front view of Quick change robot of the present invention;
Figure 14 is Quick change robot control system block diagram of the present invention;
Figure 15 is robot architecture's schematic diagram of the present invention;
Figure 16 is the automatic battery replacing system of electric automobile constructional drawing on electric automobile chassis of the present invention;
Figure 17 is battery replacement of electric automobile components of system as directed signal wiring schematic diagram of the present invention.
In figure: 1. fixed mount; 2. power unit; 3. hydraulic actuating cylinder; 4. hoisting chain; 5. check-out console; 6. detector switch; 7. movable stand; 8. controller; 9. display panel; 11. chain pulley seats; 12. sprocket wheels; 13. first columns; 15. hold car runs plate; 16. cantilever beams; 17. crossbeams; 18. second columns; 19. the 3rd columns; 20. the 4th columns; 21. get on the bus swash plate; 22. 4 post lifting machines; 23. openings; 198. ferry-boat robot ambulation rail; 199. ferry-boat robots; 200. electronlmobil; 201. straight walking mechanism; 202. hydraulic lifting mechanism; 203. angle deviation correction mechanisms; 204. universal coupling; 205. tooth bar; 206. coder; 301. pulley; 302. belt; 303. first servomotors; 304. first reductors; 305. base; 306. one-stage hydraulic cylinder; 307. two-stage hydraulic cylinder; 308. mounting flange; 309. large miniature gearss; 310. second servomotors; 311. second reductors; 312. battery box pallets; 313. limiting stopper; 401. control system; 402. touch-screen; 403. wireless communication module; 404. Omron PLC controllers; 405.A/D module; 406.D/A module; 407. background monitoring system; 408. ultrasonic range finder sensor; 409.DMP sensor; 410. hydraulic proportional flow valves; 411. coder; 412. proximity switch; 413. photoelectric switch; 501. base; 502. frame; 503. handgrip; 504. θ axles; 505. motor; 506. driving wheel; 507. flower wheel; 508. Timing Belt; 509. ball-screw; 510. shifting sledge; 511. forearm; 512. postbrachium; 513. parallel arms; 514.J axle; 515.Z axle; 516.R axle; 517. cylinder; 518. front tension bar; 519. back stay; 520. rotating disk; 521. rotating shaft; 522.P axle; 523. 3-D scanning recognizers; 524. fixture; 525. grasping mechanism; 608. robot palletizer; 199. robot ferry buses; 21. 4 post lifting machines; 607. first travel lines; 608. first robot palletizers; 609 second robot palletizers; 610. second travel lines; 611. rail tracks; A. station one; B. station two; C. station three; D. station four; E. station five; F. station six; H. station seven; 815. battery box automatic-exchanging systems; 816. vacuum sound insulation board; 817. first battery boxs; 818. cold chamber; 819. first damping springs; 820. first battery box upper enclosure; Vibration damper plate is fixed on 821. first battery case tops; 822. first battery pack; 823. second battery cases; 824. second battery pack; Vibration damper plate is fixed on 825. second battery case tops; 826. second battery case top seal plates; 827. second damping springs; 828. first motor-driven jacks; 829. second motor-driven jacks; 830. second motor-driven jack front carriage; 831. second damping electro-insulating rubbers; Fixing and vibration damper plate bottom 832. first battery cases; Crashworthy plate bottom 833. first battery cases; 834. the 3rd damping springs; 835. the 3rd damping electro-insulating rubbers; 836. battery case intermediate brackets; 837. the 4th damping electro-insulating rubbers; 838. second battery set electrode connection leads; Crashworthy plate bottom 839. second battery cases; 840. the 4th damping springs; Fixing and vibration damper plate bottom 841. second battery cases; 842. first insulation yielding rubbers; 843. first motor-driven jack front carriage.
Detailed description of the invention
In FIG, electronlmobil (200) car-mounted device comprises main control module, CAN communication module, 3G/4G wireless communication module, gps data receiving processing module and user interactive module; Described CAN communication module is bi-directionally connected by spi bus and described main control module, and described 3G/4G wireless communication module, gps data receiving processing module and user interactive module are all bi-directionally connected by serial ports and described main control module.
In fig. 2, main control module comprises master controller and Android/Windows embedded OS; Described liquid crystal display connects master board by liquid crystal socket, shows for man-machine interaction; Described embedded OS provides the authority of access framework application programming interfaces, and provides driver module and ICP/IP protocol stack; Described master controller comprises and connects 32/64 bit microprocessor of ARMCortex-A8 series of master board, ROM clock, ram clock and reset circuit by pin.
In figure 3, CAN communication module comprises CAN physical interface, data processing and memory cell, CAN transceiver, CAN controller and external crystal; Described CAN physical interface is articulated on CAN Bus in Electric, and described CAN transceiver is connected with CAN controller by CAN_H with CAN_L, and described CAN controller is connected with described master board by SPI interface; Described data processing and memory cell process observed reading, and described device is gathered comprise the real time data of observed reading, quantity of state and alert event and the centralized stores of historical data.The running state of CAN physical interface Real-time Collection electronlmobil and battery information, described running state comprises running velocity and distance travelled, and described battery information comprises car load charge/discharge voltage, car load charge/discharge current, battery SOC, battery module temperature, cell maximum voltage, cell minimum voltage.Module when 3G/4G wireless communication module comprises 3G/4G communication chip, real time data interactive module and real time data pair; Described 3G/4G communication chip is connected with described master board by pin, described real time data interactive module forwards the running state of electronlmobil and battery information to monitoring and control centre, and receives monitoring and control centre and issue the information on services comprising and fill/electrical changing station site information, electricity price information and news; When described pair unit receive monitoring and control centre issue synchronized clocke pair time instruction, to ensure the conformability of setup time in region.Gps data receiving processing module provides navigation Service and monitors Operation Network; Described navigation Service comprises destination retrieval, route checks, analogue navigation and truly navigating; Show electrical changing station in operational area, dispersion charging pile distributing position and electronlmobil running state monitoring Operation Network in real time by map, and display comprises the status information of electronlmobil geographic position, electronlmobil speed and dump energy.
In the diagram, schematic diagram disposed by the monitored control system hardware that electronlmobil changes system, the monitor workstation of distributing monitoring system, server, chopping machine, switching arrangement communication processor is connected by the network switch of native industry ethernet with charging monitoring system with power information acquisition terminal, the network switch of distributing monitoring system is connected with the communication gate of superior system by native industry ethernet, switching arrangement communication processor is connected with the communication gate of switching arrangement and superior system by other communication links such as 3G/4G wireless networks, power information acquisition terminal is connected with the communication gate of metering system and superior system by other communication links such as 3G/4G wireless networks, the intelligent communications terminal of battery replacement of electric automobile monitored control system is connected with the network switch of described charging monitoring system by native industry ethernet, battery replacement of electric automobile system comprises by the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), ferry-boat robot ambulation rail (198), the first travel line (607) and the second travel line (610), by each step of monitoring and control centre computer controlled, commander, guiding electronlmobil replacing battery.The video server of video monitoring system is connected with the communication gate of superior system by native industry ethernet.Wherein data server can store monitored control system historical data, and front server can gather conciliates phase separation pass real time data, and is transmitted to other computing machines.Safety monitoring workstation is used for the monitoring and controlling of video monitoring system.Communication gate can realize the conversion between CAN and native industry ethernet.The network switch has 24 mouthfuls, can divide VLAN (Virtual Local Area Network, VLAN), realize the communication between subsystems.After the vehicle-mounted device of electronlmobil in Fig. 1 is connected by Industrial Ethernet or other networks with electric automobile charging station monitored control system hardware, the electronlmobil charged is contacted by 3G/4G network and monitor workstation (03) computing machine, find and nearest apart from it change battery station, after battery station is changed in arrival, automobile driver is opened electronlmobil (200) and is changed the battery station chaufeur changed in four post lifting machine (22) electric car cabs of battery system and start on the LCD screen of the vehicle-mounted device of electronlmobil and change battery mode by computer controlled remote monitor and control, at this time monitor workstation (03) transfers monitor workstation (01) or monitor workstation (02) by network to the cell process of changing of automobile, complete this car by monitor workstation (01) or monitor workstation (02) and change the whole process of battery until vehicle leaves four post lifting machines (22).The computer network of monitor workstation (01) monitor workstation (02) and monitor workstation (03) is linked together by telecommunications network or Industrial Ethernet.
In Figure 5, electronlmobil change station station monitored control system comprises superior system, distributing monitoring system, battery altering monitored control system and video monitoring system, by native industry ethernet and GPRS/CDMA (General Packet Radio Service, GPRS (general packet radio service) between distributing monitoring system and superior system; CodeDivision Multiple Access, CDMA wireless network) other communication link such as wireless network, all by native industry ethernet communication between distributing monitoring system and battery altering monitored control system, between video monitoring system and superior system.Distributing monitoring system, battery altering monitored control system are structured in unified software platform, subsystem computer equipment realizes sharing, consider that network safety prevention and public security department access requirement to video monitoring system, video monitoring system is independently arranged, and realizes information interaction by the communication gate of superior system and charging monitoring system and distributing monitoring system.
In figure 6, electronlmobil change station monitored control system is divided into measures acquisition module, signal acquisition module, control output module, information management module, measurement acquisition module, signal acquisition module, control output module are connected with information management module by native industry ethernet, and information management module connects the computer monitoring platform of superior system by other communication links such as 3G/4G/CDMA wireless networks; Wherein measure acquisition module and comprise monitor workstation (01), front server, signal acquisition module comprises monitor workstation (02), data server, power information acquisition terminal, metering system, control output module and comprise chopping machine, switching arrangement, signal management module comprises the network switch, switching arrangement communication processor; Monitor workstation (01), monitor workstation (02), front server, data server, chopping machine, the network switch, switching arrangement communication processor and power information acquisition terminal pass through native industry ethernet communication, all by other communication link such as 3G/4G/CDMA wireless networks between the communication gate of switching arrangement communication processor and switching arrangement and superior system, between power information acquisition terminal and the communication gate of metering system and superior system.Measure acquisition module, signal acquisition module, control output module and belong to parallel relationship, wherein measure acquisition module and gather secondary current transducer signal and secondary voltage transducer signal, signal acquisition module gathers remote signalling amount, on-off signal, guard signal, warning signal, accident signal, a series of signal amounts such as status signal, two class signals transfer to information management module by CAN, after information management module and superior system realize information interaction, control command is assigned to information management module by superior system, transferred to by CAN again and control output module action.
In the figure 7, battery altering station monitored control system comprises intelligent communications terminal and battery replacement of electric automobile system; Connected by CAN between intelligent communications terminal and battery replacement of electric automobile system, battery replacement of electric automobile system comprises by the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), the first travel line (607) and the second travel line (610); First robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), to be connected by native industry ethernet between the first travel line (607) and the second travel line (610), intelligent communications terminal is integrated with dispatcher software, is connected between dispatcher software and intelligent communications terminal by digital communi-cations link.Dispatcher software assigns control command to the first robot palletizer (608), the second robot palletizer (609), the first travel line (607) and the second travel line (610) by intelligent communications terminal, first robot palletizer (608), second robot palletizer (609), first travel line (607), second travel line (610) and four post lifting machines (22) are built-in with PLC (Programmable logicController, programmable controller) program, the whole Renewal process of electronlmobil first battery box (817) or the second battery case (823) can be controlled, after internal analysis, take off electronlmobil first battery box (817) or the second battery case (823) from station two B is positioned over ferry-boat robot (199), transported by ferry-boat robot (199) again, the simultaneously position of the first robot palletizer (608), the second robot palletizer (609), the first travel line (607), the second travel line (610) and four post lifting machines (22), breakdown signal, the signals such as module battery charger mode of operation, temperature, breakdown signal, power, voltage, electric current, battery pack temperature, SOC, terminal voltage, electric current, battery coupled condition, battery failures are uploaded to dispatcher software by intelligent communications terminal.
In fig. 8, electric automobile battery replacing station monitored control system video monitoring system comprises safety monitoring workstation, ball machine, video server; Ball machine is connected by CAN and video signal cable with between video server, is connected between the communication gate of video server and safety monitoring workstation and superior system by native industry ethernet.Ball machine can gather the video filling electrical changing station and perimeter security, by CAN and video signal cable, video information is uploaded to video server, video server is responsible for signal to be uploaded to safety monitoring workstation and superior system, superior system and safety monitoring workstation have warning, control, image management, pair time etc. function, wherein warning classification comprises anti-theft alarm, break in and picture unusual fluctuation warning, gate inhibition reports to the police, humiture is reported to the police, vision facilities fault alarm etc., before warning (at least 15 second), (at least 5 minutes) video recording storage after reporting to the police, long automatic cycle video recording storage can be set to the control point of important area.The relevant warning information of the equipment such as switching arrangement monitoring and electrically-charging equipment can be obtained by communication processor simultaneously, in order to complete video linkage monitoring, the smart machine filling electrical changing station surveillance zone with electronlmobil coordinates, realize antitheft, fire-proof function, equipment, place, lounge, watch house, business window etc. are monitored.
In fig .9, by the first column (13), second column (18), 3rd column (19), 4th column (20), cantilever beam (16), crossbeam (17), hold car race plate (15) composition one and have the four post lifting machines (22) holding car race plate (15), crossbeam between the first column (13) and the second column (18) is arranged opening (23), so that ferry-boat robot (199) enters four post lifting machines (22) inside, between the 3rd column (19) and the 4th column (20), crossbeam (17) is set, first column (13) second column (18), 3rd column (19) and the 4th column (20) are arranged on movable stand (7) and go up and move up and down with movable stand (7), lifting is held car and is run plate (15) to suitable position, get on the bus swash plate (21) with hold car and run plate (15) and link together and facilitate the car that holds of the upper and lower four post lifting machines (22) of electronlmobil (200) to run plate (15).
In Fig. 10, the bottom symmetrical of lifting machine fixed mount (1) is provided with four or more scroll wheel, and every platform lifting machine column is connected and composed by fixed mount (1), power unit (2), hydraulic actuating cylinder (3), hoisting chain (4), check-out console (5), detector switch (6), movable stand (7), chain pulley seat (11) and sprocket wheel (12).The pile internal fixtion of fixed mount (1) connects strip check-out console (5), this check-out console (5) is provided with some breach of decile, the bottom of movable stand (7) upper end is provided with detector switch (6), detector switch (6) matches with check-out console (5), when check-out console (5) is in detector switch (6) detection range, detector switch (6) just can output signal.(5) have breach with check-out console, when just in time detector switch (6) detects breach, and detector switch (6) not output signal, and so forth.The signal that the detector switch (6) of every platform lifting machine column produces all is calculated by data line connection control device (8), and the data simultaneously calculated by controller (8) connect display panel (9) display by data line.The upper end of movable stand (7) is provided with chain pulley seat (11) and sprocket wheel (12), sprocket wheel (12) supporting hoisting chain (4), hoisting chain (4) one end connects movable stand (7), other end Connection Bracket (1).The base of one end Connection Bracket (1) of hydraulic actuating cylinder (3), other end connection chain wheel seat (11).When hydraulic actuating cylinder (3) is elevated, the sprocket wheel (12) on chain pulley seat (11) is driven to rotate, related hoisting chain (4) runs, while movable stand (7) is elevated thereupon, check-out console (5) and detector switch (6) work and produce electric signal.
In fig. 11, the fractional hardware of battery replacement of electric automobile system is made up of robot ambulation rail (198) of ferrying, ferry-boat robot (199), four post lifting machines (22), background monitoring system (407), the first travel line (607), the second travel line (610), the first robot palletizer (608) and the second robot palletizer (609); The first battery box (817) and the second battery case (823) is had above electronlmobil (200) chassis.
In Figure 12 and Figure 13, Quick change robot (199) comprises the degree of freedom in X-axis, Z axis, R axle three directions, is followed successively by straight walking mechanism (201), hydraulic lifting mechanism 202) and angle deviation correction mechanism (203).Straight walking mechanism (201) is positioned at the bottom of Quick change robot (199), comprises several parts such as pulley (301), universal coupling (204), belt (302), the first servomotor (303), the first reductor (304) and base (305); Two, front end pulley is robot engine installation, is connected with one group of universal coupling, and two, rear end pulley is hunting gear; First servomotor (303) is connected with supporting the first reductor (304) expansion set, the power transmission of the first reductor (304) and pulley (301) is realized, drive pulley (301) straight line moving on slide rail by belt.Straight walking mechanism (301) lower end is furnished with three photoelectric switchs, coordinate with initial point catch and former and later two limit catch successively, be supplied to PLC control system (401) location switch signal, realize the search of robot initial point and reset, and stopping its operation of crossing the border; Front limit catch, initial point catch and rear limit catch are arranged in order along the line slide rail laid, and initial point catch is positioned in the middle of the limit catch of front and back.Hydraulic lifting lifting mechanism (202) is positioned at the top of straight walking mechanism (201) base, comprises two hydraulically extensible cylinders; One-stage hydraulic cylinder (306) is positioned at the bottom of two-stage hydraulic cylinder (307), and after one-stage hydraulic cylinder (306) is stretched out completely, two-stage hydraulic cylinder (307) carries out fore and aft motion; I and II hydraulic actuating cylinder side welding beam be furnished with anti-rotation beam respectively, anti-rotation beam coordinates with two anti-rotating holes be positioned on one-stage hydraulic cylinder welding beam and base welding beam, prevents battery with the rotation in hydraulic gear (202) lifting process; I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar (205), coder (206), catch and the first proximity switch; Catch matches with proximity switch, first proximity switch is arranged at the bottom of one-stage hydraulic cylinder welding beam, when one-stage hydraulic cylinder (306) is stretched out completely, catch triggers the on-off signal of proximity switch, and two-stage hydraulic cylinder (307) starts fore and aft motion; The tooth bar (205) be positioned on two-stage hydraulic cylinder (307) side is engaged with coder (206) by gear, obtains two-stage hydraulic cylinder (307) rise height by calculation code device (206) revolution; Coder (206) is connected with PLC control system (401), PLC control system 401) start high-speed counting.Angle deviation correction mechanism (203) is positioned at the upper end of hydraulic lifting mechanism (202), comprises several part such as mounting flange (308), large miniature gears (309), the second servomotor (310) and the second reductor (311).Two-stage hydraulic cylinder (307) is provided with mounting flange (308), second servomotor (310), the second reductor (311), large miniature gears (309) are arranged on mounting flange (308) successively, miniature gears is installed in second servomotor (310) upper end, (307) install big gear wheel to two-stage hydraulic cylinder, size gear mechanism engages, and drives to coordinate to rotate with the second servomotor (310).Big gear wheel lower end is furnished with catch, upper layout three the second proximity switches of mounting flange (308); Big gear wheel triggers successively and rotates Derivative limit on the left or on the right, former reset on-off signal in rotary course, guarantees that big gear wheel rotates within the limits prescribed dynamic.Angle deviation correction mechanism (203) upper end is provided with battery tray (312), and big gear wheel rotation center is concentric with battery box pallet (312) center of gravity.Battery box pallet (312) is provided with four limiting stoppers (313), is coupled with four projections bottom electronlmobil to be changed (200) battery pack box, can realize battery outer box fine position and reliably fix.Battery box pallet (312) is provided with ultrasonic range finder sensor (408) and DMP sensor (409); Ultrasonic range finder sensor (408) is for measuring the distance of battery tray (312) to electric manned vehicle chassis to be changed; DMP sensor (409) coordinates with the reflector be installed on electric manned vehicle chassis to be changed, searches and calculates reflector target position, obtains the level angle deviation of ferry-boat robot (199) and electric manned vehicle to be changed.Straight walking mechanism (201), hydraulic lifting mechanism (202) link, when only having (199) straightaway of ferry-boat robot and vertical lifting to arrive desired location, angle deviation correction mechanism (203) just starts action, only have the battery tray (312) on angle deviation correction mechanism (203) to produce a desired effect, hydraulic lifting mechanism (202) is just restarted.Straight walking mechanism (201), angle deviation correction mechanism (203) adopt driven by servomotor, and drive motor is connected with corresponding coder, and each coder is connected with corresponding actuator; Actuator sends position pulse signal to servomotor, and the motor rotation information transmission of collection is returned actuator by coder, forming position pattern full closed loop control.
In fig. 14, ferry-boat robot (199) control system block diagram, ((401) are the core of ferry-boat robot (199) action control to described PLC control system, comprise touch-screen (402), wireless communication module (403), Omron PLC controller (404), A/D module (405), D/A module (406) etc.; Wireless communication module (403) is communicated with touch-screen (402) by serial ports RS (485), Omron PLC controller (404) is communicated with touch-screen (402) by serial ports RS (232), and touch-screen (402) is communicated with background monitoring system (407) by Industrial Ethernet; Ultrasonic range finder sensor (408), DMP sensor (409), hydraulic proportional flow valve (410), each coder (411), proximity switch (412), photoelectric switch (413) etc. and PLC control system (401) real-time Data Transmission communication.Ultrasonic range finder sensor (408) is connected with the A/D module (405) in PLC control system (401) with DMP sensor (409), the analog signal of sensor collection is converted into digital signal, and sends PLC control system (401) to.Hydraulic proportional flow valve (410) is connected with the D/A module (406) in PLC control system (401), the digital controlled signal of PLC control system (401) is converted into analogue flow rate control information, realizes the speeds control to hydraulic lifting mechanism (202).Coder is connected with the A/D module (405) of PLC control system (401), coder (411) gathers the rise height of two-stage hydraulic cylinder (307) single rack, two-stage hydraulic cylinder (307) lifting distance is obtained through calculating, by this data feedback to PLC control system (401), form the full closed loop control in lifting process.Proximity switch (412) is connected with the Omron PLC controller (404) in PLC control system (401) with photoelectric switch (413), the end position information of real-time Transmission ferry-boat robot (199) each degree of freedom, trigger interrupt mode and the high-speed counting pattern of PLC control system (401), realize ferry-boat robot (199) accurate, quick action in specialized range.
In fig .15, the constructional drawing of the first robot palletizer (608) and the second robot palletizer (609), comprise base (501), frame (502), arm mechanism and handgrip (503), the driver train driving arm mechanism action is provided with in frame (502), frame (502) is rotated by θ axle (504) and is arranged on base (501), is equipped with AC servomotor and reductor realizes the rotation of complete machine around θ axle (504).Driver train comprises vertical component and horizontal component, both include motor (505), driving wheel (506), flower wheel (507), Timing Belt (508), ball-screw (509) and shifting sledge (510), driving wheel (506) is connected with motor (505), Timing Belt (508) is set on driving wheel (506) and flower wheel (507), flower wheel (507) and ball-screw (509) are coaxially connected, and shifting sledge (510) is threaded with ball-screw (509).The ball-screw (509) of vertical component is vertically arranged, the ball-screw (509) of horizontal component is horizontally disposed with, and the annexes such as above-mentioned motor (505), driving wheel (506), flower wheel (507) and Timing Belt (508) are also thereupon corresponding to be arranged.Arm mechanism comprises forearm (511), postbrachium (512) and the parallel arms (513) parallel with postbrachium (512), the front end of forearm (511) is rotationally connected by P axle (522) and handgrip (503), end, rear end is rotationally connected by J axle (514) and postbrachium (512), and the other end of postbrachium (512) is rotationally connected by the shifting sledge (510) of Z axis (515) with vertical component.The upper end of parallel arms (513) is rotationally connected by rotating shaft (521) and forearm 11, and lower end is rotationally connected by the shifting sledge (510) of R axle (516) with horizontal component.Rotating shaft (521) is also rotatably connected to rotating disk (520), rotating disk (520) is triangular in shape, rotating shaft (521) is arranged on wherein one end of rotating disk (520), the other two ends of rotating disk (520) are rotatably connected to front tension bar (518) and back stay (519) respectively, front tension bar (518) is then connected with handgrip (503) and cylinder (517) respectively with the other end of back stay (519), in (3), upper 3-D scanning recognizer (523) of installing installs 3-D scanning recognizer (523) in a side of handgrip (503), 3-D scanning recognizer (523) with there is between control setup information communication be connected, identify and location for carrying out three-dimensional to crawl object, 3-D scanning recognizer arranges (523) on the side of the link span parallel with handgrip (503) move toward one another direction.Robot selects the industrial robot IRB660_180/3.15 of ABB; 3-D scanning recognizer adopts SICK LMS400-2000 type product.
In Figure 16 and Figure 11, battery case automatic-exchanging system (815) is arranged on the chassis of electronlmobil (200), in battery case automatic-exchanging system (815), in battery case automatic-exchanging system (815), 1 vacuum sound insulation board (816) links together with 1 cold chamber (818); 1 the first battery box (817) is arranged on below cold chamber (818); The inside that vibration damper plate (821) is arranged on the first battery box (817) is fixed on 1 the first battery case top; First damping spring (819) is arranged on the first battery case top and fixes between vibration damper plate (821) and the first battery box upper enclosure (820); 1 the first battery pack (822) is arranged on the fixing and vibration damper plate (821) in the first battery case top and the first battery case bottom is fixed between vibration damper plate (832); 3rd damping spring (834) to be arranged on bottom the fixing and vibration damper plate (832) in the first battery case bottom and the first battery case between Crashworthy plate (833); 1 the second motor-driven jack (829) is arranged under cold chamber (818), 1 the second jack front carriage (830) is installed together with the second damping electro-insulating rubber (831), and 1 the second yielding rubber (831) has contacted with the first battery box (817) effect fixing the first battery box (817); 1 battery case intermediate bracket (836) is installed together with the 3rd yielding rubber (835) and the 4th yielding rubber (837).1 the second battery box (823) is arranged on below cold chamber (818), 1 the second battery pack (824) is arranged on the second battery case top and fixes bottom vibration damper plate (825) and the second battery case and fix between vibration damper plate (841), second damping spring (827) is arranged on the second battery case top and fixes vibration damper plate, 825) and the second battery case upper sealing panel (826) between; 4th damping spring (840) is arranged on 1 the first motor-driven jack (828) and is arranged under cold chamber (818), second jack front carriage (843) and the first insulation yielding rubber (842) are installed together, and play fixation after the first insulation yielding rubber (842) contacts with the second battery box (823).
In Figure 17, Fig. 4, Figure 11 and Figure 16, the battery replacement of electric automobile system be made up of the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), ferry-boat robot ambulation rail (198), the first travel line (607) and the second travel line (610); First travel line (607) transports electronlmobil first battery box (817) or second battery case (823) of the power shortage unloaded; Second travel line (610) transports electronlmobil first battery box (817) and the second battery case (823) that are full of battery; The operating area of the first travel line (607) and the second travel line (610) is positioned within the swinging radius of the first robot palletizer (608); Can be 2 arranged in parallel with four post lifting machines (22) and supporting the first travel line (607) of robot (199) first robot palletizer (608) of ferrying and the second travel line (610) or pile up arrangement up and down, also can only with 1 strip transmission line (607) or 1 the second travel line (610) and four post lifting machines (22) and robot (199) first robot palletizer (608) of ferrying supporting; Be 1 cover with the first travel line (607) and the supporting system be made up of four post lifting machines (22), ferry robot (199) and the first robot palletizer (608) of the second travel line (610); Be the first travel line (607) and the second travel line (610) supporting carry out piling de-stacking the second robot palletizer (609) be 1.
Power shortage battery box transports workflow: robot ferry bus (199) carries electronlmobil first battery box (817) of the power shortage unloaded or the second battery case (823) is accurately located to station one A position along rail track (611) track travel by under four post lifting machines (22), electronlmobil first battery box (817) or the second battery case (823) take off and are put into station seven H by the first robot palletizer (608), electronlmobil first battery box (817) of power shortage or the second battery case (823) flow to station five E along with the first travel line (607), robot uses 3-D scanning recognizer to carry out single pass to electronlmobil first battery box (817) or the second battery case (823) upper surface, scanning speed >500mm/s, 3-D scanning recognizer by the profile diagram of scanning detected material, then fits to three-dimensional image by multiple profile diagram, by its 3D detection mode, obtain the height of electronlmobil first battery box (817) or the second battery case (823) and the three-dimensional coordinate of position and respectively with the angle of system of axes axle, then send to the second robot palletizer (609) to position these data.The control setup PLC of the second robot palletizer (609) is to 3-D scanning recognizer one energizing signal, 3-D scanning recognizer is made to start scanning, after the end of scan, obtain the position coordinate of electronlmobil first battery box (817) or the second battery case (823).According to electronlmobil first battery box (817) or the second battery case (823) position data, second robot palletizer (609) runs to station five E position crawl electronlmobil first battery box (817) or the second battery case (823) carries out piling in station six F position, and after the complete buttress of code, whole buttress electronlmobil first battery box (817) or the second battery case (823) fork are walked by artificial fork truck.
Transport electronlmobil first battery box (817) or the second battery case (823) workflow that are full of electricity: whole buttress is full of electric electronlmobil first battery box (817) or the second battery case (823) enters after station four D by forklift, electronlmobil first battery box (817) or the second battery case (823) are torn open into station three C place by the second robot palletizer (609), electronlmobil first battery box (817) or the second battery case (823) with the second travel line (610) to station B position diffluence.Electronlmobil first battery box (817) or the second battery case (823) are input to robot by the second travel line (610) and capture station two B, and accurate positioning, robot ferry bus (199) enters into station one A along rail track (611) walking, first robot palletizer (608) captures electronlmobil first battery box (817) or the second battery case (823) in station two B position, be put into robot ferry bus (199) top that station one A position enters, ferry-boat robot (199) is along under ferry-boat robot rail (198) track travel four post lifting machine (22), upload delivery of energy due to single motor automobile first battery box (817) or the second battery case (823) at the second travel line (610) accurately to locate, so 3-D scanning recognizer does not work.Electronlmobil first battery box (817) before first robot palletizer (608) captures on travel line or the height of the second battery case (823) are judged by photoelectric switch.The elevation information of the first battery box (817) or the second battery case (823) passes to the first robot palletizer (608), and the first robot palletizer (608) runs to fixture crawl position automatically.
Claims (10)
1. the batteries of electric automobile group of computer internet multiple robots composition changes a system, it is characterized in that: electric automobile (200) car-mounted device comprises main control module, CAN communication module, 3G/4G wireless communication module, gps data receiving processing module and user interactive module, described CAN communication module is bi-directionally connected by spi bus and described main control module, described 3G/4G wireless communication module, gps data receiving processing module and user interactive module are all bi-directionally connected by serial ports and described main control module, and main control module comprises master controller and Android/Windows embedded OS, described liquid crystal display connects master board by liquid crystal socket, shows for man-machine interaction, described embedded OS provides the authority of access framework application programming interfaces, and provides driver module and ICP/IP protocol stack, described master controller comprises and connects 32/64 bit microprocessor of ARMCortex-A8 series of master board, ROM clock, ram clock and reset circuit by pin, and CAN communication module comprises CAN physical interface, data processing and memory cell, CAN transceiver, CAN controller and external crystal, described CAN physical interface is articulated on CAN Bus in Electric, and described CAN transceiver is connected with CAN controller by CAN_H and CAN_L, and described CAN controller is connected with described master board by SPI interface, measured value is processed by described data processing and memory cell, and comprise measured value to what described device gathered, the real time data of quantity of state and alert event and the concentrated storage of historical data, the running status of CAN physical interface Real-time Collection electric automobile and battery information, described running status comprises the speed of service and distance travelled, described battery information comprises car load charge/discharge voltage, car load charge/discharge current, battery SOC, battery module temperature, cell ceiling voltage, cell minimum voltage, 3G/4G wireless communication module comprises 3G/4G communication chip, module when real time data interactive module and real time data pair, described 3G/4G communication chip is connected with described master board by pin, described real time data interactive module forwards the running status of electric automobile and battery information to Surveillance center, and receive Surveillance center issue comprise fill/electrical changing station site information, electricity price information and news information on services, the instruction during synchronised clock pair that when described pair, unit reception Surveillance center issues, to ensure the uniformity of setup time in region, gps data receiving processing module provides navigation Service also to monitor Operation Network, described navigation Service comprises destination retrieval, route is checked, analogue navigation and truly navigating, electrical changing station in operational area, dispersion charging pile distributing position and electric automobile running state monitoring Operation Network is shown in real time by map, and show the status information comprising electric automobile geographical position, electric automobile speed and dump energy, schematic diagram disposed by the monitoring system hardware that system changed by electric automobile, the monitor workstation of distributing monitoring system, server, printer,Distribution system communication processor and power information acquisition terminal are connected with the network switch of charging monitoring system by native industry Ethernet, the network switch of distributing monitoring system is connected with the communication gate of superior system by native industry Ethernet, distribution system communication processor is connected with the communication gate of distribution system and superior system by other communication links such as 3G/4G wireless networks, and power information acquisition terminal is connected with the communication gate of metering system and superior system by other communication links such as 3G/4G wireless networks, the intelligent communications terminal of battery replacement of electric automobile monitoring system is connected with the network switch of described charging monitoring system by native industry Ethernet, battery replacement of electric automobile system comprises by the first robot palletizer (608), second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), ferry-boat robot ambulation rail (198), first pipeline (607) and the second pipeline (610), with Surveillance center's computer control, commander, electric automobile is guided to change each step of battery, the video server of video monitoring system is connected with the communication gate of superior system by native industry Ethernet, wherein data server can store monitoring system historical data, front server can gather conciliates phase separation pass real time data, and it is transmitted to other computers, safety monitoring work station is used for the monitoring and controlling of video monitoring system, communication gate can realize the conversion between CAN and native industry Ethernet, the network switch has 24 mouthfuls, VLAN (Virtual Local Area Network can be divided, VLAN), realize the communication between subsystems, after the vehicle-mounted device of electric automobile in Fig. 1 is connected by EPA or other networks with electric automobile charging station monitoring system hardware, the electric automobile charged is contacted by 3G/4G network and monitor workstation (03) computer, find and nearest change battery station apart from it, after battery station is changed in arrival, driver drives electric automobile and changes the driver changed in four post lifting machine (21) electric car cabs of battery system at battery station and start on the LCD screen of the vehicle-mounted device of electric automobile and control remote monitoring by computer and change battery mode, at this time monitor workstation (03) transfers monitor workstation (01) or monitor workstation (02) by network to the cell process of changing of automobile, complete this car by monitor workstation (01) or monitor workstation (02) and change the whole process of battery until vehicle leaves four post lifting machines (22), the computer network of monitor workstation (01) monitor workstation (02) and monitor workstation (03) is linked together by telecommunications network or EPA, electric automobile change station station monitoring system comprises superior system, distributing monitoring system, battery altering monitoring system and video monitoring system, by native industry Ethernet and GPRS/CDMA (General Packet Radio Service between distributing monitoring system and superior system, GPRS,Code Division Multiple Access, CDMA wireless network) other communication link such as wireless network, between distributing monitoring system and battery altering monitoring system, all by native industry ethernet communication between video monitoring system and superior system, distributing monitoring system, battery altering monitoring system is structured on unified software platform, subsystem computer equipment realizes sharing, consider that video monitoring system is accessed requirement by network safety prevention and public security department, video monitoring system is independently arranged, information interaction is realized by the communication gate of superior system and charging monitoring system and distributing monitoring system, electric automobile change station monitoring system is divided into measurement acquisition module, signal acquisition module, control output module, information management module, measure acquisition module, signal acquisition module, control output module is connected with information management module by native industry Ethernet, information management module connects the computer monitoring platform of superior system by other communication links such as 3G/4G/CDMA wireless networks, wherein measure acquisition module and comprise monitor workstation (01), front server, signal acquisition module comprises monitor workstation (02), data server, power information acquisition terminal, metering system, control output module comprises printer, distribution system, and signal management module comprises the network switch, distribution system communication processor, monitor workstation (01), monitor workstation (02), front server, data server, printer, the network switch, distribution system communication processor and power information acquisition terminal pass through native industry ethernet communication, between the communication gate of distribution system communication processor and distribution system and superior system, all by other communication link such as 3G/4G/CDMA wireless networks between the communication gate of power information acquisition terminal and metering system and superior system, measure acquisition module, signal acquisition module, control output module belongs to parallel relationship, wherein measures acquisition module and gathers secondary current transducer signal and secondary voltage transducer signal, and signal acquisition module gathers remote signalling amount, switching signal, guard signal, alarm signal, trouble-signal, a series of signal amounts such as status signal, two class signals transfer to information management module by CAN, after information management module and superior system realize information interaction, control command is assigned to information management module by superior system, transferring to control output module action by CAN again, battery altering station monitoring system comprises intelligent communications terminal and battery replacement of electric automobile system, being connected by CAN between intelligent communications terminal and battery replacement of electric automobile system, battery replacement of electric automobile system comprises by the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), the first pipeline (607) and the second pipeline (610), connected by native industry Ethernet between first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), the first pipeline (607) and the second pipeline (610)Intelligent communications terminal is integrated with dispatcher software, being connected by digital communi-cations link between dispatcher software and intelligent communications terminal, dispatcher software assigns control command to the first robot palletizer (608), the second robot palletizer (609), the first pipeline (607) and the second pipeline (610) by intelligent communications terminal, first robot palletizer (608), second robot palletizer (609), first pipeline (607), second pipeline (610) and four post lifting machines (22) are built-in with PLC (Programmable logicController, programmable controller) program, electric automobile first battery box (817) or the whole Renewal process of the second battery case (823) can be controlled, electric automobile first battery box (817) is taken off from station two B or the second battery case (823) is positioned over ferry-boat robot (199) after internal analysis, transport by ferry-boat robot (199) again, first robot palletizer (608) simultaneously, second robot palletizer (609), first pipeline (607), the position of the second pipeline (610) and four post lifting machines (22), fault-signal, module charger duty, temperature, fault-signal, power, voltage, electric current, battery pack temperature, SOC, terminal voltage, electric current, battery connection status, the signals such as battery failures are uploaded to dispatcher software by intelligent communications terminal, electric automobile battery replacing station monitoring system video monitoring system comprises safety monitoring work station, ball machine, video server, it is connected by CAN and video signal cable between ball machine and video server, it is connected by native industry Ethernet between the communication gate of video server and safety monitoring work station and superior system, ball machine can gather the video filling electrical changing station and perimeter security, by CAN and video signal cable, video information is uploaded to video server, video server is responsible for being uploaded to signal safety monitoring work station and superior system, and superior system and safety monitoring work station have warning, control, image management, pair time etc. function, wherein warning classification comprises burglar alarm, break in and picture unusual fluctuation warning, gate inhibition reports to the police, humiture is reported to the police, vision facilities fault alarms etc., before warning (at least 15 second), (at least 5 minutes) video recording storage after reporting to the police, the control point of important area can be set the video recording storage of long automatic cycle, the relevant warning information of the equipment such as distribution system monitoring and electrically-charging equipment can be obtained by communication processor simultaneously, in order to complete video linkage monitoring, the smart machine filling electrical changing station surveillance zone with electric automobile coordinates, it is achieved antitheft, fire-proof function, to equipment, place, lobby, night shift room, business windows etc. monitor, by the first column (13), second column (18), 3rd column (19), 4th column (20), cantilever beam (16), crossbeam (17), hold car race plate (15) composition one and have the four post lifting machines (22) holding car race plate (15), the crossbeam between the first column (13) and the second column (18) arranges opening (23),So that ferry-boat robot (199) enters four post lifting machines (22) inside, between the 3rd column (19) and the 4th column (20), crossbeam (17) is set, first column (13) second column (18), 3rd column (19) and the 4th column (20) are arranged on movable stand (7) and above and move up and down with movable stand (7), lifting is held car and is run plate (15) to suitable position, get on the bus swash plate (21) with hold car run plate (15) link together facilitate the upper and lower four post lifting machines (22) of electric automobile (200) hold car run plate (15), the bottom symmetrical of lifting machine fixed mount (1) is provided with four or more scroll wheel, every platform lifting machine column is by fixed mount (1), power unit (2), hydraulic cylinder (3), hoisting chain (4), check-out console (5), sense switch (6), movable stand (7), chain pulley seat (11) and sprocket wheel (12) connect and compose, the pile internal fixtion of fixed mount (1) connects strip check-out console (5), this check-out console (5) is provided with some breach of decile, the bottom of movable stand (7) upper end is provided with sense switch (6), sense switch (6) matches with check-out console (5), when check-out console (5) is in sense switch (6) detection range, sense switch (6) just can output signal, check-out console has breach on (5), when just sense switch (6) detects breach, sense switch (6) does not output signal, and so forth, the signal that the sense switch (6) of every platform lifting machine column produces all by data wire connection control device (8) and calculate, the data simultaneously calculated by controller (8) connect display floater (9) display by data wire, the upper end of movable stand (7) is provided with chain pulley seat (11) and sprocket wheel (12), sprocket wheel (12) supporting hoisting chain (4), hoisting chain (4) one end connects movable stand (7), other end Connection Bracket (1), the base of one end Connection Bracket (1) of hydraulic cylinder (3), other end connection chain wheel seat (11), when hydraulic cylinder (3) lifting, the sprocket wheel (12) on chain pulley seat (11) is driven to rotate, related hoisting chain (4) runs, movable stand (7) thereupon lifting while, check-out console (5) and sense switch (6) work and produce the signal of telecommunication, the fractional hardware of battery replacement of electric automobile system is by robot ambulation rail (198) of ferrying, ferry-boat robot (199), four post lifting machines (22), background monitoring system (407), first pipeline (607), second pipeline (610), first robot palletizer (608) and the second robot palletizer (609) composition, the first battery box (817) and the second battery case (823) it is provided with above electric automobile (200) chassis, ferry-boat robot (199) comprises the free degree in X-axis, Z axis, R axle three directions, it is followed successively by straight walking mechanism (201), hydraulic lifting mechanism 202) and angle deviation correction mechanism (203), straight walking mechanism (201) is positioned at the bottom of Quick change robot (199), comprise pulley (301), Hooks coupling universal coupling (204), belt (302), the first servomotor (303),Several parts such as the first reductor (304) and base (305), two, front end pulley is robot power set, is connected with one group of Hooks coupling universal coupling, and two, rear end pulley is slave unit, first servomotor (303) is connected with supporting the first reductor (304) expansion set, the power transmission of the first reductor (304) with pulley (301) is realized by belt, drive pulley (301) straight line moving on slide rail, straight walking mechanism (301) lower end is furnished with three optoelectronic switches, coordinate with initial point catch and former and later two limit catch successively, it is supplied to PLC control system (401) location switch signal, realize robot initial point search and reset, and stop its operation of crossing the border, front limit catch, initial point catch and rear limit catch are arranged in order along the line slide rail laid, initial point catch is positioned in the middle of the limit catch of front and back, hydraulic lifting lifting mechanism (202) is positioned at the top of straight walking mechanism (201) base, comprises two hydraulically extensible cylinders, one-stage hydraulic cylinder (306) is positioned at the bottom of two-stage hydraulic cylinder (307), and after one-stage hydraulic cylinder (306) is stretched out completely, two-stage hydraulic cylinder (307) carries out stretching motion, I and II hydraulic cylinder side respectively welding beam and be furnished with anti-rotation beam, anti-rotation beam coordinates with two anti-rotating holes being positioned on one-stage hydraulic cylinder welding beam and base welding beam, prevents battery with the rotation in hydraulic mechanism (202) lifting process, I and II hydraulic cylinder opposite side is respectively arranged with tooth bar (205), encoder (206), catch and the first proximity switch, catch matches with proximity switch, first proximity switch is arranged at the bottom of one-stage hydraulic cylinder welding beam, when one-stage hydraulic cylinder (306) is stretched out completely, catch triggers the switching signal of proximity switch, and two-stage hydraulic cylinder (307) starts stretching motion, the tooth bar (205) being positioned on two-stage hydraulic cylinder (307) side is engaged with encoder (206) by gear, obtains two-stage hydraulic cylinder (307) lifting height by calculation code device (206) revolution, encoder (206) is connected with PLC control system (401), PLC control system 401) start high-speed counting, angle deviation correction mechanism (203) is positioned at the upper end of hydraulic lifting mechanism (202), comprise mounting flange (308), big pinion (309), several parts such as the second servomotor (310) and the second reductor (311), two-stage hydraulic cylinder (307) is provided with mounting flange (308), second servomotor (310), second reductor (311), big pinion (309) is arranged on mounting flange (308) successively, pinion is installed in second servomotor (310) upper end, two-stage hydraulic cylinder installs gear wheel on (307), size gear mechanism engages, drive to coordinate with the second servomotor (310) and rotate, gear wheel lower end is furnished with catch, mounting flange (308) is upper arranges three the second proximity switches, gear wheel triggers successively in rotary course and rotates Derivative limit on the left or on the right, former reset switching signal, it is ensured that gear wheel rotates dynamic within the limits prescribed, and angle deviation correction mechanism (203) upper end is provided with battery tray (312),Gear wheel rotation center is concentric with battery box pallet (312) center of gravity, battery box pallet (312) is provided with four limited blocks (313), it is coupled with four projections bottom electric automobile to be changed (200) battery pack box, battery outer box fine position can be realized and reliably fix, battery box pallet (312) is provided with ultrasonic range finder sensor (408) and DMP sensor (409), ultrasonic range finder sensor (408) is for measuring the distance of battery tray (312) to electricity passenger car chassis to be changed, DMP sensor (409) coordinates with the reflector being installed on electricity passenger car chassis to be changed, search and calculate reflector target position, obtain the level angle deviation of ferry-boat robot (199) with electric automobile to be changed (200), straight walking mechanism (201), hydraulic lifting mechanism (202) links, only ferry robot (199) straightaway and vertical lifting when arriving desired location, angle deviation correction mechanism (203) just starts action, only the battery tray (312) on angle deviation correction mechanism (203) produces a desired effect, hydraulic lifting mechanism (202) is just restarted, straight walking mechanism (201), angle deviation correction mechanism (203) adopts driven by servomotor, drive motors is connected with corresponding encoder, each encoder is connected with corresponding driver, driver sends position pulse signal to servomotor, the motor rotation information transmission of collection is returned driver by encoder, forming position pattern full closed loop control, ferry-boat robot (199) control system block diagram, described PLC control system ((401) be ferry-boat robot (199) action control core, comprise touch-screen (402), wireless communication module (403), Omron PLC controller (404), A/D module (405), D/A module (406) etc., wireless communication module (403) is communicated with touch-screen (402) by serial ports RS (485), Omron PLC controller (404) is communicated with touch-screen (402) by serial ports RS (232), and touch-screen (402) is communicated with background monitoring system (407) by EPA, ultrasonic range finder sensor (408), DMP sensor (409), hydraulic proportional flow valve (410), each encoder (411), proximity switch (412), optoelectronic switch (413) etc. and PLC control system (401) real-time Data Transmission communication, ultrasonic range finder sensor (408) and DMP sensor (409) are connected with the A/D module (405) in PLC control system (401), the analog signal of sensor collection is converted into data signal, and send PLC control system (401) to, hydraulic proportional flow valve (410) is connected with the D/A module (406) in PLC control system (401), the digital controlled signal of PLC control system (401) is converted into analogue flow rate control information, realize the speeds control to hydraulic lifting mechanism (202), encoder is connected with the A/D module (405) of PLC control system (401),Encoder (411) gathers the lifting height of two-stage hydraulic cylinder (307) single rack, two-stage hydraulic cylinder (307) lifting distance is obtained through calculating, by this data feedback to PLC control system (401), form the full closed loop control in lifting process, proximity switch (412) and optoelectronic switch (413) are connected with the Omron PLC controller (404) in PLC control system (401), the extreme position information of real-time Transmission ferry-boat robot (199) each free degree, trigger interrupt mode and the high-speed counting pattern of PLC control system (401), realize ferry-boat robot (199) accurate in prescribed limit, quick acting, the structure of the first robot palletizer (608) and the second robot palletizer (609), comprise base (501), frame (502), arm mechanism and handgrip (503), the driving mechanism driving arm mechanism action it is provided with in frame (502), frame (502) is rotated by θ axle (504) and is arranged on base (501), it is equipped with AC servomotor and reductor realizes the rotation of complete machine around θ axle (504), driving mechanism comprises vertical component and horizontal component, both include motor (505), driving wheel (506), driven pulley (507), Timing Belt (508), ball-screw (509) and shifting sledge (510), driving wheel (506) is connected with motor (505), Timing Belt (508) is set on driving wheel (506) and driven pulley (507), driven pulley (507) and ball-screw (509) are coaxially connected, shifting sledge (510) is threaded with ball-screw (509), the ball-screw (509) of vertical component is vertically arranged, the ball-screw (509) of horizontal component is horizontally disposed with, above-mentioned motor (505), driving wheel (506), the annexes such as driven pulley (507) and Timing Belt (508) are also thereupon corresponding to be arranged, arm mechanism comprises forearm (511), postbrachium (512) and the parallel arms (513) parallel with postbrachium (512), the front end of forearm (511) is rotationally connected by P axle (522) and handgrip (503), end, rear end is rotationally connected by J axle (514) and postbrachium (512), the other end of postbrachium (512) is rotationally connected by the shifting sledge (510) of Z axis (515) with vertical component, the upper end of parallel arms (513) is rotationally connected by rotating shaft (521) and forearm 11, lower end is rotationally connected by the shifting sledge (510) of R axle (516) with horizontal component, rotating shaft (521) is also rotatably connected to rotating disk (520), rotating disk (520) is triangular in shape, rotating shaft (521) is arranged on wherein one end of rotating disk (520), the other two ends of rotating disk (520) are rotatably connected to front tension bar (518) and back stay (519) respectively, the other end of front tension bar (518) and back stay (519) is then connected with handgrip (503) and cylinder (517) respectively, in (3), upper 3-D scanning identifier (523) of installing installs 3-D scanning identifier (523) in a side of handgrip (503),Between 3-D scanning identifier (523) and control device, there is information communication to be connected, for crawl object being carried out three-dimensional identification and location, 3-D scanning identifier arranges (523) on the side of the link parallel with handgrip (503) move toward one another direction, and robot selects the industrial robot IRB660_180/3.15 of ABB, 3-D scanning identifier adopts SICK LMS400-2000 type product, the battery replacement of electric automobile system being made up of the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), rail track (198), the first pipeline (607) and the second pipeline (610), first pipeline (607) transports electric automobile first battery box (817) or second battery case (823) of the power shortage unloaded, second pipeline (610) transports the electric automobile first battery box (817) or the second battery case (823) that are full of battery, the operating area of the first pipeline (607) and the second pipeline (610) is positioned within the radius of clean-up of the first robot palletizer (608), first pipeline (607) supporting with four post lifting machines (22) and ferry-boat robot (199) first robot palletizer (608) and the second pipeline (610) can be 2～10 arranged in parallel or pile up arrangement up and down, it is also possible to only supporting with four post lifting machines (22) and ferry-boat robot (199) first robot palletizer (608) with (1) strip transmission line (607) or (1) bar second pipeline (610), the system that the four post lifting machines (22) supporting with the first pipeline (607) and the second pipeline (610), robot (199) of ferrying, the first robot palletizer (608) form is 1～80 cover, be the first pipeline (607) and the second pipeline (610) supporting carry out piling de-stacking the second robot palletizer (609) be 1～20, the exchonge step of battery replacement of electric automobile system: the first step, electric automobile (200) driver charged is contacted by 3G/4G network and monitor workstation (03) with electric automobile car-mounted device, find and change workshop apart from its nearest batteries of electric automobile group, after arriving batteries of electric automobile group replacing workshop, electric automobile is left upper four post lifting machines (22), driver in electric automobile (200) driver's cabin starts on the LCD LCD screen of the vehicle-mounted device of electric automobile and can change battery mode by monitor workstation (03) control remote monitoring, second step, monitor workstation (03) manipulation personnel transfer monitor workstation (01) by network to the cell process of changing of electric automobile (200), at this time monitor workstation (01) starts to carry out remote monitoring,Above ferry-boat robot (199) the top battery pallet (312) that the second battery box (823) that the first motor-driven jack (828) in battery case automatic-exchanging system (815) under the chassis of startup electric automobile (200) ejects under electric automobile (200) chassis waits under dropping on four post lifting machines (22), ferry-boat robot (199) carries the second battery box (823) along ferry-boat robot ambulation rail (198) track travel to station one location A, accurately location, 3rd step, first robot palletizer (608) grabs the second battery box (823) on ferry-boat robot (199) the top battery pallet (312) of station one location A and is put into station seven H, second battery box (823) of the power shortage unloaded is input to the second robot palletizer (609) by the first pipeline (607) and captures station five E position, and accurate positioning, 4th step, second robot palletizer (609) is after station five E position grabs second battery box (823) of power shortage, move to station six F position and carry out piling, after the complete buttress of code, the second battery box (823) fork of whole buttress power shortage is walked by artificial fork truck, 5th step, after fully charged the second battery box (823) of whole buttress moves to station four D by fork truck, second battery box (823) is torn open into station three C place by the second robot palletizer (609), second battery box (823) with the second pipeline (610) to station two B location diffluence and accurate positioning, 6th step, ferry-boat robot (199) enters into station one A along ferry-boat robot ambulation rail (198) walking, first robot palletizer (608) grabs the second battery box (823) to station two B location, be put into station one location A wait ferry-boat robot (199) top battery pallet (312) above, upload delivery of energy due to single second battery box (823) at the second pipeline (610) accurately to locate, so 3-D scanning identifier does not work, the height that first robot palletizer (608) captures the electric automobile second battery box (823) on front pipeline is judged by optoelectronic switch, 7th step, ferry-boat robot (199) is along under ferry-boat robot ambulation rail (198) track travel four post lifting machine (22), after ferry-boat robot (199) completes location, X/Y direction, after the process that robot rises utilizes the output of ultrasonic range finder sensor and the output difference operation of hydraulic mechanism encoder, input comparative example flow valve as PID controller carries out PID control, stop rising when hydraulic mechanism is lifted to desired location, accurate positioning, the instruction of electric automobile second battery box (823) is installed by monitor workstation (01) or monitor workstation (02) send to ferry-boat robot (199), ferry-boat robot (199) is electric automobile second battery box (823) placement location above electric automobile second battery box (823) top to battery case automatic-exchanging system (815)Supervisory control comuter (01) manipulation personnel start the first motor-driven jack (28) and the second battery box (823) are fixed on battery case automatic-exchanging system (815), 8th step, monitor workstation (01) starts to carry out remote monitoring, above ferry-boat robot (199) the top battery pallet (312) that the first battery box (817) that the second motor-driven jack (829) in battery case automatic-exchanging system (815) under the chassis of startup electric automobile (200) ejects under electric automobile (200) chassis waits under dropping on four post lifting machines (22), ferry-boat robot (199) carries the first battery box (817) along ferry-boat robot ambulation rail (198) track travel to station one location A, accurately location, 9th step, first robot palletizer (608) grabs the first battery box (817) on ferry-boat robot (199) the top battery pallet (312) of station one location A and is put into station seven H, first battery box (817) of the power shortage unloaded is input to the second robot palletizer (609) by the first pipeline (607) and captures station five E position, and accurate positioning, tenth step, second robot palletizer (609) is after station five E position grabs first battery box (817) of power shortage, move to station six F position and carry out piling, after the complete buttress of code, the first battery box (817) fork of whole buttress power shortage is walked by artificial fork truck, 11 step, after fully charged the first battery box (817) of whole buttress moves to station four D by fork truck, second battery box (823) is torn open into station three C place by the second robot palletizer (609), first battery box (817) with the second pipeline (610) to station two B location diffluence and accurate positioning, 12 step, ferry-boat robot (199) enters into station one A along ferry-boat robot ambulation rail (198) walking, first robot palletizer (608) grabs the first battery box (817) to station two B location, be put into station one location A wait ferry-boat robot (199) top battery pallet (312) above, upload delivery of energy due to single second battery box (823) at the second pipeline (610) accurately to locate, so 3-D scanning identifier does not work, the height that first robot palletizer (608) captures the electric automobile first battery box (817) on front pipeline is judged by optoelectronic switch, 13 step, ferry-boat robot (199) is along under ferry-boat robot ambulation rail (198) track travel four post lifting machine (22), after ferry-boat robot (199) completes location, X/Y direction, after the process that robot rises utilizes the output of ultrasonic range finder sensor and the output difference operation of hydraulic mechanism encoder, input comparative example flow valve as PID controller carries out PID control, stop rising when hydraulic mechanism is lifted to desired location, accurate positioning, installs the instruction of electric automobile first battery box (817) to ferry-boat robot (199) by monitor workstation (01) or monitor workstation (02) send,Ferry-boat robot (199) is the placement location of the first battery box (817) above the first battery box (817) top to battery case automatic-exchanging system (815), supervisory control comuter (01) manipulation personnel start the second motor-driven jack (829) the first battery box (817)) it is fixed on battery case automatic-exchanging system (815), 14 step, battery altering process terminates, four post lifting machines (22) fall, driver electric automobile (200) sails out of batteries of electric automobile group changes workshop, 15 step, monitor workstation (01) sends the complete signal of battery altering, whole battery change system completes initial point and resets, in Figure 16 and Figure 11, battery case automatic-exchanging system (815) is arranged on the chassis of electric automobile (200), in battery case automatic-exchanging system (815), in battery case automatic-exchanging system (815), 1 vacuum sound insulation board (816) links together with 1 cooler bin (818), 1 the first battery box (817) is arranged on below cooler bin (818), 1 fixing vibration damper plate (821) in the first battery case top is arranged on the inside of the first battery box (817), it is fixing between vibration damper plate (821) and the first battery box upper enclosure (820) that first damping spring (819) is arranged on the first battery case top, 1 the first battery pack (822) is arranged on that the first battery case top is fixing and vibration damper plate (821) and the first battery case bottom are fixed between vibration damper plate (832), 3rd damping spring (834) is arranged on that the first battery case bottom is fixing and bottom vibration damper plate (832) and the first battery case between Crashworthy plate (833), 1 the second motor-driven jack (829) is arranged under cooler bin (818), 1 the second jack front carriage (830) is installed together with the second damping electro-insulating rubber (831), and 1 the second yielding rubber (831) has contacted, with the first battery box (817), the effect fixing the first battery box (817), 1 battery case intermediate bracket (836) is installed together with the 3rd yielding rubber (835) and the 4th yielding rubber (837), 1 the second battery box (823) is arranged on below cooler bin (818), 1 the second battery pack (824) is arranged on fixes between vibration damper plate (841) bottom the fixing vibration damper plate (825) in the second battery case top and the second battery case, second damping spring (827) is arranged on the fixing vibration damper plate in the second battery case top, 825) and between the second battery case upper sealing panel (826), 4th damping spring (840) is arranged on 1 the first motor-driven jack (828) and is arranged under cooler bin (818), second jack front carriage (843) and the first insulation yielding rubber (842) are installed together, and the first insulation yielding rubber (842) plays fixation after contacting with the second battery box (823).
2. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: the battery replacement of electric automobile system be made up of the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), rail track (198), the first travel line (607) and the second travel line (610), first travel line (607) transports electronlmobil first battery box (817) or second battery case (823) of the power shortage unloaded, second travel line (610) transports electronlmobil first battery box (817) or the second battery case (823) that are full of battery, the operating area of the first travel line (607) and the second travel line (610) is positioned within the swinging radius of the first robot palletizer (608), can be 2 ~ 10 arranged in parallel with four post lifting machines (22) and supporting the first travel line (607) of robot (199) first robot palletizer (608) of ferrying and the second travel line (610) or pile up arrangement up and down, also can only with (1) strip transmission line (607) or (1) bar second travel line (610) and four post lifting machines (22) and robot (199) first robot palletizer (608) of ferrying supporting, the system formed with the first travel line (607) and the supporting four post lifting machines (22) of the second travel line (610), robot (199) of ferrying, the first robot palletizer (608) is 1 ~ 80 to overlap, be the first travel line (607) and the second travel line (610) supporting carry out piling de-stacking the second robot palletizer (609) be 1 ~ 20, the exchonge step of battery replacement of electric automobile system: the first step, electronlmobil (200) the chaufeur electronlmobil car-mounted device charged is contacted by 3G/4G network and monitor workstation (03), find the batteries of electric automobile group nearest apart from it and change workshop, after arriving batteries of electric automobile group replacing workshop, electronlmobil is opened upper four post lifting machines (22), chaufeur in electronlmobil (200) operator's compartment starts and can change battery mode by monitor workstation (03) control remote monitor and control on the LCD LCD screen of the vehicle-mounted device of electronlmobil, second step, monitor workstation (03) manipulation personnel transfer monitor workstation (01) by network to the cell process of changing of electronlmobil (200), at this time monitor workstation (01) starts to carry out remote monitor and control, above ferry-boat robot (199) the top battery pallet (312) waited under the first motor-driven jack (828) the second battery box (823) ejected under electronlmobil (200) chassis started in the battery case automatic-exchanging system (815) under the chassis of electronlmobil (200) drops on four post lifting machines (22), ferry-boat robot (199) carries the second battery box (823) along ferry-boat robot ambulation rail (198) track travel to station one A position, accurate location, 3rd step, first robot palletizer (608) grabs the second battery box (823) on ferry-boat robot (199) the top battery pallet (312) of station one A position and is put into station seven H, second battery box (823) of the power shortage unloaded is input to the second robot palletizer (609) by the first travel line (607) and captures station five E position, and accurate positioning, 4th step, second robot palletizer (609) is after station five E position grabs second battery box (823) of power shortage, move to station six F position and carry out piling, after the complete buttress of code, second battery box (823) of whole buttress power shortage fork is walked by artificial fork truck, 5th step, whole buttress be full of electricity the second battery box (823) move to station four D by fork truck after, second battery box (823) is torn open into station three C place by the second robot palletizer (609), second battery box (823) with the second travel line (610) to station two B position diffluence and accurate positioning, 6th step, ferry-boat robot (199) enters into station one A along ferry-boat robot ambulation rail (198) walking, first robot palletizer (608) grabs the second battery box (823) to station two B position, be put into station one A position wait for ferry-boat robot (199) top battery pallet (312) above, upload delivery of energy due to single second battery box (823) at the second travel line (610) accurately to locate, so 3-D scanning recognizer does not work, the height of electronlmobil second battery box (823) before the first robot palletizer (608) captures on travel line is judged by photoelectric switch, 7th step, ferry-boat robot (199) is along under ferry-boat robot ambulation rail (198) track travel four post lifting machine (22), after ferry-boat robot (199) completes location, X/Y direction, after the process that robot rises utilizes the output of ultrasonic range finder sensor and the output difference operation of hydraulic gear coder, input comparative example flow valve as PID controller carries out PID control, stop rising when hydraulic gear is lifted to desired location, accurate positioning, by monitor workstation (01) or monitor workstation (02) to the instruction of installing electronlmobil second battery box (823) ferry-boat robot (199) sends, ferry-boat robot (199) is electronlmobil second battery box (823) placement location above electronlmobil second battery box (823) top to battery case automatic-exchanging system (815), supervisory control computer (01) manipulation personnel start the first motor-driven jack (28) and the second battery box (823) are fixed on battery case automatic-exchanging system (815), 8th step, monitor workstation (01) starts to carry out remote monitor and control, above ferry-boat robot (199) the top battery pallet (312) waited under the second motor-driven jack (829) the first battery box (817) ejected under electronlmobil (200) chassis started in the battery case automatic-exchanging system (815) under the chassis of electronlmobil (200) drops on four post lifting machines (22), ferry-boat robot (199) carries the first battery box (817) along ferry-boat robot ambulation rail (198) track travel to station one A position, accurate location, 9th step, first robot palletizer (608) grabs the first battery box (817) on ferry-boat robot (199) the top battery pallet (312) of station one A position and is put into station seven H, first battery box (817) of the power shortage unloaded is input to the second robot palletizer (609) by the first travel line (607) and captures station five E position, and accurate positioning, tenth step, second robot palletizer (609) is after station five E position grabs first battery box (817) of power shortage, move to station six F position and carry out piling, after the complete buttress of code, first battery box (817) of whole buttress power shortage fork is walked by artificial fork truck, 11 step, whole buttress be full of electricity the first battery box (817) move to station four D by fork truck after, second battery box (823) is torn open into station three C place by the second robot palletizer (609), first battery box (817) with the second travel line (610) to station two B position diffluence and accurate positioning, 12 step, ferry-boat robot (199) enters into station one A along ferry-boat robot ambulation rail (198) walking, first robot palletizer (608) grabs the first battery box (817) to station two B position, be put into station one A position wait for ferry-boat robot (199) top battery pallet (312) above, upload delivery of energy due to single second battery box (823) at the second travel line (610) accurately to locate, so 3-D scanning recognizer does not work, the height of electronlmobil first battery box (817) before the first robot palletizer (608) captures on travel line is judged by photoelectric switch, 13 step, ferry-boat robot (199) is along under ferry-boat robot ambulation rail (198) track travel four post lifting machine (22), after ferry-boat robot (199) completes location, X/Y direction, after the process that robot rises utilizes the output of ultrasonic range finder sensor and the output difference operation of hydraulic gear coder, input comparative example flow valve as PID controller carries out PID control, stop rising when hydraulic gear is lifted to desired location, accurate positioning, by monitor workstation (01) or monitor workstation (02) to the instruction of installing electronlmobil first battery box (817) ferry-boat robot (199) sends, ferry-boat robot (199) is the placement location of the first battery box (817) above the first battery box (817) top to battery case automatic-exchanging system (815), supervisory control computer (01) manipulation personnel start the second motor-driven jack (829) the first battery box (817)) be fixed on battery case automatic-exchanging system (815), 14 step, battery altering process terminates, four post lifting machines (22) fall, driver electronlmobil (200) sails out of batteries of electric automobile group changes workshop, 15 step, monitor workstation (01) sends the complete signal of battery altering, whole battery change system completes initial point and resets.
3. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: the battery replacement of electric automobile system be made up of the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), ferry-boat robot ambulation rail (198), the first travel line (607) and the second travel line (610), first travel line (607) transports electronlmobil first battery box (817) or second battery case (823) of the power shortage unloaded, second travel line (610) transports electronlmobil first battery box (817) and the second battery case (823) that are full of battery, the operating area of the first travel line (607) and the second travel line (610) is positioned within the swinging radius of the first robot palletizer (608), can be 2 arranged in parallel with four post lifting machines (22) and supporting the first travel line (607) of robot (199) first robot palletizer (608) of ferrying and the second travel line (610) or pile up arrangement up and down, also can only with 1 strip transmission line (607) or 1 the second travel line (610) and four post lifting machines (22) and robot (199) first robot palletizer (608) of ferrying supporting, be 1 cover with the first travel line (607) and the supporting system be made up of four post lifting machines (22), ferry robot (199) and the first robot palletizer (608) of the second travel line (610), be the first travel line (607) and the second travel line (610) supporting carry out piling de-stacking the second robot palletizer (609) be 1, the exchonge step of battery replacement of electric automobile system: the first step, electronlmobil (200) the chaufeur electronlmobil car-mounted device charged is contacted by 3G/4G network and monitor workstation (03), find the batteries of electric automobile group nearest apart from it and change workshop, after arriving batteries of electric automobile group replacing workshop, electronlmobil is opened upper four post lifting machines (22), chaufeur in electronlmobil (200) operator's compartment starts and can change battery mode by monitor workstation (03) control remote monitor and control on the LCD LCD screen of the vehicle-mounted device of electronlmobil, second step, monitor workstation (03) manipulation personnel transfer monitor workstation (01) by network to the cell process of changing of electronlmobil (200), at this time monitor workstation (01) starts to carry out remote monitor and control, above ferry-boat robot (199) the top battery pallet (312) waited under the first motor-driven jack (828) the second battery box (823) ejected under electronlmobil (200) chassis started in the battery case automatic-exchanging system (815) under the chassis of electronlmobil (200) drops on four post lifting machines (22), ferry-boat robot (199) carries the second battery box (823) along ferry-boat robot ambulation rail (198) track travel to station one A position, accurate location, 3rd step, first robot palletizer (608) grabs the second battery box (823) on ferry-boat robot (199) the top battery pallet (312) of station one A position and is put into station seven H, second battery box (823) of the power shortage unloaded is input to the second robot palletizer (609) by the first travel line (607) and captures station five E position, and accurate positioning, 4th step, second robot palletizer (609) is after station five E position grabs second battery box (823) of power shortage, move to station six F position and carry out piling, after the complete buttress of code, second battery box (823) of whole buttress power shortage fork is walked by artificial fork truck, 5th step, whole buttress be full of electricity the second battery box (823) move to station four D by fork truck after, second battery box (823) is torn open into station three C place by the second robot palletizer (609), second battery box (823) with the second travel line (610) to station two B position diffluence and accurate positioning, 6th step, ferry-boat robot (199) enters into station one A along ferry-boat robot ambulation rail (198) walking, first robot palletizer (608) grabs the second battery box (823) to station two B position, be put into station one A position wait for ferry-boat robot (199) top battery pallet (312) above, upload delivery of energy due to single second battery box (823) at the second travel line (610) accurately to locate, so 3-D scanning recognizer does not work, the height of electronlmobil second battery box (823) before the first robot palletizer (608) captures on travel line is judged by photoelectric switch, 7th step, ferry-boat robot (199) is along under ferry-boat robot ambulation rail (198) track travel four post lifting machine (22), after ferry-boat robot (199) completes location, X/Y direction, after the process that robot rises utilizes the output of ultrasonic range finder sensor and the output difference operation of hydraulic gear coder, input comparative example flow valve as PID controller carries out PID control, stop rising when hydraulic gear is lifted to desired location, accurate positioning, by monitor workstation (01) or monitor workstation (02) to the instruction of installing electronlmobil second battery box (823) ferry-boat robot (199) sends, ferry-boat robot (199) is electronlmobil second battery box (823) placement location above electronlmobil second battery box (823) top to battery case automatic-exchanging system (815), supervisory control computer (01) manipulation personnel start the first motor-driven jack (28) and the second battery box (823) are fixed on battery case automatic-exchanging system (815), 8th step, monitor workstation (01) starts to carry out remote monitor and control, above ferry-boat robot (199) the top battery pallet (312) waited under the second motor-driven jack (829) the first battery box (817) ejected under electronlmobil (200) chassis started in the battery case automatic-exchanging system (815) under the chassis of electronlmobil (200) drops on four post lifting machines (22), ferry-boat robot (199) carries the first battery box (817) along ferry-boat robot ambulation rail (198) track travel to station one A position, accurate location, 9th step, first robot palletizer (608) grabs the first battery box (817) on ferry-boat robot (199) the top battery pallet (312) of station one A position and is put into station seven H, first battery box (817) of the power shortage unloaded is input to the second robot palletizer (609) by the first travel line (607) and captures station five E position, and accurate positioning, tenth step, second robot palletizer (609) is after station five E position grabs first battery box (817) of power shortage, move to station six F position and carry out piling, after the complete buttress of code, first battery box (817) of whole buttress power shortage fork is walked by artificial fork truck, 11 step, whole buttress be full of electricity the first battery box (817) move to station four D by fork truck after, second battery box (823) is torn open into station three C place by the second robot palletizer (609), first battery box (817) with the second travel line (610) to station two B position diffluence and accurate positioning, 12 step, ferry-boat robot (199) enters into station one A along ferry-boat robot ambulation rail (198) walking, first robot palletizer (608) grabs the first battery box (817) to station two B position, be put into station one A position wait for ferry-boat robot (199) top battery pallet (312) above, upload delivery of energy due to single second battery box (823) at the second travel line (610) accurately to locate, so 3-D scanning recognizer does not work, the height of electronlmobil first battery box (817) before the first robot palletizer (608) captures on travel line is judged by photoelectric switch, 13 step, ferry-boat robot (199) is along under ferry-boat robot ambulation rail (198) track travel four post lifting machine (22), after ferry-boat robot (199) completes location, X/Y direction, after the process that robot rises utilizes the output of ultrasonic range finder sensor and the output difference operation of hydraulic gear coder, input comparative example flow valve as PID controller carries out PID control, stop rising when hydraulic gear is lifted to desired location, accurate positioning, by monitor workstation (01) or monitor workstation (02) to the instruction of installing electronlmobil first battery box (817) ferry-boat robot (199) sends, ferry-boat robot (199) is the placement location of the first battery box (817) above the first battery box (817) top to battery case automatic-exchanging system (815), supervisory control computer (01) manipulation personnel start the second motor-driven jack (829) the first battery box (817)) be fixed on battery case automatic-exchanging system (815), 14 step, battery altering process terminates, four post lifting machines (22) fall, driver electronlmobil (200) sails out of batteries of electric automobile group changes workshop, 15 step, monitor workstation (01) sends the complete signal of battery altering, whole battery change system completes initial point and resets.
4. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: the battery replacement of electric automobile system that the first robot palletizer (608), the second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), ferry-boat robot ambulation rail (198), the first travel line (607) and the second travel line (610) form, first travel line (607) transports electronlmobil first battery box (817) or second battery case (823) of the power shortage unloaded, second travel line (610) transports electronlmobil first battery box (817) and the second battery case (823) that are full of battery, the operating area of the first travel line (607) and the second travel line (610) is positioned within the swinging radius of the first robot palletizer (608), can be 2 arranged in parallel with four post lifting machines (22) and supporting the first travel line (607) of robot (199) first robot palletizer (608) of ferrying and the second travel line (610) or pile up arrangement up and down, also can only with 1 strip transmission line (607) or 1 the second travel line (610) and four post lifting machines (22) and robot (199) first robot palletizer (608) of ferrying supporting, be 1 cover with the first travel line (607) and the supporting system be made up of four post lifting machines (22), ferry robot (199) and the first robot palletizer (608) of the second travel line (610), be the first travel line (607) and the second travel line (610) supporting carry out piling de-stacking the second robot palletizer (609) be 1, power shortage battery box transports workflow: robot ferry bus (199) carries electronlmobil first battery box (817) of the power shortage unloaded or the second battery case (823) is accurately located to station one A position along rail track (611) track travel by under four post lifting machines (22), electronlmobil first battery box (817) or the second battery case (823) take off and are put into station seven H by the first robot palletizer (608), electronlmobil first battery box (817) of power shortage or the second battery case (823) flow to station five E along with the first travel line (607), robot uses 3-D scanning recognizer to carry out single pass to electronlmobil first battery box (817) or the second battery case (823) upper surface, scanning speed >500mm/s, 3-D scanning recognizer by the profile diagram of scanning detected material, then fits to three-dimensional image by multiple profile diagram, by its 3D detection mode, obtain the height of electronlmobil first battery box (817) or the second battery case (823) and the three-dimensional coordinate of position and respectively with the angle of system of axes axle, the second robot palletizer (609) is sent to position these data again, the control setup PLC of the second robot palletizer (609) is to 3-D scanning recognizer one energizing signal, 3-D scanning recognizer is made to start scanning, after the end of scan, obtain the position coordinate of electronlmobil first battery box (817) or the second battery case (823), according to electronlmobil first battery box (817) or the second battery case (823) position data, second robot palletizer (609) runs to station five E position crawl electronlmobil first battery box (817) or the second battery case (823) carries out piling in station six F position, after the complete buttress of code, whole buttress electronlmobil first battery box (817) or the second battery case (823) fork are walked by artificial fork truck, transport electronlmobil first battery box (817) or the second battery case (823) workflow that are full of electricity: whole buttress is full of electric electronlmobil first battery box (817) or the second battery case (823) enters after station four D by forklift, electronlmobil first battery box (817) or the second battery case (823) are torn open into station three C place by the second robot palletizer (609), electronlmobil first battery box (817) or the second battery case (823) with the second travel line (610) to station B position diffluence, electronlmobil first battery box (817) or the second battery case (823) are input to robot by the second travel line (610) and capture station two B, and accurate positioning, robot ferry bus (199) enters into station one A along rail track (611) walking, first robot palletizer (608) captures electronlmobil first battery box (817) or the second battery case (823) in station two B position, be put into robot ferry bus (199) top that station one A position enters, ferry-boat robot (199) is along under ferry-boat robot rail (198) track travel four post lifting machine (22), upload delivery of energy due to single motor automobile first battery box (817) or the second battery case (823) at the second travel line (610) accurately to locate, so 3-D scanning recognizer does not work, electronlmobil first battery box (817) before first robot palletizer (608) captures on travel line or the height of the second battery case (823) are judged by photoelectric switch, the elevation information of the first battery box (817) or the second battery case (823) passes to the first robot palletizer (608), first robot palletizer (608) runs to fixture crawl position automatically.
5. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: the constructional drawing of the first robot palletizer (608) and the second robot palletizer (609), comprise base (501), frame (502), arm mechanism and handgrip (503), the driver train driving arm mechanism action is provided with in frame (502), frame (502) is rotated by θ axle (504) and is arranged on base (501), be equipped with AC servomotor and reductor realizes the rotation of complete machine around θ axle (504), driver train comprises vertical component and horizontal component, both include motor (505), driving wheel (506), flower wheel (507), Timing Belt (508), ball-screw (509) and shifting sledge (510), driving wheel (506) is connected with motor (505), Timing Belt (508) is set on driving wheel (506) and flower wheel (507), flower wheel (507) and ball-screw (509) are coaxially connected, shifting sledge (510) is threaded with ball-screw (509), the ball-screw (509) of vertical component is vertically arranged, the ball-screw (509) of horizontal component is horizontally disposed with, above-mentioned motor (505), driving wheel (506), the annexes such as flower wheel (507) and Timing Belt (508) are also thereupon corresponding to be arranged, arm mechanism comprises forearm (511), postbrachium (512) and the parallel arms (513) parallel with postbrachium (512), the front end of forearm (511) is rotationally connected by P axle (522) and handgrip (503), end, rear end is rotationally connected by J axle (514) and postbrachium (512), the other end of postbrachium (512) is rotationally connected by the shifting sledge (510) of Z axis (515) with vertical component, the upper end of parallel arms (513) is rotationally connected by rotating shaft (521) and forearm 11, lower end is rotationally connected by the shifting sledge (510) of R axle (516) with horizontal component, rotating shaft (521) is also rotatably connected to rotating disk (520), rotating disk (520) is triangular in shape, rotating shaft (521) is arranged on wherein one end of rotating disk (520), the other two ends of rotating disk (520) are rotatably connected to front tension bar (518) and back stay (519) respectively, front tension bar (518) is then connected with handgrip (503) and cylinder (517) respectively with the other end of back stay (519), in (3), upper 3-D scanning recognizer (523) of installing installs 3-D scanning recognizer (523) in a side of handgrip (503), 3-D scanning recognizer (523) with there is between control setup information communication be connected, identify and location for carrying out three-dimensional to crawl object, 3-D scanning recognizer arranges (523) on the side of the link span parallel with handgrip (503) move toward one another direction, robot selects the industrial robot IRB660_180/3.15 of ABB, 3-D scanning recognizer adopts SICK LMS400-2000 type product.
6. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: Quick change robot (199) comprises X-axis, Z axis, the degree of freedom in R axle three directions, be followed successively by straight walking mechanism (201), hydraulic lifting mechanism 202) and angle deviation correction mechanism (203), straight walking mechanism (201) is positioned at the bottom of Quick change robot (199), comprise pulley (301), universal coupling (204), belt (302), first servomotor (303), several parts such as the first reductor (304) and base (305), two, front end pulley is robot engine installation, is connected with one group of universal coupling, and two, rear end pulley is hunting gear, first servomotor (303) is connected with supporting the first reductor (304) expansion set, the power transmission of the first reductor (304) and pulley (301) is realized by belt, drive pulley (301) straight line moving on slide rail, straight walking mechanism (301) lower end is furnished with three photoelectric switchs, coordinate with initial point catch and former and later two limit catch successively, be supplied to PLC control system (401) location switch signal, realize the search of robot initial point and reset, and stopping its operation of crossing the border, front limit catch, initial point catch and rear limit catch are arranged in order along the line slide rail laid, initial point catch is positioned in the middle of the limit catch of front and back, hydraulic lifting lifting mechanism (202) is positioned at the top of straight walking mechanism (201) base, comprises two hydraulically extensible cylinders, one-stage hydraulic cylinder (306) is positioned at the bottom of two-stage hydraulic cylinder (307), and after one-stage hydraulic cylinder (306) is stretched out completely, two-stage hydraulic cylinder (307) carries out fore and aft motion, I and II hydraulic actuating cylinder side welding beam be furnished with anti-rotation beam respectively, anti-rotation beam coordinates with two anti-rotating holes be positioned on one-stage hydraulic cylinder welding beam and base welding beam, prevents battery with the rotation in hydraulic gear (202) lifting process, I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar (205), coder (206), catch and the first proximity switch, catch matches with proximity switch, first proximity switch is arranged at the bottom of one-stage hydraulic cylinder welding beam, when one-stage hydraulic cylinder (306) is stretched out completely, catch triggers the on-off signal of proximity switch, and two-stage hydraulic cylinder (307) starts fore and aft motion, the tooth bar (205) be positioned on two-stage hydraulic cylinder (307) side is engaged with coder (206) by gear, obtains two-stage hydraulic cylinder (307) rise height by calculation code device (206) revolution, coder (206) is connected with PLC control system (401), PLC control system 401) start high-speed counting, angle deviation correction mechanism (203) is positioned at the upper end of hydraulic lifting mechanism (202), comprise mounting flange (308), large miniature gears (309), several parts such as the second servomotor (310) and the second reductor (311), two-stage hydraulic cylinder (307) is provided with mounting flange (308), second servomotor (310), second reductor (311), large miniature gears (309) is arranged on mounting flange (308) successively, miniature gears is installed in second servomotor (310) upper end, (307) install big gear wheel to two-stage hydraulic cylinder, size gear mechanism engages, drive to coordinate with the second servomotor (310) and rotate, big gear wheel lower end is furnished with catch, upper layout three the second proximity switches of mounting flange (308), big gear wheel triggers successively and rotates Derivative limit on the left or on the right in rotary course, former reset on-off signal, guarantee that big gear wheel rotates within the limits prescribed dynamic, angle deviation correction mechanism (203) upper end is provided with battery tray (31 2), big gear wheel rotation center is concentric with battery box pallet (312) center of gravity, battery box pallet (312) is provided with four limiting stoppers (313), be coupled with four projections bottom electronlmobil to be changed (200) battery pack box, battery outer box fine position can be realized and reliably fix, battery box pallet (312) is provided with ultrasonic range finder sensor (408) and DMP sensor (409), ultrasonic range finder sensor (408) is for measuring the distance of battery tray (312) to electric manned vehicle chassis to be changed, DMP sensor (409) coordinates with the reflector be installed on electric manned vehicle chassis to be changed, search and calculate reflector target position, obtain the level angle deviation of ferry-boat robot (199) and electric manned vehicle to be changed, straight walking mechanism (201), hydraulic lifting mechanism (202) links, when only having (199) straightaway of ferry-boat robot and vertical lifting to arrive desired location, angle deviation correction mechanism (203) just starts action, the battery tray (312) on angle deviation correction mechanism (203) is only had to produce a desired effect, hydraulic lifting mechanism (202) is just restarted, straight walking mechanism (201), angle deviation correction mechanism (203) adopts driven by servomotor, drive motor is connected with corresponding coder, each coder is connected with corresponding actuator, actuator sends position pulse signal to servomotor, and the motor rotation information transmission of collection is returned actuator by coder, forming position pattern full closed loop control.
7. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: schematic diagram disposed by the monitored control system hardware that electronlmobil changes system, the monitor workstation of distributing monitoring system, server, chopping machine, switching arrangement communication processor is connected by the network switch of native industry ethernet with charging monitoring system with power information acquisition terminal, the network switch of distributing monitoring system is connected with the communication gate of superior system by native industry ethernet, switching arrangement communication processor is connected with the communication gate of switching arrangement and superior system by other communication links such as 3G/4G wireless networks, power information acquisition terminal is connected with the communication gate of metering system and superior system by other communication links such as 3G/4G wireless networks, the intelligent communications terminal of battery replacement of electric automobile monitored control system is connected with the network switch of described charging monitoring system by native industry ethernet, battery replacement of electric automobile system comprises by the first robot palletizer (608), second robot palletizer (609) ferry-boat robot (199), four post lifting machines (22), ferry-boat robot ambulation rail (198), first travel line (607) and the second travel line (610), use monitoring and control centre computer controlled, commander, electronlmobil is guided to change each step of battery, the video server of video monitoring system is connected with the communication gate of superior system by native industry ethernet, wherein data server can store monitored control system historical data, front server can gather conciliates phase separation pass real time data, and be transmitted to other computing machines, safety monitoring workstation is used for the monitoring and controlling of video monitoring system, communication gate can realize the conversion between CAN and native industry ethernet, the network switch has 24 mouthfuls, VLAN (Virtual Local Area Network can be divided, VLAN), realize the communication between subsystems, after the vehicle-mounted device of electronlmobil in Fig. 1 is connected by Industrial Ethernet or other networks with electric automobile charging station monitored control system hardware, the electronlmobil charged is contacted by 3G/4G network and monitor workstation (03) computing machine, find and nearest apart from it change battery station, after battery station is changed in arrival, automobile driver is opened electronlmobil (200) and is changed the battery station chaufeur changed in four post lifting machine (22) electric car cabs of battery system and start on the LCD screen of the vehicle-mounted device of electronlmobil and change battery mode by computer controlled remote monitor and control, at this time monitor workstation (03) transfers monitor workstation (01) or monitor workstation (02) by network to the cell process of changing of automobile, complete this car by monitor workstation (01) or monitor workstation (02) and change the whole process of battery until vehicle leaves four post lifting machines (22), the computer network of monitor workstation (01) monitor workstation (02) and monitor workstation (03) is linked together by telecommunications network or Industrial Ethernet.
8. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: by the first column (13), second column (18), 3rd column (19), 4th column (20), cantilever beam (16), crossbeam (17), hold car race plate (15) composition one and have the four post lifting machines (22) holding car race plate (15), crossbeam between the first column (13) and the second column (18) is arranged opening (23), so that ferry-boat robot (199) enters four post lifting machines (22) inside, between the 3rd column (19) and the 4th column (20), crossbeam (17) is set, first column (13) second column (18), 3rd column (19) and the 4th column (20) are arranged on movable stand (7) and go up and move up and down with movable stand (7), lifting is held car and is run plate (15) to suitable position, get on the bus swash plate (21) with hold car and run plate (15) and link together and facilitate the car that holds of the upper and lower four post lifting machines (22) of electronlmobil (200) to run plate (15), the bottom symmetrical of lifting machine fixed mount (1) is provided with four or more scroll wheel, every platform lifting machine column is by fixed mount (1), power unit (2), hydraulic actuating cylinder (3), hoisting chain (4), check-out console (5), detector switch (6), movable stand (7), chain pulley seat (11) and sprocket wheel (12) connect and compose, the pile internal fixtion of fixed mount (1) connects strip check-out console (5), this check-out console (5) is provided with some breach of decile, the bottom of movable stand (7) upper end is provided with detector switch (6), detector switch (6) matches with check-out console (5), when check-out console (5) is in detector switch (6) detection range, detector switch (6) just can output signal, (5) have breach with check-out console, when just in time detector switch (6) detects breach, detector switch (6) not output signal, and so forth, signal that the detector switch (6) of every platform lifting machine column produces all is calculated by data line connection control device (8), the data simultaneously calculated by controller (8) connect display panel (9) display by data line, the upper end of movable stand (7) is provided with chain pulley seat (11) and sprocket wheel (12), sprocket wheel (12) supporting hoisting chain (4), hoisting chain (4) one end connects movable stand (7), other end Connection Bracket (1), the base of one end Connection Bracket (1) of hydraulic actuating cylinder (3), other end connection chain wheel seat (11), when hydraulic actuating cylinder (3) is elevated, the sprocket wheel (12) on chain pulley seat (11) is driven to rotate, related hoisting chain (4) runs, while movable stand (7) is elevated thereupon, check-out console (5) and detector switch (6) work and produce electric signal.
9. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: electronlmobil (200) car-mounted device comprises main control module, CAN communication module, 3G/4G wireless communication module, gps data receiving processing module and user interactive module, described CAN communication module is bi-directionally connected by spi bus and described main control module, described 3G/4G wireless communication module, gps data receiving processing module and user interactive module are all bi-directionally connected by serial ports and described main control module, and main control module comprises master controller and Android/Windows embedded OS, described liquid crystal display connects master board by liquid crystal socket, shows for man-machine interaction, described embedded OS provides the authority of access framework application programming interfaces, and provides driver module and ICP/IP protocol stack, described master controller comprises and connects 32/64 bit microprocessor of ARMCortex-A8 series of master board, ROM clock, ram clock and reset circuit by pin, and CAN communication module comprises CAN physical interface, data processing and memory cell, CAN transceiver, CAN controller and external crystal, described CAN physical interface is articulated on CAN Bus in Electric, and described CAN transceiver is connected with CAN controller with CAN L by CAN H, and described CAN controller is connected with described master board by SPI interface, described data processing and memory cell process observed reading, and described device is gathered comprise observed reading, the real time data of quantity of state and alert event and the centralized stores of historical data, the running state of CAN physical interface Real-time Collection electronlmobil and battery information, described running state comprises running velocity and distance travelled, described battery information comprises car load charge/discharge voltage, car load charge/discharge current, battery SOC, battery module temperature, cell maximum voltage, cell minimum voltage, 3G/4G wireless communication module comprises 3G/4G communication chip, module when real time data interactive module and real time data pair, described 3G/4G communication chip is connected with described master board by pin, described real time data interactive module forwards the running state of electronlmobil and battery information to monitoring and control centre, and receives monitoring and control centre and issue the information on services comprising and fill/electrical changing station site information, electricity price information and news, when described pair unit receive monitoring and control centre issue synchronized clocke pair time instruction, to ensure the conformability of setup time in region, gps data receiving processing module provides navigation Service and monitors Operation Network, described navigation Service comprises destination retrieval, route checks, analogue navigation and truly navigating, show electrical changing station in operational area, dispersion charging pile distributing position and electronlmobil running state monitoring Operation Network in real time by map, and display comprises the status information of electronlmobil geographic position, electronlmobil speed and dump energy.
10. the batteries of electric automobile group of the multiple robot composition of computer internet according to claim 1 changes system, it is characterized in that: in fig. 14, ferry-boat robot (199) control system block diagram, ((401) are the core of ferry-boat robot (199) action control to described PLC control system, comprise touch-screen (402), wireless communication module (403), Omron PLC controller (404), A/D module (405), D/A module (406) etc., wireless communication module (403) is communicated with touch-screen (402) by serial ports RS (485), Omron PLC controller (404) is communicated with touch-screen (402) by serial ports RS (232), and touch-screen (402) is communicated with background monitoring system (407) by Industrial Ethernet, ultrasonic range finder sensor (408), DMP sensor (409), hydraulic proportional flow valve (410), each coder (411), proximity switch (412), photoelectric switch (413) etc. and PLC control system (401) real-time Data Transmission communication, ultrasonic range finder sensor (408) is connected with the A/D module (405) in PLC control system (401) with DMP sensor (409), the analog signal of sensor collection is converted into digital signal, and send PLC control system (401) to, hydraulic proportional flow valve (410) is connected with the D/A module (406) in PLC control system (401), the digital controlled signal of PLC control system (401) is converted into analogue flow rate control information, realize the speeds control to hydraulic lifting mechanism (202), coder is connected with the A/D module (405) of PLC control system (401), coder (411) gathers the rise height of two-stage hydraulic cylinder (307) single rack, two-stage hydraulic cylinder (307) lifting distance is obtained through calculating, by this data feedback to PLC control system (401), form the full closed loop control in lifting process, proximity switch (412) is connected with the Omron PLC controller (404) in PLC control system (401) with photoelectric switch (413), the end position information of real-time Transmission ferry-boat robot (199) each degree of freedom, trigger interrupt mode and the high-speed counting pattern of PLC control system (401), realize ferry-boat robot (199) accurate in specialized range, quick action.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410053423.XA CN104828028B (en) | 2014-02-12 | 2014-02-12 | The batteries of electric automobile group of the multiple robot compositions of computer internet replaces system |
| PCT/CN2015/000238 WO2015120753A1 (en) | 2014-02-12 | 2015-04-07 | Electric vehicle battery pack replacement system consisting of computers, internet, multiple robots |
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| CN201410053423.XA CN104828028B (en) | 2014-02-12 | 2014-02-12 | The batteries of electric automobile group of the multiple robot compositions of computer internet replaces system |
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| CN104828028B (en) | 2019-02-26 |
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Effective date of registration: 20191210 Address after: 101100 Beijing city Shuaifuyuan Tongzhou District Building No. 32 room 912 Patentee after: Yue Xiulan Address before: 101100 Beijing city Shuaifuyuan Tongzhou District Building No. 32 room 912 Patentee before: Han Lei |