CN104828028B - The batteries of electric automobile group of the multiple robot compositions of computer internet replaces system - Google Patents
The batteries of electric automobile group of the multiple robot compositions of computer internet replaces system Download PDFInfo
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- CN104828028B CN104828028B CN201410053423.XA CN201410053423A CN104828028B CN 104828028 B CN104828028 B CN 104828028B CN 201410053423 A CN201410053423 A CN 201410053423A CN 104828028 B CN104828028 B CN 104828028B
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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
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Electric car car-mounted device includes main control module, CAN bus communication module, 3G/4G wireless communication module, GPS data receiving processing module and user interactive module, CAN bus physical interface is articulated on CAN Bus in Electric, CAN bus physical interface acquires the operating status and battery information of electric car in real time, 3G/4G communication chip is connect by pin with master board, real time data interactive module forwards the operating status and battery information of electric car to monitoring center, and GPS data receiving processing module provides navigation Service and simultaneously monitors Operation Network；The intelligent communications terminal of battery replacement of electric automobile monitoring system is connect by native industry Ethernet with the network switch of charging monitoring system, electric automobile battery replacing station includes the first and second robot palletizer, ferry-boat robot, four column lifting machines, rail, the first and second pipeline, controls the step of electric car replaces battery with monitoring center.
Description
Technical field
The present invention relates to automobile manufacturing field, be related specifically to it is a kind of by computer, it is multiple supervising softwares, wired
Internet/wireless Internet, robot palletizer, ferry-boat robot, pipeline, lifting machine composition, by computer internet and vehicle
After carrying the connection of 3G/4G wireless network, replacement batteries of electric automobile group is completed with monitoring 15 steps of computer remote manipulative procedure point
The system of replacement.
Background technique
Pure electric automobile is a kind of automobile using single battery as stored energy power source, is provided by battery to motor
Electric energy, drive motor operating, so that automobile be pushed to advance.From the appearance, electric car and the daily automobile seen be not
There is any difference, difference essentially consists in power source and its drive system.That is the motor of pure electric automobile is equivalent to orthodox car
Engine, battery is equivalent to original fuel tank.The pernicious gas of itself not exhaust emission atmosphere, even if pressing institute's power consumption
It is scaled the discharge in power plant, outside sulphur removal and particle, other pollutants are also substantially reduced, since power plant is built in mostly far from population
Intensive city is injured the mankind less.It, can be with since electric power can be obtained from various energy resources, such as coal, nuclear energy, waterpower
Release people's worry day by day exhausted to petroleum resources.Electric car can also make full use of the electricity having more than needed when night low power consumption
Power charging, make full use of generating equipment day and night can, improves its economic benefit.The lag of battery technology and charging technique at
For the bottleneck for fettering electric car industry development, national governments and enterprise work hard and improve the mating infrastructure service production of electric car
Industry.Currently, electric automobile energy supply mainly has charging and changes electric both of which.The charging time that charging needs is longer, big electricity
Current charge is affected to battery, and is easy to generate harmonic pollution to power distribution network, which has larger drawback.With
This is compared, change it is electrically operated simple, by specialized industrial robot can realize electric energy quickly, efficient supplement.Although electric car
There is extraordinary application prospect as green means of transport, but to really be not easy to electric car realization socialization.
In addition, how to ensure charging service Cybersecurity Operation, provide intelligence, efficient electric charging service, realize electric car it is quick,
Orderly charging and controllable, reasonable scheduling, and need key problems-solving.One electric car operation can also divide
It is completed for three pieces, i.e., vehicle enterprise, battery manufacture enterprise and electric car replacement battery station operator share out the work and help one another.Both at home and abroad
The construction looked forward to electric car and change battery station of many electric car manufacturing enterprises eagerly, because electric car changes battery station
It is that the indispensability on road is mating on electric car.In terms of technical standpoint, many vehicle enterprises can produce pure electric automobile now, but such as
What makes farther battery durable, longer life expectancy, volume smaller, while can reduce the purchase cost of consumer again, this is only enterprise face
The ultimate challenge faced.Is electric car got caught up in as a kind of new traffic tool, auxiliary facility? the use habit of consumer
Can adapt to? this requires the time to solve.If you have bought an electric car, reach on the way it is out of power, can not find charging
It stands；It finds in other words and arranges many vehicles before charging station, 5 hours also to be waited just to it's your turn；At night, six building, Ni Cong drawings one
For electric wire to charging self, more than 20 amperes of electric current allows full building to jump lock.It is indicated above, under the conditions of the prior art, electric car tool
There are apparent limitation and shortcoming convenience.Existing electric car, the defects of can not easily replacing battery automatically are all anxious
It needs improved.Therefore, a whole set of economic, stable battery replacement of electric automobile system and replacing options need to be provided, realize electricity
Quick, the safe and accurate energy recharge of electrical automobile meets the daily traveling demand of electric car, pushes electric car commercialization
And industrialized development.
Summary of the invention
In order to overcome existing electric car driving battery group replacement system bulk is big, cause to take up a large area, from
The disadvantages of dynamicization degree is low, investment is big, without practicability, the present invention provides a kind of batteries of electric automobile groups to replace system, this is
System is using by computer, a variety of supervising softwares, wired internet/wireless Internet, robot palletizer, ferry-boat machine
People, pipeline, lifting machine composition, after being connect by computer internet with vehicle-bone 3 G/4G wireless network, by working before monitoring computer
The system that personnel complete replacement batteries of electric automobile group replacement with 15 steps of remote control program.
The technical solution used to solve the technical problems of the present invention is that: it include master control molding in electric car car-mounted device
Block, CAN bus communication module, 3G/4G wireless communication module, GPS data receiving processing module and user interactive module；It is described
CAN bus communication module is bi-directionally connected by spi bus and the main control module, the 3G/4G wireless communication module, GPS
It includes master controller and Android/Windows embedding that data receiver processing module and user interactive module, which pass through main control module,
Enter formula operating system；Liquid crystal display connects master board by liquid crystal socket, shows for human-computer interaction；Embedded OS mentions
For accessing the permission of frame application programming interfaces, and provide drive module and ICP/IP protocol stack；Master controller includes by drawing
Foot connects 32/64 bit microprocessor, ROM clock, ram clock and the reset circuit of the ARMCortex-A8 series of master board.
CAN bus communication module include CAN bus physical interface, data processing and storage unit, CAN bus transceiver,
CAN controller and external crystal；CAN bus physical interface is articulated on CAN Bus in Electric, CAN bus transmitting-receiving
Device is connect by CAN_H and CAN_L with CAN controller, and CAN controller is connect by SPI interface with master board；
Data processing and storage unit handle measured value, and to device acquisition including measured value, quantity of state and alert event
Real time data and historical data it is centrally stored.CAN bus physical interface acquires the operating status and electricity of electric car in real time
Pond information, operating status include the speed of service and distance travelled, and battery information includes vehicle charge/discharge voltage, vehicle charge/discharge
Electric current, battery SOC, battery module temperature, single battery ceiling voltage, single battery minimum voltage.3G/4G wireless communication module
Including 3G/4G communication chip, real time data interactive module and real time data clock synchronization module；3G/4G communication chip by pin with
Master board connection, real time data interactive module forward the operating status and battery information of electric car to monitoring center, and connect
Receive monitoring center issue including fill/electrical changing station site information, electricity price information and news information on services；Clock synchronization unit receives monitoring
The synchronised clock clock synchronization instruction that center issues, to guarantee the consistency of area's device within a domain time.GPS data receiving processing module mentions
For navigation Service and monitor Operation Network；Navigation Service include destination retrieval, route check, analogue navigation and true navigation；
Pass through electrical changing station, dispersion charging pile distributing position and electric car running state monitoring operation in map real-time display operational area
Network, and show the status information including electric car geographical location, electric car speed and remaining capacity.
The monitoring system hardware that electric car replaces system disposes schematic diagram, monitor workstation, the clothes of distributing monitoring system
Business device, printer, distribution system communication processor and power information acquisition terminal pass through native industry Ethernet and charging monitoring
The network switch of system connects, and the network battery replacement of electric automobile monitoring system interchanger of distributing monitoring system passes through local
The connection of the communication gate of Industrial Ethernet and superior system, distribution system communication processor pass through 3G/4G wireless communication chain
Road is connect with the communication gate of distribution system and superior system, and power information acquisition terminal passes through 3G/4G wireless communication
Link is connect with the communication gate of metering system and superior system；Intelligent communications terminal by native industry Ethernet and filling
The network switch of electricity consumption monitoring system connects, and battery replacement of electric automobile system includes by the first robot palletizer, the second stacking
Ferry-boat robot, robot, four column lifting machines, ferry-boat robot traveling steel rail, the first pipeline and the second pipeline, with monitoring
Central computer control, commander, each step for guiding electric car replacement battery.The video server of video monitoring system is logical
The communication gate for crossing native industry Ethernet and superior system connects.Wherein data server can store monitoring system history number
According to front server can acquire reconciliation phase separation and close real time data, and be transmitted to other computers.Safety monitoring work station is used for
The monitoring and control of video monitoring system.The conversion between CAN bus and native industry Ethernet may be implemented in communication gate.Net
Network interchanger has 24 mouthfuls, and can dividing VLAN, (Virtual Local Area Network, virtual LAN realize each height
Communication between system.Electric car car-mounted device with electric automobile charging station monitoring system hardware by Industrial Ethernet or
After other network connections, the electric car to be charged is contacted by 3G/4G network and third monitor workstation computer, is found
Battery station is changed away from nearest, after battery station is changed in arrival, electric car is opened upper electric car battery pack more by driver
The driver in four column lifting machine electric car cabs of battery system is changed between changing trains in the liquid crystal of electric car car-mounted device
Starting controls long-range monitoring by computer and changes battery mode on screen, and at this time third monitor workstation is by network automobile
Change cell process transfer to the first monitor workstation perhaps the second monitor workstation by the first monitor workstation or second monitor
Work station completes the vehicle and changes the whole process of battery until vehicle leaves four column lifting machines.First monitor workstation, the second monitoring
The computer network of work station and third monitor workstation is linked together by telecommunications network or Industrial Ethernet.
Electric car change station monitoring system includes superior system, distributing monitoring system, battery altering monitoring system and view
Frequency monitoring system passes through native industry Ethernet and GPRS/CDMA (General between distributing monitoring system and superior system
Packet Radio Service, General Packet Radio Service；Code Division Multiple Access, code multiple address
Wireless network) wireless communication link communication, between distributing monitoring system and battery altering monitoring system, video monitoring system
Pass through native industry ethernet communication between superior system.Distributing monitoring system, the building of battery altering monitoring system are being united
On one software platform, subsystem computer equipment, which is realized, to be shared, it is contemplated that video is supervised by network safety prevention and public security department
System access requirement is controlled, video monitoring system is independently arranged, and by the communication gate of superior system and charging monitoring system and matches
Electricity consumption monitoring system realizes information interaction.
Electric car change station monitoring system is divided into measurement acquisition module, signal acquisition module, control output module, information
Management module, measurement acquisition module, signal acquisition module, control output module pass through native industry Ethernet and information management mould
Block connection, information management module are flat by the computer monitoring of 3G/4G/CDMA wireless communication link connection superior system
Platform；Wherein measurement acquisition module includes the first monitoring monitor workstation, server, data server, printer, network exchange
Machine, distribution system communication processor and power information acquisition terminal pass through native industry ethernet communication, distribution system communication tube
Between reason machine and the communication gate of distribution system and superior system, power information acquisition terminal and metering system and higher level be
Pass through 3G/4G/CDMA wireless communication link communication between the communication gate of system.Measure acquisition module, signal acquisition mould
Block, control output module belong to parallel relationship, wherein measurement acquisition module acquisition secondary current transducer signal and secondary voltage
Transducer signal, signal acquisition module acquire remote signalling amount, switching signal, protection signal, alarm signal, trouble-signal, state letter
Number equal a series of signal amount, two class signals are transmitted to information management module, information management module and superior system by CAN bus
After realizing information interaction, control command is assigned to information management module by superior system, then control is transmitted to by CAN bus
Output module movement.
Battery altering station monitoring system includes intelligent communications terminal and battery replacement of electric automobile system；Intelligent communications terminal
It is connected between battery replacement of electric automobile system by CAN bus, battery replacement of electric automobile system includes by the first stacking
Robot, the second robot palletizer, ferry-boat robot, four column lifting machines, the first pipeline and the second pipeline；First stacking machine
Pass through local work between device people, the second robot palletizer ferry-boat robot, four column lifting machines, the first pipeline and the second pipeline
Industrial Ethernet connection, intelligent communications terminal are integrated with dispatcher software, logical by number between dispatcher software and intelligent communications terminal
Believe link connection.Dispatcher software assigns control command to the first robot palletizer, the second stacking machine device by intelligent communications terminal
People, the first pipeline and the second pipeline；First robot palletizer, the second robot palletizer, the first pipeline, the second pipeline
It is built-in with PLC (Programmable logicController, programmable controller) program with four column lifting machines, can be controlled
The entire replacement process of the first battery box of electric car or the second battery box processed, is removed after internal analysis from two B of station
The first battery box of electric car or the second battery box are placed in ferry-boat robot, then are transported by ferry-boat robot；Simultaneously
First robot palletizer, the second robot palletizer, the first pipeline, the second pipeline and the position of four column lifting machines, failure are believed
Number, module charger working condition, temperature, fault-signal, power, voltage, electric current, battery pack temperature, SOC, end voltage, electricity
The signals such as stream, battery connection status, battery failures are uploaded to dispatcher software by intelligent communications terminal.
Electric automobile battery replacing station monitoring system video monitoring system includes safety monitoring work station, ball machine, video clothes
Business device；It is connected between ball machine and video server by CAN bus and video signal cable, video server and safety monitoring work
Make to connect between station and the communication gate of superior system by native industry Ethernet.
By the first column, the second column, third column, the 4th column, cantilever beam, crossbeam, holds vehicle and run board group and have at one
The four column lifting machines that vehicle runs plate are held, opening are set on the crossbeam between the first column and the second column, in order to machine of ferrying
People enters inside four column lifting machines, and crossbeam is arranged between third column and the 4th column, and first the second column of column, third are vertical
Column and the 4th column are mounted on movable stand and move up and down with movable stand, and promotion holds vehicle and runs plate to suitable position, get on the bus
Inclined plate with hold vehicle run plate link together facilitate electric car up and down four column lifting machines hold vehicle run plate.
The bottom symmetrical of lifting machine fixed frame is equipped with four or more scroll wheel, and every lifting machine column is by fixing
Frame, power unit, hydraulic cylinder, hoisting chain, detection plate, detection switch, movable stand, chain pulley seat and sprocket wheel connect and compose.It is fixed
Strip detection plate is fixedly connected in the pile of frame, which is equipped with several notches of equal part, and the bottom of movable stand upper end is equipped with
Detection switch, detection switch match with detection plate, and when detection plate is in detection switch detection range, detection switch just can be defeated
Signal out.Notch is provided in detection plate, when just detection switch detects notch, detection switch not output signal is so past
It is multiple.The signal that the detection switch of every lifting machine column generates connects controller by data line and is calculated, and simultaneously will
The calculated data of controller connect display panel by data line and show.The upper end of movable stand is equipped with chain pulley seat and sprocket wheel, chain
Mating hoisting chain is taken turns, hoisting chain one end connects movable stand, other end Connection Bracket.One end Connection Bracket of hydraulic cylinder
Pedestal, the other end connect chain pulley seat.When hydraulic cylinder lifting, the sprocket wheel rotation on chain pulley seat, related hoisting chain fortune are driven
Row, while movable stand is gone up and down therewith, detection plate and detection switch work and generate electric signal.
The fractional hardware of battery replacement of electric automobile system is by rail, ferry-boat robot, four column lifting machines, background monitoring system
System, the first pipeline, the second pipeline, the first robot palletizer and the second robot palletizer composition；Above electric automobile chassis
There are the first battery box and the second battery box.
Ferry-boat robot include X-axis, Z axis, three directions of R axis freedom degree, be followed successively by straight walking mechanism, hydraulic lifting
Mechanism and angle deviation correction mechanism.Straight walking mechanism be located at ferry-boat robot bottom, including pulley, Hooks coupling universal coupling, belt,
Several parts such as first servo motor, the first speed reducer and pedestal；The pulley of front end two is robot power device, with one group ten thousand
It is connected to shaft coupling, the pulley of rear end two is slave unit；First servo motor is connect with matched first speed reducer expansion set, is led to
The power transmission that belt realizes the first speed reducer and pulley is crossed, driving pulley on the slide rail walk by straight line.Under straight walking mechanism
There are three optoelectronic switches for end arrangement, successively cooperate with origin baffle and former and later two limit baffles, are supplied to PLC control system and arrive
Bit switch signal is realized the search of robot origin and is resetted, and prevents its operation of crossing the border；Preceding limit baffle, origin baffle and after
Limit baffle is arranged successively along the line slide rail being laid with, and origin baffle is located among the limit baffle of front and back.Hydraulic lifting lifting machine
Structure is located at the top of straight walking mechanism pedestal, including two hydraulically extensible cylinders；One-stage hydraulic cylinder is located under two-stage hydraulic cylinder
Portion, after one-stage hydraulic cylinder is fully extended, two-stage hydraulic cylinder carries out stretching motion；Crossbeam is respectively welded in I and II hydraulic cylinder side
And it is disposed with anti-rotation beam, anti-rotation beam is matched with two anti-rotating holes being located on one-stage hydraulic cylinder welding beam and tube chamber welds with base crossbeam
It closes, prevents battery with the rotation in hydraulic mechanism lifting process；The I and II hydraulic cylinder other side be respectively arranged with rack gear (31),
The close switch of encoder, baffle and first；Baffle is matched with close to switch, and first is set to one-stage hydraulic cylinder weldering close to switch
The bottom end for connecing crossbeam, when one-stage hydraulic cylinder is fully extended, close to the switching signal switched, two-stage hydraulic cylinder starts to stretch for baffle triggering
Contracting movement；Rack gear on two-stage hydraulic cylinder side is engaged by gear with encoder, is obtained by calculation code device revolution
Two-stage hydraulic cylinder lifting height；Encoder is connect with PLC control system, and PLC control system starts high-speed counting.Angle rectification machine
It is several that structure is located at upper end of hydraulic lifting mechanism, including mounting flange, big pinion gear, the second servo motor and the second speed reducer etc.
Part.Mounting flange is installed, the second servo motor, the second speed reducer, big pinion gear are sequentially arranged in peace on two-stage hydraulic cylinder
It filling on flange, pinion gear is installed in the second servo motor upper end, and gear wheel is installed on two-stage hydraulic cylinder, and size gear mechanism engages,
Cooperation rotation is driven with the second servo motor.Gear wheel lower end is disposed with baffle, and arrangement three second is close to opening on mounting flange
It closes；Successively triggering rotates Derivative limit on the left or on the right, former reset switching signal to gear wheel in rotary course, it is ensured that gear wheel is defined
The rotation of range inward turning.Angle deviation correction mechanism upper end is equipped with battery tray, gear wheel rotation center and battery box pallet center of gravity
With one heart.There are four limited blocks for the installation of battery box pallet, couple with four protrusions in battery pack box of electric automobile bottom to be changed, can be real
Show battery outer box fine position and is reliably fixed.Ultrasonic range finder sensor and DMP sensor are installed on battery box pallet；It is super
Sound ranging sensor is used to measure battery tray to the distance on electric passenger car chassis to be changed；DMP sensor and it is installed on electricity to be changed
Reflector cooperation on passenger car chassis, searches and calculates reflector target position, obtains ferry-boat robot and electric passenger car to be changed
Level angle deviation.Straight walking mechanism, hydraulic lifting mechanism linkage, only ferry-boat robot straight line are advanced and vertical lifting
When reaching setting position, angle deviation correction mechanism just starts to act, and only the battery tray on angled deviation correction mechanism reaches expected effect
Fruit, hydraulic lifting mechanism are just restarted.Straight walking mechanism, angle deviation correction mechanism are driven using servo motor, driving
Motor is connected with corresponding encoder, and each encoder is connected with corresponding driver；Driver sends position pulse signal to watching
Motor is taken, the motor rotation information of acquisition is passed back to driver, forming position mode full closed loop control by encoder.
Ferry-boat robot control system block diagram PLC control system is the core of ferry-boat robot motion control, including
Touch screen, wireless communication module, Omron PLC controller, A/D module, D/A module etc.；Wireless communication module passes through the second string
Mouth RS and touch panel communication, for Omron PLC controller by first serial RS and touch panel communication, touch screen passes through industrial ether
Net is communicated with background monitoring system；Ultrasonic range finder sensor, hydraulic proportional flow valve, each encoder, is approached and is opened DMP sensor
Pass, optoelectronic switch etc. are communicated with PLC control system real-time Data Transmission.Ultrasonic range finder sensor and DMP sensor and PLC control
A/D module connection in system, converts digital signal for the analog signal that sensor acquires, and send PLC control system to.
Hydraulic proportional flow valve is connect with the D/A module in PLC control system, converts the digital controlled signal of PLC control system to
Analogue flow rate controls information, realizes the speed control to hydraulic lifting mechanism.The A/D module of encoder and PLC control system connects
It connects, encoder acquires the lifting height of two-stage hydraulic cylinder single rack, two-stage hydraulic cylinder lifting distance is obtained by calculating, by this
Data feedback forms the full closed loop control in lifting process to PLC control system.It is controlled close to switch and optoelectronic switch and PLC
Omron PLC controller connection in system, the extreme position information of real-time Transmission ferry-boat each freedom degree of robot, triggers PLC
The interrupt mode and high-speed counting mode of control system realize accurate, the quick acting of ferry-boat robot within the specified scope.
The structure of first robot palletizer and the second robot palletizer, including pedestal, rack, arm mechanism and handgrip, machine
The driving mechanism of driving arm mechanism movement is equipped in frame, rack is rotatably arranged on pedestal by θ axis, is equipped with AC servo motor
Realize complete machine around the rotation of θ axis with speed reducer.Driving mechanism includes vertical component and horizontal component, both includes motor, master
Driving wheel, driven wheel, synchronous belt, ball-screw and shifting sledge, driving wheel are connected to motor, synchronous belt be set in driving wheel and from
On driving wheel, driven wheel is coaxially connected with ball-screw, and shifting sledge is threadedly coupled with ball-screw.The ball-screw of vertical component
Be vertically arranged, the ball-screw of horizontal component is horizontally disposed, the attachmentes such as above-mentioned motor, driving wheel, driven wheel and synchronous belt also with
Correspondence arrangement.Arm mechanism includes forearm, postbrachium and the parallel arms parallel with postbrachium, and the front end of forearm passes through P axis and handgrip
Rotation connection, rear end end are rotatablely connected by J axis and postbrachium, and the other end of postbrachium passes through the mobile cunning of Z axis and vertical component
Rail rotation connection.The upper end of parallel arms is rotatablely connected by shaft and forearm 11, and lower end passes through the mobile cunning of R axis and horizontal component
Rail rotation connection.Turntable is also rotatably connected in shaft, turntable is triangular in shape, and wherein one end of turntable, turntable is arranged in shaft
Other both ends be rotatably connected to front tension bar and back stay respectively, the other end of front tension bar and back stay is then gentle with handgrip respectively
Cylinder connection installs 3-D scanning identifier on hydraulic cylinder and installs 3-D scanning identifier in a side of handgrip, and three-dimensional is swept
Retouching between identifier and control device has information communication connection, three-dimensional for carrying out three-dimensional identification and positioning to crawl object
Scanning recognition device be set to on the side of the handgrip connection frame that move toward one another direction parallel.The industrial machine of robot selection ABB
Device people IRB660_180/3.15；3-D scanning identifier uses SICKLMS400-2000 type product.
Battery box automatic-exchanging system in electric car is mounted on the chassis of electric car, automatic in battery box
In replacement system, 1 vacuum sound insulation board links together with 1 cooler bin in battery box automatic-exchanging system；1 first
Battery box is mounted below cooler bin；1 the first top vibration damper plate is mounted on the inside of the first battery box；First damping
Spring is mounted between the first top vibration damper plate and the first upper enclosure；1 the first battery pack is mounted on the first battery box
Portion is fixed and vibration damper plate and the first battery box lower part are fixed between vibration damper plate；Third damping spring is mounted on the first battery pack
Box lower part is fixed between vibration damper plate and the first battery box bottom Crashworthy plate；1 the second motor-driven jack is mounted on cooler bin
Under, 1 the second jack front carriage is installed together with the second damping electro-insulating rubber, 1 the second yielding rubber and first
Battery box contact plays a part of to fix the first battery box；1 battery box intermediate bracket and third yielding rubber and the 4th
Yielding rubber is installed together.1 the second battery box is mounted on cooler bin in the following, 1 the second battery pack is mounted on second
Between the fixed vibration damper plate in portion's vibration damper plate and the second battery box bottom, the second damping spring is mounted on the second top vibration damper plate and the
Between two battery box upper sealing panels；4th damping spring is mounted on 1 the first motor-driven jack and is mounted under cooler bin, the
Two jack front carriages and the first insulation yielding rubber are installed together, and the first insulation yielding rubber connects with the second battery box
Fixed function is played after touch.
By the first robot palletizer, the ferry-boat of the second robot palletizer robot, four column lifting machines, rail, the first pipeline
With the battery replacement of electric automobile system of the second pipeline composition；First pipeline transports the electric car of the power shortage unloaded
First battery box or the second battery box；Second pipeline transports fully charged the first battery box of electric car or the second electricity
Pond group box；The operating area of first pipeline and the second pipeline is located within the working radius of the first robot palletizer；With four
Column lifting machine the first pipeline matched with ferry-boat the first robot palletizer of robot and the second pipeline can be for 2~10 simultaneously
Arrangement is piled up in column arrangement up and down, can also be only with 1 strip transmission line or 1 the second pipeline and four column lifting machines and Ferrying machine
The first robot palletizer of device people is mating；Four columns lifting machine matched with the first pipeline and the second pipeline, ferry-boat robot, the
The system of one robot palletizer composition is 1~80 set；For the first pipeline and the second pipeline is mating carries out stacking de-stacking
Second stacking machine device artificial 1~20.
15 steps of battery replacement of electric automobile system point complete the battery altering of electric car.
The beneficial effects of the present invention are: electric car car-mounted device is calculated with electric automobile charging station monitoring system hardware
Machine, lifting machine, pipeline, ferry-boat robot, robot palletizer are being passed through by Industrial Ethernet or other network connections
3G/4G wireless network is connect with vehicle-mounted computer carries out human-computer dialogue, is controlled with monitoring center computer, commands, guides electronic vapour
Vehicle replaces 15 steps of battery, and the driver's faulty operation fast and safely prevented in unskilled electric car to be changed goes out
Existing accident, the system in combination is ingenious, the simple occupied area of structure is small cheap, convenient for first in the serious megalopolis of haze
Multiple underground parking Large scale constructions, after replacing battery Web Hosting formation scale, electric car just can be with mass production, greatly
Amount uses, and gradually reduces the use of gasoline car, reduces harm of the various pernicious gases of gasoline automobile exhaust emissions to the mankind.
Detailed description of the invention
Fig. 1 is electric car car-mounted device structural schematic diagram of the present invention；
Fig. 2 is main control module structural schematic diagram of the present invention；
Fig. 3 is CAN bus communication module schematic diagram of the present invention；
Fig. 4 is electric car car-mounted device of the present invention and electric car electric charging station monitoring system connection figure；
Fig. 5 is electric car electric charging station monitoring system schematic diagram of the present invention；
Fig. 6 is distributing monitoring system structural schematic diagram of the present invention；
Fig. 7 is battery altering schematic diagram of monitoring system structure of the present invention；
Fig. 8 is video monitoring system structural schematic diagram of the present invention；
Fig. 9 is mobile automatic leveling hydraulic lifting four lifting machine working state schematic representations of unit of the invention；
Figure 10 is mobile automatic leveling hydraulic jack structural schematic diagram of the invention；
Figure 11 is the structural schematic diagram of battery replacement of electric automobile system of the present invention；
Figure 12 is the system authority left view of present invention ferry-boat robot；
Figure 13 is the system authority main view of present invention ferry-boat robot；
Figure 14 is present invention ferry-boat robot control system block diagram；
Figure 15 is robot architecture's schematic diagram of the invention；
Figure 16 is the automatic battery replacing system of electric automobile structure chart on electric automobile chassis of the present invention；
Figure 17 is battery replacement of electric automobile components of system as directed hardware connection diagram of the present invention.
Specific embodiment
In Fig. 1,26 car-mounted device 131 of electric car includes main control module, CAN bus communication module, 3G/4G is wireless
Communication module 135, GPS data receiving processing module 134 and user interactive module, CAN bus communication module by spi bus with
Main control module is bi-directionally connected, 3G/4G wireless communication module 135, GPS data receiving processing module 134 and user interactive module
It is bi-directionally connected by serial ports and main control module.
In Fig. 2, main control module includes master controller and Android/Windows embedded OS；Liquid crystal display
Master board is connected by liquid crystal socket, is shown for human-computer interaction, embedded OS provides access framework application
The permission of interface, and drive module and ICP/IP protocol stack are provided, master controller includes connecting master board by pin
32/64 bit microprocessor, ROM clock, ram clock and the reset circuit of ARMCortex-A8 series.
In Fig. 3, CAN bus communication module includes CAN bus physical interface, data processing and storage unit, CAN bus
Transceiver, CAN controller and external crystal, CAN bus physical interface are articulated on CAN Bus in Electric, and CAN is total
Line transceiver is connect by CAN_H and CAN_L with CAN controller, and CAN controller passes through SPI interface and main control
Plate connection；Data processing and storage unit handle measured value, and to device acquisition including measured value, quantity of state and report
The real time data of alert event and historical data it is centrally stored.CAN bus physical interface acquires the operation of electric car 26 in real time
State and battery information, operating status include the speed of service and distance travelled, and battery information includes vehicle charge/discharge voltage, whole
Vehicle charge/discharge current, battery SOC, battery module temperature, single battery ceiling voltage, single battery minimum voltage.3G/4G without
Line communication module includes 3G/4G communication chip, real time data interactive module and real time data clock synchronization module, 3G/4G communication chip
It is connect by pin with master board, real time data interactive module forwards the operating status of electric car 26 to monitoring center 137
And battery information, and receive monitoring center 137 and issue including filling/the service of electrical changing station site information, electricity price information and news letter
Breath, clock synchronization unit receives the synchronised clock clock synchronization instruction that monitoring center 137 issues, to guarantee the consistent of area's device within a domain time
Property, GPS data receiving processing module provides navigation Service and simultaneously monitors Operation Network, and navigation Service includes destination retrieval, route
Check, analogue navigation and true navigation, by electrical changing station in map real-time display operational area, dispersion charging pile distributing position and
Electric car running state monitoring Operation Network, and show to include electric car geographical location, 26 speed of electric car and residue
The status information of electricity.
In Fig. 4, the monitoring system hardware that electric car replaces system disposes schematic diagram, the monitoring work of distributing monitoring system
It stands, server, printer, distribution system communication processor and power information acquisition terminal pass through native industry Ethernet and fill
The network switch of electricity consumption monitoring system connects, and the network switch of distributing monitoring system is by native industry Ethernet and higher level
The communication gate of system connects, distribution system communication processor by 3G/4G wireless communication link and distribution system and on
The communication gate connection of grade system, power information acquisition terminal by 3G/4G wireless communication link and metering system and
The communication gate of superior system connects；The intelligent communications terminal of battery replacement of electric automobile monitoring system passes through native industry ether
Net is connect with the network switch of charging monitoring system, and it includes the first robot palletizer that batteries of electric automobile group, which replaces workshop 133,
86, the second robot palletizer 87, ferry-boat robot 25, four column lifting machines 22, rail 24, the first pipeline 85 and the second pipeline
88, each step of battery is replaced with the control of monitoring center computer, commander, guidance electric car.The view of video monitoring system
Frequency server is connected by native industry Ethernet and the communication gate of superior system.Wherein data server can store monitoring
System history data, front server can acquire reconciliation phase separation and close real time data, and be transmitted to other computers.Safety monitoring
Work station is used for the monitoring and control of video monitoring system.Communication gate may be implemented CAN bus and native industry Ethernet it
Between conversion.The network switch has 24 mouthfuls, can divide VLAN (Virtual Local Area Network, virtual local area
Net), realize the communication between subsystems.Electric car car-mounted device 131 is with electric automobile charging station monitoring system hardware
After Industrial Ethernet or other network connections, the electric car 26 to be charged is supervised by 3G/4G network 136 and third
The connection of 129 computer of work station is controlled, finds and changes battery station away from nearest, after battery station is changed in arrival, driver is electricity
The driver that electrical automobile 26 is opened in four column lifting machines, 22 electric car cab in electric car battery replacing workshop 133 exists
Starting controls long-range monitoring by computer and changes battery mode on the LCD screen of electric car car-mounted device 131, at this time third
The cell process of changing of automobile is transferred to the first monitor workstation 127 or the second monitoring work by network by monitor workstation 129
Make station 128, by the first monitor workstation 127 or the second monitor workstation 128 complete the vehicle change the whole process of battery until
Vehicle leaves four column lifting machines 22.First monitor workstation 127, the second monitor workstation 128 and third monitor workstation 129
Computer network is linked together by telecommunications network or Industrial Ethernet.
In Fig. 5, it includes superior system, distributing monitoring system, battery altering monitoring system that electric car, which changes station monitoring system,
System and video monitoring system pass through native industry Ethernet and GPRS/CDMA between distributing monitoring system and superior system
(General Packet Radio Service, General Packet Radio Service；Code Division Multiple Access,
Code multiple address wireless network) wireless communication link communication, between distributing monitoring system and battery altering monitoring system, video
Pass through native industry ethernet communication between monitoring system and superior system.Distributing monitoring system, battery altering monitoring system
Building is on unified software platform, and subsystem computer equipment, which is realized, to be shared, it is contemplated that network safety prevention and public security department
Video monitoring system is accessed and is required, video monitoring system is independently arranged, and passes through the communication gate and charging monitoring of superior system
System and distributing monitoring system realize information interaction.
In Fig. 6, electric car change station monitoring system is divided into measurement acquisition module, signal acquisition module, control output
Module, information management module, measurement acquisition module, signal acquisition module, control output module by native industry Ethernet with
Information management module connection, information management module pass through the calculating of 3G/4G/CDMA wireless communication link connection superior system
Machine monitoring platform；Wherein measurement acquisition module includes the first monitoring monitor workstation 127, front server, signal acquisition module
Including the second monitoring monitor workstation 128, data server, power information acquisition terminal, metering system, output module packet is controlled
Printer, distribution system are included, signal management module includes the network switch, distribution system communication processor；First monitoring monitoring
Work station 127, second monitors monitor workstation 128, front server, data server, printer, the network switch, distribution
System communication supervisor and power information acquisition terminal by native industry ethernet communication, distribution system communication processor with match
Between electric system and the communication gate of superior system, the communication of power information acquisition terminal and metering system and superior system
Pass through 3G/4G/CDMA wireless communication link communication between gateway.Measurement acquisition module, signal acquisition module, control are defeated
Module belongs to parallel relationship out, wherein measurement acquisition module acquisition secondary current transducer signal and secondary voltage mutual inductor letter
Number, signal acquisition module acquires a systems such as remote signalling amount, switching signal, protection signal, alarm signal, trouble-signal, status signal
Column signal amount, two class signals are transmitted to information management module by CAN bus, and information management module and superior system realize information
After interaction, control command is assigned to information management module by superior system, then control output module is transmitted to by CAN bus
Movement.
In Fig. 7, battery altering station monitoring system includes intelligent communications terminal and battery replacement of electric automobile system:
It is connected between intelligent communications terminal and battery replacement of electric automobile system by CAN bus, batteries of electric automobile is more
Change the first robot palletizer 86, the second robot palletizer 87, ferry-boat robot 25, four column lifting machines 22, first that station 133 includes
Pipeline 85 and the second pipeline 88；First robot palletizer 86, the second robot palletizer 87 ferry-boat robot 25, the lifting of four columns
It is connected between machine 22, the first pipeline 85 and the second pipeline 88 by native industry Ethernet, intelligent communications terminal is integrated with
Dispatcher software is connected between dispatcher software and intelligent communications terminal by digital communi- cations link.Dispatcher software passes through intelligence communication
Terminal assigns control command to the first robot palletizer 86, the second robot palletizer 87, the first pipeline 85 and the second pipeline
88；First robot palletizer 86, the second robot palletizer 87, the first pipeline 85, the second pipeline 88 and four column lifting machines 22
It is built-in with PLC (Programmable logicController, programmable controller) program, can control electric car
The entire replacement process of one battery box 99 or the second battery box 105, removes electronic vapour from station 2 91 after internal analysis
Vehicle the first battery box 99 or the second battery box 105 are placed in ferry-boat robot 25, then are transported by ferry-boat robot 25；Together
When the first robot palletizer 86, the second robot palletizer 87, the first pipeline 85, the second pipeline 88 and four column lifting machines 22
Position, fault-signal, module charger working condition, temperature, fault-signal, power, voltage, electric current, battery pack temperature, SOC,
The signals such as end voltage, electric current, battery connection status, battery failures are uploaded to dispatcher software by intelligent communications terminal.
In fig. 8, electric automobile battery replacing station monitoring system video monitoring system includes safety monitoring work station, ball
Machine, video server；Connected between ball machine and video server by CAN bus and video signal cable, video server with
It is connected between safety monitoring work station and the communication gate of superior system by native industry Ethernet.
In Fig. 9, by the first column 13, the second column 18, third column 19, the 4th column 20, cantilever beam 16, crossbeam
17, holding vehicle race plate 15 composition one has the four column lifting machines 22 for holding vehicle race plate 15, between the first column 13 and the second column 18
Crossbeam on setting opening 23, in order to ferry robot 25 enter four column lifting machines 22 inside, in third column 19 and the 4th
Crossbeam 17 is set between column 20, and 13 second column 18 of the first column, third column 19 and the 4th column 20 are mounted on movable stand 7
It above and with movable stand 7 moves up and down, promotion holds vehicle and runs plate 15 to suitable position, and inclined plate 21 of getting on the bus is connect with vehicle race plate 15 is held
The vehicle that holds of about 26 four column lifting machine 22 of electric car is facilitated to run plate 15 together.
In Figure 10, the bottom symmetrical of lifting machine fixed frame 1 is equipped with four or more scroll wheel, and every lifting machine is vertical
Column is by fixed frame 1, power unit 2, hydraulic cylinder 3, hoisting chain 4, detection plate 5, detection switch 6, movable stand 7,11 and of chain pulley seat
Sprocket wheel 12 connects and composes.Strip detection plate 5 is fixedly connected in the pile of fixed frame 1, which is equipped with the several of equal part and lacks
Mouthful, the bottom of 7 upper end of movable stand is equipped with detection switch 6, and detection switch 6 matches with detection plate 5, when detection plate 5 is in detection
In 6 detection range of switch, detection switch 6 just can output signal.It is provided with notch in detection plate 5, when just detection switch 6 detects
When notch, the not output signal of detection switch 6, and so on.The signal that the detection switch 6 of every lifting machine column generates passes through
Data line connection controller 8 is simultaneously calculated, while the calculated data of controller 8 are connected display panel 9 by data line
Display.The upper end of movable stand 7 is equipped with chain pulley seat 11 and sprocket wheel 12, the mating hoisting chain 4 of sprocket wheel 12, the connection of 4 one end of hoisting chain
Movable stand 7, other end Connection Bracket 1.The pedestal of one end Connection Bracket 1 of hydraulic cylinder 3, the other end connect chain pulley seat 11.
When hydraulic cylinder 3 is gone up and down, the sprocket wheel 12 on chain pulley seat 11 is driven to rotate, related hoisting chain 4 is run, and movable stand 7 is gone up and down therewith
While, detection plate 5 and detection switch 6 work and generate electric signal.
In Figure 11, the fractional hardware of battery replacement of electric automobile system is lifted by rail 24, ferry-boat robot 25, four columns
Machine 22, background monitoring system 52, the first pipeline 85, the second pipeline 88, the first robot palletizer 86 and the second stacking machine device
People 87 forms；There are the first battery box 99 and the second battery box 105 above 26 chassis of electric car.
In figure 12 and figure 13, ferry-boat robot 25 include X-axis, Z axis, three directions of R axis freedom degree, be followed successively by straight line
Walking mechanism 27, hydraulic lifting mechanism 28 and angle deviation correction mechanism 29.Straight walking mechanism 27 is located at the bottom of ferry-boat robot 25
Several portions such as portion, including pulley 33, Hooks coupling universal coupling 30, belt 34, first servo motor 35, the first speed reducer 36 and pedestal 37
Point；The pulley of front end two is robot power device, is connect with one group of Hooks coupling universal coupling, and the pulley of rear end two is slave unit；
First servo motor 35 is connect with matched first speed reducer, 36 expansion set, realizes the first speed reducer 36 and pulley 33 by belt
Power transmission, driving pulley 33 on the slide rail walk by straight line.There are three optoelectronic switches for 33 lower end of straight walking mechanism arrangement, successively
Cooperate with origin baffle and former and later two limit baffles, be supplied to 46 location switch signal of PLC control system, realizes that robot is former
Point search and reset, and prevent its operation of crossing the border；Preceding limit baffle, origin baffle and rear limit baffle are along the line slide rail being laid with
It is arranged successively, origin baffle is located among the limit baffle of front and back.Hydraulic lifting lifting mechanism 28 is located at 27 bottom of straight walking mechanism
The top of seat, including two hydraulically extensible cylinders；One-stage hydraulic cylinder 38 is located at the lower part of two-stage hydraulic cylinder 39, and one-stage hydraulic cylinder 38 is complete
After full stretching, two-stage hydraulic cylinder 39 carries out stretching motion；I and II hydraulic cylinder side is respectively welded crossbeam and is disposed with anti-rotation
Beam, anti-rotation beam cooperate with two anti-rotating holes being located on one-stage hydraulic cylinder welding beam and tube chamber welds with base crossbeam, prevent battery with
Rotation in 28 lifting process of hydraulic mechanism；The I and II hydraulic cylinder other side is respectively arranged with rack gear 31, encoder 32, baffle
With the first close switch；Baffle is matched with close to switch, and first is set to the bottom of one-stage hydraulic cylinder welding beam close to switch
End, when one-stage hydraulic cylinder 38 is fully extended, close to the switching signal switched, two-stage hydraulic cylinder 39 starts flexible fortune for baffle triggering
It is dynamic；Rack gear 31 on 39 side of two-stage hydraulic cylinder is engaged by gear with encoder 32, and 32 revolution of calculation code device is passed through
Obtain 39 lifting height of two-stage hydraulic cylinder；Encoder 32 is connect with PLC control system 46, and PLC control system 46 starts high speed and counts
Number.Angle deviation correction mechanism 29 is located at the upper end of hydraulic lifting mechanism 28, including mounting flange 40, big pinion gear 41, the second servo
Several parts such as motor 42 and the second speed reducer 43.Mounting flange 40 is installed on two-stage hydraulic cylinder 39, the second servo motor 42,
Second speed reducer 43, big pinion gear 41 are sequentially arranged on mounting flange 40, and pinion gear is installed in 42 upper end of the second servo motor, and two
Gear wheel is installed, the engagement of size gear mechanism drives cooperation rotation with the second servo motor 42 on grade hydraulic cylinder 39.Under gear wheel
End is disposed with baffle, arrangement three second close switches on mounting flange 40；Gear wheel successively triggering rotation in rotary course
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.29 upper end of angle deviation correction mechanism peace
Equipped with battery tray 44, gear wheel rotation center and 44 center of gravity of battery box pallet are concentric.Battery box pallet 44 is equipped with four
A limited block 45, coupled with electric car 26 battery pack box bottom four to be changed protrusion, it can be achieved that battery outer box fine position and
It is reliably fixed.Ultrasonic range finder sensor 53 and DMP sensor 54 are installed on battery box pallet 44；Ultrasonic range finder sensor 53
Distance for measuring battery tray 44 to electric passenger car chassis to be changed；DMP sensor 54 and it is installed on electric passenger vehicle bottom to be changed
Reflector cooperation on disk, searches and calculates reflector target position, obtains the level of ferry-boat robot 25 and electric passenger car to be changed
Angular deviation.Straight walking mechanism 27, hydraulic lifting mechanism 28 link, only the traveling of ferry-boat 25 straight line of robot and vertical lifting
When reaching setting position, angle deviation correction mechanism 29 just starts to act, and only the battery tray 44 on angled deviation correction mechanism 29 reaches
Desired effect, hydraulic lifting mechanism 28 are just restarted.Straight walking mechanism 27, angle deviation correction mechanism 29 are using servo electricity
Machine driving, driving motor are connected with corresponding encoder, and each encoder is connected with corresponding driver；Driver sends position arteries and veins
Signal is rushed to servo motor, the motor rotation information of acquisition is passed back to driver, forming position mode closed-loop control by encoder
System.
In Figure 14, ferry-boat 25 control system block diagram PLC control system 46 of robot is ferry-boat 25 action control of robot
Core, including touch screen 47, wireless communication module 48, Omron PLC controller 49, A/D module 50, D/A module 51
Deng；Wireless communication module 48 is communicated by second serial RS130 with touch screen 47, and Omron PLC controller 49 passes through the first string
Mouth RS126 is communicated with touch screen 47, and touch screen 47 is communicated by Industrial Ethernet with background monitoring system 52；Supersonic sounding sensing
Device 53, DMP sensor 54, hydraulic proportional flow valve 55, each encoder 56, close switch 57, optoelectronic switch 58 etc. and PLC are controlled
The communication of 46 real-time Data Transmission of system.A/D mould in ultrasonic range finder sensor 53 and DMP sensor 54 and PLC control system 46
Block 50 connects, and converts digital signal for the analog signal that sensor acquires, and send PLC control system 46 to.Hydraulic proportional
Flow valve 55 is connect with the D/A module 51 in PLC control system 46, converts the digital controlled signal of PLC control system 46 to
Analogue flow rate controls information, realizes the speed control to hydraulic lifting mechanism 28.The A/D mould of encoder and PLC control system 46
Block 50 connects, and encoder 56 acquires the lifting height of 39 single rack of two-stage hydraulic cylinder, obtains two-stage hydraulic cylinder 39 by calculating
Distance is lifted, by the data feedback to PLC control system 46, forms the full closed loop control in lifting process.Close to 57 He of switch
Optoelectronic switch 58 is connect with the Omron PLC controller 49 in PLC control system 46, the real-time Transmission ferry-boat each freedom of robot 25
The extreme position information of degree triggers the interrupt mode and high-speed counting mode of PLC control system 46, realizes that ferry-boat robot 25 exists
Accurate, quick acting in prescribed limit.
In Figure 15, the structure chart of the first robot palletizer 86 and the second robot palletizer 87, including pedestal 59, rack
60, arm mechanism and handgrip 61, the interior driving mechanism for being equipped with driving arm mechanism movement of rack 60, rack 60 pass through 62 turns of θ axis
It is dynamic to be arranged on pedestal 59, it is equipped with AC servo motor and speed reducer realizes complete machine around the rotation of θ axis 62.Driving mechanism includes vertical
Part and horizontal component both include motor 63, driving wheel 64, driven wheel 65, synchronous belt 66, ball-screw 67 and mobile cunning
Rail 68, driving wheel 64 are connect with motor 63, and synchronous belt 66 is set on driving wheel 64 and driven wheel 65, driven wheel 65 and ball wire
Thick stick 67 is coaxially connected, and shifting sledge 68 is threadedly coupled with ball-screw 67.The ball-screw 67 of vertical component is vertically arranged, horizontal
Partial ball-screw 67 is horizontally disposed, and the attachmentes such as above-mentioned motor 63, driving wheel 64, driven wheel 65 and synchronous belt 66 are also right therewith
It should arrange.Arm mechanism includes forearm 69, postbrachium 70 and the parallel arms 71 parallel with postbrachium 70, and the front end of forearm 69 passes through P axis
80 are rotatablely connected with handgrip 61, and rear end end is rotatablely connected by J axis 72 and postbrachium 70, and the other end of postbrachium 70 passes through Z axis 73
It is rotatablely connected with the shifting sledge 68 of vertical component.The upper end of parallel arms 71 is rotatablely connected by shaft 79 and forearm 11, lower end
It is rotatablely connected by the shifting sledge 68 of R axis 74 and horizontal component.Turntable 78 is also rotatably connected in shaft 79, turntable 78 is in three
Angular, wherein one end of turntable 78 is arranged in shaft 79, and the other both ends of turntable 78 are rotatably connected to front tension bar 76 with after respectively
The other end of pull rod 77, front tension bar 76 and back stay 77 is then connect with handgrip 61 and cylinder 75 respectively, installs three on hydraulic cylinder 3
It ties up scanning recognition device 81 and 3-D scanning identifier 81 is installed in a side of handgrip 61,3-D scanning identifier 81 and control fill
There is information communication connection, for carrying out three-dimensional identification and positioning, 3-D scanning identifier setting 81 to crawl object between setting
In on the side of the connection frame that move toward one another direction parallel of handgrip 61.The industrial robot IRB660_ of robot selection ABB
180/3.15；3-D scanning identifier uses SICKLMS400-2000 type product.
In Figure 16 and Figure 11, battery box automatic-exchanging system 97 is mounted on the chassis of electric car 26, in battery
In group box automatic-exchanging system 97,1 vacuum sound insulation board 98 and 1 cooler bin 100 links together；1 the first battery box
99 are mounted below cooler bin 100；1 the first top vibration damper plate 103 is mounted on the inside of the first battery box 99；First subtracts
Shake spring 101 is mounted between the first top vibration damper plate 103 and the first upper enclosure 102；1 the first battery pack 104 is mounted on
Between first top vibration damper plate 103 and the first lower part vibration damper plate 114；Third damping spring 116 is mounted on the first lower part vibration damper plate
114 and first between Crashworthy plate 115；1 the second motor-driven jack 111 is mounted under cooler bin 100,1 the second bracket 112
It is installed together with the second rubber 113,1 the second rubber 113 has been contacted with the first battery box 99 fixes the first battery box
99 effect；1 intermediate bracket 118 is installed together with third rubber 117 and the 4th rubber 119.1 the second battery box
105 are mounted on cooler bin 100 in the following, 1 the second battery pack 106 is mounted on the second top vibration damper plate 107 and the second bottom damping
Between plate 123, the second damping spring 109 is mounted between the second top vibration damper plate 107 and the second sealing plate 108；1 first electricity
Dynamic jack 110 is mounted under cooler bin 100, and the second bracket 125 and the first rubber 124 are installed together, the first rubber 124
Fixed function is played after contacting with the second battery box 105.
In Figure 17, Fig. 4, Figure 11 and Figure 16, by the first robot palletizer 86, the second robot palletizer 87 ferry-boat robot
25, the battery replacement of electric automobile system of four column lifting machines 22, rail 24, the first pipeline 85 and the second pipeline 88 composition；
First pipeline 85 transports electric car the first battery box 99 or the second battery box 105 of the power shortage unloaded；Second
Pipeline 88 transports fully charged electric car the first battery box 99 and the second battery box 105；First pipeline 85 and
The operating area of two pipelines 88 is located within the working radius of the first robot palletizer 86；With four column lifting machines 22 and Ferrying machine
Matched first pipeline 85 of 25 first robot palletizer of device people 86 and the second pipeline 88 can be 2 arranged in parallel or upper and lower
Arrangement is piled up, it can also be only with 1 the first pipeline 85 or 1 the second pipeline 88 and four column lifting machines 22 and ferry-boat machine
25 first robot palletizer 86 of people is mating；It is matched with the first pipeline 85 and the second pipeline 88 by four column lifting machines 22, pendulum
The system for crossing robot 25 and the first robot palletizer 86 composition is 1 set；It is mating for the first pipeline 85 and the second pipeline 88
The second robot palletizer 87 for carrying out stacking de-stacking is 1
First battery box 99 of power shortage or the second battery box 105 transport process: ferry-boat robot 25 carries under unloading
Come power shortage the first battery box 99 or the second battery box 105 by under four column lifting machines 22 along 24 track travel of rail to
One 90 position of station is accurately positioned, and the first battery box 99 or the second battery box 105 are removed and put by the first robot palletizer 86
To station 7 96, the first battery box 99 or the second battery box 105 of power shortage flow to station 5 94 with the first pipeline 85,
Robot carries out single pass to the first battery box 99 or 105 upper surface of the second battery box using 3-D scanning identifier,
Scanning speed > 500mm/s；3-D scanning identifier passes through the profile diagram of scanning detected material, then is fitted to by multiple profile diagrams
Three-dimensional image；By its 3D detection mode, obtain the first battery box 99 or the second battery box 105 height and position three
Tie up coordinate and the angle with coordinate system axis respectively, then send out the three-dimensional coordinate of height and position and respectively with the angle of coordinate system axis
The second robot palletizer 87 is given to be positioned.The control device PLC of second robot palletizer 87 is to 3-D scanning identifier one
Trigger signal enables 3-D scanning identifier start to scan, and after the end of scan, obtains the first battery box 99 or the second of electric car
The position coordinates of battery box 105.According to 105 position data of the first battery box 99 or the second battery box, the second stacking machine
Device people 87 runs to 5 94 position of station and grabs the first battery box 99 or the second battery box 105 in the progress of 6 95 position of station
Stacking, artificial fork truck walks whole pile the first battery box 99 or the second battery box 105 fork after the complete pile of code.
Transport fully charged 105 workflow of electric car the first battery box 99 or the second battery box: whole pile is full of
Electric car the first battery box 99 or the second battery box 105 of electricity are entered by forklift to after station 4 93, the second stacking machine
For device people 87 by 105 borrowing station 3 92 of the first battery box 99 or the second battery box, the first battery box 99 or second is electric
Pond group box 105 is flowed away with the second pipeline 88 to 91 position of station.First battery box 99 or the second battery box 105 are by second
Pipeline 88 is input to robot crawl station 2 91, and accurate positioning；Ferry-boat robot 25 is entered along the walking of rail 24
Station 1, the first robot palletizer 86 grab electric car the first battery box 99 or the second battery pack in 2 91 position of station
Box 105 is put into 25 top of ferry-boat robot of one 90 position of station, and ferry-boat robot 25 is lifted along 24 track travel of rail, four column
It rises under machine 22, since single first battery box 99 or the second battery box 105 upload delivery of energy in the second pipeline 88 and accurately determine
Position, so 3-D scanning identifier does not work.Before first robot palletizer 86 grabs the first battery box 99 on pipeline or
The height of second battery box 105 is judged by optoelectronic switch.The height of first battery box 99 or the second battery box 105
Information is transmitted to the first robot palletizer 86,86 automatically walk of the first robot palletizer to fixture crawl position.
15 steps of battery replacement of electric automobile system point complete the battery altering of electric car:
The first step, 26 driver of electric car to be charged pass through 3G/4G network with electric car car-mounted device 131
136 contact with third monitor workstation 129, find away from nearest electric automobile battery replacing station 133, reach electric car
Behind battery altering station 133, electric car 26 is opened upper four columns lifting machine 22, electric car 26 drives indoor driver electronic
Starting can be controlled long-range monitoring by third monitor workstation 129 and change battery mould on the LCD LCD screen of automobile mounted device 131
Formula.
Second step, 129 operator of third monitor workstation transfer the cell process of changing of electric car 26 by network
To the first monitor workstation 127, at this time the first monitor workstation 127 starts remotely to be monitored, starting electric car 26
The first motor-driven jack 110 in battery box automatic-exchanging system 97 under chassis pops up the under 26 chassis of electric car
Two battery boxs 105 are fallen in above the 25 top battery pallet 44 of ferry-boat robot waited under four column lifting machines 22, machine of ferrying
People 25 carries the second battery box 105 along ferry-boat 24 track travel of robot traveling steel rail to one 90 position of station, accurately determines
Position.
Third step, the first robot palletizer 86 are on the 25 top battery pallet 44 of ferry-boat robot of one 90 position of station
Second battery box 105 in face, which grabs, is put into station 7 96, and the second battery box 105 for unloading the power shortage to get off is defeated by first
Line sending 85 is input to the second robot palletizer 87 crawl 5 94 position of station, and accurate positioning.
After 4th step, the second robot palletizer 87 grab the second battery box 105 of power shortage in 5 94 position of station, move
It moves 6 95 position of station and carries out stacking, artificial fork truck walks the second battery box 105 fork of whole pile power shortage after the complete pile of code.
After the second fully charged battery box 105 of 5th step, whole pile is moved to station 4 93 by fork truck, the second stacking machine device
People 87 is by 105 borrowing station 3 92 of the second battery box, and the second battery box 105 is with the second pipeline 88 to station 2 91
Set diffluence and accurate positioning.
6th step, ferry-boat robot 25 walk along ferry-boat robot traveling steel rail 24 enters station 1, and first yard
Pile robot 86 grabs the second battery box 105 to 2 91 position of station, is put into the ferry-boat in waiting of one 90 position of station
Above 25 top battery pallet 44 of robot, since single second battery box 105 is accurate in the second pipeline 88 upload delivery of energy
Positioning, so 3-D scanning identifier does not work.The second battery box 105 before first robot palletizer 86 grabs on pipeline
Height judged by optoelectronic switch.
7th step, ferry-boat robot 25 are put along under ferry-boat 24 track travel of robot traveling steel rail, four column lifting machine 22
After crossing the completion of robot 25 direction X/Y positioning, output and hydraulic press of the process that robot rises using ultrasonic range finder sensor
After the output difference operation of structure encoder, the input comparative example flow valve as PID controller carries out PID control, works as hydraulic press
Structure, which is lifted to desired location, to be stopped rising；Accurate positioning.From the first monitor workstation 127 or the second monitor workstation 128 to
Ferry-boat robot 25 issues the instruction for starting to install the second battery box of electric car 105, and robot 25 of ferrying is electric car
Position is placed to the second battery box of electric car 105 above battery box automatic-exchanging system 97 in second battery box 105 top
It sets, 127 operator of the first monitor workstation starts the first motor-driven jack 28 and second battery box 105 is fixed on battery pack
On box automatic-exchanging system 97.
8th step, the first monitor workstation 127 start remotely to be monitored, and start the battery under the chassis of electric car 26
The second motor-driven jack 111 in group box automatic-exchanging system 97 pops up the first battery box 99 under 26 chassis of electric car
It falls in above the 25 top battery pallet 44 of ferry-boat robot waited under four column lifting machines 22, ferry-boat robot 25 carries the first electricity
Pond group box 99 is accurately positioned along ferry-boat 24 track travel of robot traveling steel rail to one 90 position of station.
9th step, the first robot palletizer 86 are on the 25 top battery pallet 44 of ferry-boat robot of one 90 position of station
First battery box 99 in face, which grabs, is put into station 7 96, unloads the first battery box 99 of the power shortage to get off by the first conveying
Line 85 is input to the second robot palletizer 87 crawl 5 94 position of station, and accurate positioning.
After tenth step, the second robot palletizer 87 grab the first battery box 99 of power shortage in 5 94 position of station, move
It moves 6 95 position of station and carries out stacking, artificial fork truck walks the first battery box 99 fork of whole pile power shortage after the complete pile of code.
After the first fully charged battery box 99 of 11st step, whole pile is moved to station 4 93 by fork truck, the second stacking machine
Device people 87 is by 105 borrowing station 3 92 of the second battery box, and the first battery box 99 is with the second pipeline 88 to station 2 91
Position flows away and accurate positioning.
12nd step, ferry-boat robot 25 walk along ferry-boat robot traveling steel rail 24 enters station 1, and first
Robot palletizer 86 grabs the first battery box 99 to 2 91 position of station, is put into the ferry-boat in waiting of one 90 position of station
Above 25 top battery pallet 44 of robot, since single second battery box 105 is accurate in the second pipeline 88 upload delivery of energy
Positioning, so 3-D scanning identifier does not work.The first electricity of electric car before first robot palletizer 86 grabs on pipeline
The height of pond group box 99 is judged by optoelectronic switch.
13rd step, ferry-boat robot 25 along ferry-boat 24 track travel of robot traveling steel rail, four column lifting machine 22 under,
Ferry robot 25 complete the direction X/Y positioning after, robot rise process using ultrasonic range finder sensor output with it is hydraulic
After the output difference operation of mechanism coding device, the input comparative example flow valve as PID controller carries out PID control, when hydraulic
Mechanism is lifted to desired location and stops rising；Accurate positioning.By the first monitor workstation 127 or the second monitor workstation 128
The instruction for starting to install the first battery box of electric car 99 is issued to ferry-boat robot 25, robot 25 of ferrying is the first battery
Placement location of group box 99 top to the first battery box 99 above battery box automatic-exchanging system 97, the first monitor workstation
127 operators start the second motor-driven jack 111 and first battery box 99 are fixed on battery box automatic-exchanging system 97
On.
14th step, battery altering process terminate, and four column lifting machines 22 are fallen, and driver's electric vehicle drive 26 sails out of electricity
Electrical automobile battery replacing workshop 133.
15th step, the first monitor workstation 127 issue battery altering and finish signal, and entire battery change system is completed former
Point resets.
Claims (3)
1. a kind of batteries of electric automobile group of the multiple robot compositions of computer internet replaces system, it is characterized in that: electronic vapour
Vehicle (26) car-mounted device (131) includes main control module, CAN bus communication module, 3G/4G wireless communication module (135), GPS
Data receiver processing module (134) and user interactive module, CAN bus communication module are double by spi bus and main control module
To connection, 3G/4G wireless communication module (135), GPS data receiving processing module (134) and user interactive module pass through string
It mouthful being bi-directionally connected with main control module, main control module includes master controller and Android/Windows embedded OS,
Liquid crystal display connects master board by liquid crystal socket, shows for human-computer interaction, and embedded OS provides access frame and answers
With the permission of routine interface, and drive module and ICP/IP protocol stack are provided, master controller includes connecting main control by pin
32/64 bit microprocessor, ROM clock, ram clock and the reset circuit of the ARMCortex-A8 series of plate, CAN bus communicate mould
Block includes CAN bus physical interface, data processing and storage unit, CAN bus transceiver, CAN controller and outside
Crystal, CAN bus physical interface are articulated on CAN Bus in Electric, CAN bus transceiver by CAN_H and CAN_L with
CAN controller connection, CAN controller are connect by SPI interface with master board, data processing and storage unit pair
Measured value is handled, and to the real time data and historical data including measured value, quantity of state and alert event of device acquisition
It is centrally stored, CAN bus physical interface acquires the operating status and battery information of electric car (26), operating status packet in real time
The speed of service and distance travelled are included, battery information includes vehicle charge/discharge voltage, vehicle charge/discharge current, battery SOC, battery
Module temperature, single battery ceiling voltage, single battery minimum voltage, 3G/4G wireless communication module include 3G/4G communication core
Piece, real time data interactive module and real time data clock synchronization module, 3G/4G communication chip are connect by pin with master board, real
When operating status from data interaction module to monitoring center (137) forwarding electric car (26) and battery information, and receive monitoring
Center (137) issue including fill/electrical changing station site information, electricity price information and news information on services, clock synchronization unit receive monitoring
The synchronised clock clock synchronization instruction that center (137) issues, to guarantee the consistency of area's device within a domain time, GPS data reception processing
Module provides navigation Service and simultaneously monitors Operation Network, navigation Service include destination retrieval, route check, analogue navigation and true
Navigation is supervised by electrical changing station, dispersion charging pile distributing position and electric car operating status in map real-time display operational area
Operation Network is controlled, and shows the status information including electric car geographical location, electric car (26) speed and remaining capacity, electricity
The monitoring system hardware of electrical automobile battery change system disposes schematic diagram, and the monitor workstation of distributing monitoring system, is beaten server
Print machine, distribution system communication processor and power information acquisition terminal pass through the net of native industry Ethernet and charging monitoring system
The network switch of the connection of network interchanger, distributing monitoring system is correlated by the communication network of native industry Ethernet and superior system
It connects, the communication network that distribution system communication processor passes through 3G/4G wireless communication link and distribution system and superior system
Connection connects, the communication that power information acquisition terminal passes through 3G/4G wireless communication link and metering system and superior system
The intelligent communications terminal of gateway connection, battery replacement of electric automobile monitoring system passes through native industry Ethernet and charging monitoring system
The network switch of system connects, and it includes the first robot palletizer (86), the second stacking that batteries of electric automobile group, which replaces workshop (133),
Robot (87), ferry-boat robot (25), four column lifting machines (22), rail (24), the first pipeline (85) and the second pipeline
(88), each step of battery is replaced with the control of monitoring center computer, commander, guidance electric car, video monitoring system
Video server is connected by native industry Ethernet and the communication gate of superior system, and wherein data server can store prison
System history data is controlled, front server can acquire reconciliation phase separation and close real time data, and be transmitted to other computers, security protection prison
Monitoring and control that work station is used for video monitoring system are controlled, CAN bus and native industry Ethernet may be implemented in communication gate
Between conversion, the network switch has 24 mouthfuls, can divide VLAN (Virtual Local Area Network, virtual local area
Net), realize the communication between subsystems, it is soft by computer, a variety of computer monitorings that batteries of electric automobile group replaces system
Part, wired internet/wireless Internet, robot palletizer, ferry-boat robot, pipeline, lifting machine composition, are interconnected by computer
After net and vehicle-bone 3 G/4G wireless network connection, by 15 steps of remote control program of staff before monitoring computer
Complete the replacement of replacement batteries of electric automobile group:
The first step, the electric car to be charged (26) driver pass through 3G/ with electric car car-mounted device master controller (131)
4G network (136) and third monitor workstation (129) contact, and find and replace workshop away from nearest batteries of electric automobile group
(133), after reaching batteries of electric automobile group replacement workshop (133), electric car (26) is opened upper four columns lifting machine (22), it is electronic
The indoor driver of automobile (26) driving starts on the LCD LCD screen of electric car car-mounted device (131) can be by third
Battery mode is changed in the long-range monitoring of monitor workstation (129) control；
Second step, third monitor workstation (129) operator transfer the cell process of changing of electric car (26) by network
The first monitor workstation (127) are given, at this time the first monitor workstation (127) starts remotely to be monitored, and starts electric car
(26) the first motor-driven jack (110) in the battery case automatic-exchanging system (97) under chassis is popped up in electric car (26)
The second battery box (105) under chassis falls in ferry-boat robot (25) the top battery pallet waited under four column lifting machines (22)
(above 44), ferry-boat robot (25) carry the second battery box (105) along ferry-boat robot traveling steel rail (24) track row
Station one (90) position is gone to, is accurately positioned；
Third step, the first robot palletizer (86) are ferry-boat robot (25) top battery pallet (44) in one location A of station
The second battery box (105) above, which grabs, is put into station seven (96), unloads the second battery box (105) of the power shortage to get off
Second robot palletizer (87) crawl station five (94) position, and accurate positioning are input to by the first pipeline (85)；
After 4th step, the second robot palletizer (87) grab the second battery box (105) of power shortage in station five (94) position,
It is moved to station six (95) position and carries out stacking, artificial fork truck is by the second battery box (105) of whole pile power shortage after the complete pile of code
Fork is walked；
After fully charged the second battery box (105) of 5th step, whole pile is moved to station four (93) by fork truck, the second stacking machine device
People (87) by the second battery box (105) borrowing station three (92), the second battery box (105) with the second pipeline (88) to
Station two (91) position flows away and accurate positioning；
6th step, ferry-boat robot (25) are walked along ferry-boat robot traveling steel rail (24) enters station one (90), and first
Robot palletizer (86) to station two (91) position grabs the second battery box (105), be put into station one (90) position
Ferry-boat robot (25) top battery pallet of waiting is ((44) above, since single second battery box (105) is in the second conveying
Line (88) uploads delivery of energy and is accurately positioned, so 3-D scanning identifier does not work, conveying before the first robot palletizer (86) crawl
The height of the second battery box (105) on line is judged by optoelectronic switch；
7th step, ferry-boat robot (25) along ferry-boat four column lifting machine (22) of robot traveling steel rail (24) track travel under,
It ferries after robot (25) completion direction X/Y positioning, the process that robot rises utilizes output and the liquid of ultrasonic range finder sensor
After the output difference operation of press mechanism encoder, the input comparative example flow valve as PID controller carries out PID control, works as liquid
Press mechanism, which is lifted to desired location, to be stopped rising；Accurate positioning, by the first monitor workstation (127) or monitor workstation (02)
To ferry-boat robot (25) issue start install the second battery box of electric car (105) instruction, ferry-boat robot (25)
Second battery pack of electric car of battery box automatic-exchanging system (97) above is arrived on the second battery box of electric car (105) top
Box (105) placement location, monitoring computer (01) operator start the first motor-driven jack (28) the second battery box
(105) it is fixed on battery box automatic-exchanging system (97)；
8th step, the first monitor workstation (127) start remotely to be monitored, and start the battery under the chassis of electric car (26)
The second motor-driven jack (111) in group box automatic-exchanging system (97) pops up the first battery under electric car (26) chassis
Group box (99) falls in ferry-boat robot (25) top battery pallet ((44) above, the Ferrying machine waited under four column lifting machines (22)
Device people (25) carries the first battery box (99) along ferry-boat robot traveling steel rail (24) track travel to station one (90) position
It sets, is accurately positioned；
9th step, the first robot palletizer (86) are ferry-boat robot (25) top battery pallet in station one (90) position
(first battery box (99) of (44) above, which grabs, is put into station seven (96), unloads the first battery box of the power shortage to get off
(99) by the first pipeline, ((85) are input to the second robot palletizer (87) crawl station five (94) position, and accurate positioning；
After tenth step, the second robot palletizer (87) grab the first battery box (99) of power shortage in station five (94) position,
It is moved to station six (95) position and carries out stacking, artificial fork truck pitches the first battery box (99) of whole pile power shortage after the complete pile of code
It walks；
After fully charged the first battery box (99) of 11st step, whole pile is moved to station four (93) by fork truck, the second stacking machine
Device people (87) is by the second battery box (105) borrowing station three (92), and the first battery box (99) is with the second pipeline (88)
Simultaneously accurate positioning is flowed away to station two (91) position；
12nd step, ferry-boat robot (25) enter station one (90) along ferry-boat robot traveling steel rail (24) walking, the
One robot palletizer (86) grabs the first battery box (99) to two B location of station, is put into waiting for station one (90) position
To ferry-boat robot (25) top battery pallet ((44) above, since single second battery box (105) is in the second pipeline
(88) delivery of energy is uploaded to be accurately positioned, so 3-D scanning identifier does not work, pipeline before the first robot palletizer (86) grabs
On the height of the first battery box of electric car (99) judged by optoelectronic switch；
13rd step, ferry-boat robot (25) are along ferry-boat four column lifting machine (22) of robot traveling steel rail (24) track travel
Under, ferry-boat robot (25) complete the direction X/Y positioning after, robot rise process using ultrasonic range finder sensor output with
After the output difference operation of hydraulic mechanism encoder, the input comparative example flow valve as PID controller carries out PID control, when
Hydraulic mechanism, which is lifted to desired location, to be stopped rising；Accurate positioning, by the first monitor workstation (127) or monitor workstation
(02) instruction for starting to install the first battery box of electric car (99) is issued to ferry-boat robot (25), is ferried robot (25)
First battery box (99) top is arrived the placement position of first battery box (99) of battery box automatic-exchanging system (97) above
It sets, monitoring computer (01) operator starts the second motor-driven jack (111) and the first battery box (99) is fixed on battery
In group box automatic-exchanging system (97)；
14th step, battery altering process terminate, and four column lifting machines (22) are fallen, and driver's electric vehicle drive (26) sails out of electricity
Electrical automobile battery replacing workshop (133)；
15th step, the first monitor workstation (127) issue battery altering and finish signal, and entire battery change system completes origin
It resets.
2. a kind of batteries of electric automobile group of the multiple robot compositions of computer internet replaces system, it is characterized in that: electronic vapour
Vehicle (26) car-mounted device (131) includes main control module, CAN bus communication module, 3G/4G wireless communication module (135), GPS
Data receiver processing module (134) and user interactive module, CAN bus communication module are double by spi bus and main control module
To connection, 3G/4G wireless communication module (135), GPS data receiving processing module (134) and user interactive module pass through string
It mouthful being bi-directionally connected with main control module, main control module includes master controller and Android/Windows embedded OS,
Liquid crystal display connects master board by liquid crystal socket, shows for human-computer interaction, and embedded OS provides access frame and answers
With the permission of routine interface, and drive module and ICP/IP protocol stack are provided, master controller includes connecting main control by pin
32/64 bit microprocessor, ROM clock, ram clock and the reset circuit of the ARMCortex-A8 series of plate, CAN bus communicate mould
Block includes CAN bus physical interface, data processing and storage unit, CAN bus transceiver, CAN controller and outside
Crystal, CAN bus physical interface are articulated on CAN Bus in Electric, CAN bus transceiver by CAN_H and CAN_L with
CAN controller connection, CAN controller are connect by SPI interface with master board, data processing and storage unit pair
Measured value is handled, and to the real time data and historical data including measured value, quantity of state and alert event of device acquisition
It is centrally stored, CAN bus physical interface acquires the operating status and battery information of electric car (26), operating status packet in real time
The speed of service and distance travelled are included, battery information includes vehicle charge/discharge voltage, vehicle charge/discharge current, battery SOC, battery
Module temperature, single battery ceiling voltage, single battery minimum voltage, 3G/4G wireless communication module include 3G/4G communication core
Piece, real time data interactive module and real time data clock synchronization module, 3G/4G communication chip are connect by pin with master board, real
When operating status from data interaction module to monitoring center (137) forwarding electric car (26) and battery information, and receive monitoring
Center (137) issue including fill/electrical changing station site information, electricity price information and news information on services, clock synchronization unit receive monitoring
The synchronised clock clock synchronization instruction that center (137) issues, to guarantee the consistency of area's device within a domain time, GPS data reception processing
Module provides navigation Service and simultaneously monitors Operation Network, navigation Service include destination retrieval, route check, analogue navigation and true
Navigation is supervised by electrical changing station, dispersion charging pile distributing position and electric car operating status in map real-time display operational area
Operation Network is controlled, and shows the status information including electric car geographical location, electric car (26) speed and remaining capacity, electricity
The monitoring system hardware of electrical automobile battery change system disposes schematic diagram, and the monitor workstation of distributing monitoring system, is beaten server
Print machine, distribution system communication processor and power information acquisition terminal pass through the net of native industry Ethernet and charging monitoring system
The network switch of the connection of network interchanger, distributing monitoring system is correlated by the communication network of native industry Ethernet and superior system
It connects, the communication network that distribution system communication processor passes through 3G/4G wireless communication link and distribution system and superior system
Connection connects, the communication that power information acquisition terminal passes through 3G/4G wireless communication link and metering system and superior system
The intelligent communications terminal of gateway connection, battery replacement of electric automobile monitoring system passes through native industry Ethernet and charging monitoring system
The network switch of system connects, and it includes the first robot palletizer (86), the second stacking that batteries of electric automobile group, which replaces workshop (133),
Robot (87), ferry-boat robot (25), four column lifting machines (22), rail (24), the first pipeline (85) and the second pipeline
(88), each step of battery is replaced with the control of monitoring center computer, commander, guidance electric car, video monitoring system
Video server is connected by native industry Ethernet and the communication gate of superior system, and wherein data server can store prison
System history data is controlled, front server can acquire reconciliation phase separation and close real time data, and be transmitted to other computers, security protection prison
Monitoring and control that work station is used for video monitoring system are controlled, CAN bus and native industry Ethernet may be implemented in communication gate
Between conversion, the network switch has 24 mouthfuls, can divide VLAN (Virtual Local Area Network, virtual local area
Net), realize the communication between subsystems, electric car car-mounted device (131) is hard with electric automobile charging station monitoring system
After part is by Industrial Ethernet or other network connections, the electric car to be charged (26) by 3G/4G network (136) and
The connection of third monitor workstation (129) computer is found and changes battery station away from nearest, and after battery station is changed in arrival, automobile is driven
The person of sailing drives four column lifting machine (22) electric cars that electric car (26) opens upper electric car battery replacing workshop (133)
Indoor driver, which starts to be controlled remotely to monitor by computer on the LCD screen of electric car car-mounted device (131), changes battery
Mode, at this time the cell process of changing of automobile is transferred to the first monitor workstation by network by third monitor workstation (129)
127 perhaps completed by the first monitor workstation (127) or the second monitor workstation (128) should for the second monitor workstation (128)
Vehicle changes the whole process of battery until vehicle leaves four column lifting machines (22), the first monitor workstation (127), the second monitoring work
It stands (128) and the computer network of third monitor workstation (129) is connected to by telecommunications network or Industrial Ethernet
Together: the battery box automatic-exchanging system (97) in electric car is mounted on the chassis of electric car, battery box from
1 vacuum sound insulation board links together with 1 cooler bin in dynamic replacement system (97), and 1 the first battery box is mounted on cooling
Below case, 1 the first top vibration damper plate is mounted on the inside of the first battery box, and the first damping spring is mounted on the first top
Between vibration damper plate and the first upper enclosure, 1 the first battery pack is mounted on the first battery box top fixed and vibration damper plate and the
One battery box lower part is fixed between vibration damper plate, and third damping spring is mounted on the first battery box lower part and fixes and vibration damper plate
And first between the Crashworthy plate of battery box bottom, 1 the second motor-driven jack is mounted under cooler bin, 1 the second jack
Front carriage is installed together with the second damping electro-insulating rubber, and 1 the second yielding rubber has contacted fixation with the first battery box
The effect of first battery box, 1 battery box intermediate bracket are installed together with third yielding rubber and the 4th yielding rubber,
1 the second battery box (105) is mounted on cooler bin in the following, 1 the second battery pack is mounted on the second top vibration damper plate and bottom
Between fixed vibration damper plate, the second damping spring is mounted between the second top vibration damper plate and the second battery box upper sealing panel, the
Four damping springs are mounted on 1 the first motor-driven jack and are mounted under cooler bin, and the second jack front carriage and first is absolutely
Edge yielding rubber is installed together, and the first insulation yielding rubber plays fixed function after contacting with the second battery box, by first yard
It is pile robot (86), the second robot palletizer (87), ferry-boat robot (25), four column lifting machines (22), rail (24), first defeated
The battery replacement of electric automobile system of line sending (85) and the second pipeline (88) composition, the first pipeline (85) transport unload
Power shortage the first battery box of electric car (99) or the second battery box (105), the second pipeline (88) transport it is fully charged
The first battery box of electric car (99) and the second battery box (105), the first pipeline (85) and the second pipeline (88)
Operating area be located within the working radius of the first robot palletizer (86), with four column lifting machines (22) and ferry-boat robot
Matched first pipeline (85) of (25) first robot palletizers (86) and the second pipeline (88) can be arranged side by side for 2~10
Column pile up arrangement up and down, can also be only with 1 the first pipeline (85) or 1 the second pipeline (88) and four column lifting machines
(22) and ferry-boat (25) first robot palletizer (86) of robot is mating, matches with the first pipeline (85) and the second pipeline (88)
The system of set being made of four column lifting machines (22), ferry-boat robot (25) and the first robot palletizer (86) is 1~80 set, is
First pipeline (85) and mating the second robot palletizer (87) for carrying out stacking de-stacking of the second pipeline (88) are 1~20
It is a.
3. a kind of batteries of electric automobile group of the multiple robot compositions of computer internet replaces system, it is characterized in that: electronic vapour
Vehicle (26) car-mounted device (131) includes main control module, CAN bus communication module, 3G/4G wireless communication module (135), GPS
Data receiver processing module (134) and user interactive module, CAN bus communication module are double by spi bus and main control module
To connection, 3G/4G wireless communication module (135), GPS data receiving processing module (134) and user interactive module pass through string
It mouthful being bi-directionally connected with main control module, main control module includes master controller and Android/Windows embedded OS,
Liquid crystal display connects master board by liquid crystal socket, shows for human-computer interaction, and embedded OS provides access frame and answers
With the permission of routine interface, and drive module and ICP/IP protocol stack are provided, master controller includes connecting main control by pin
32/64 bit microprocessor, ROM clock, ram clock and the reset circuit of the ARMCortex-A8 series of plate, CAN bus communicate mould
Block includes CAN bus physical interface, data processing and storage unit, CAN bus transceiver, CAN controller and outside
Crystal, CAN bus physical interface are articulated on CAN Bus in Electric, CAN bus transceiver by CAN_H and CAN_L with
CAN controller connection, CAN controller are connect by SPI interface with master board, data processing and storage unit pair
Measured value is handled, and to the real time data and historical data including measured value, quantity of state and alert event of device acquisition
It is centrally stored, CAN bus physical interface acquires the operating status and battery information of electric car (26), operating status packet in real time
The speed of service and distance travelled are included, battery information includes vehicle charge/discharge voltage, vehicle charge/discharge current, battery SOC, battery
Module temperature, single battery ceiling voltage, single battery minimum voltage, 3G/4G wireless communication module include 3G/4G communication core
Piece, real time data interactive module and real time data clock synchronization module, 3G/4G communication chip are connect by pin with master board, real
When operating status from data interaction module to monitoring center (137) forwarding electric car (26) and battery information, and receive monitoring
Center (137) issue including fill/electrical changing station site information, electricity price information and news information on services, clock synchronization unit receive monitoring
The synchronised clock clock synchronization instruction that center (137) issues, to guarantee the consistency of area's device within a domain time, GPS data reception processing
Module provides navigation Service and simultaneously monitors Operation Network, navigation Service include destination retrieval, route check, analogue navigation and true
Navigation is supervised by electrical changing station, dispersion charging pile distributing position and electric car operating status in map real-time display operational area
Operation Network is controlled, and shows the status information including electric car geographical location, electric car (26) speed and remaining capacity, electricity
The monitoring system hardware of electrical automobile battery change system disposes schematic diagram, and the monitor workstation of distributing monitoring system, is beaten server
Print machine, distribution system communication processor and power information acquisition terminal pass through the net of native industry Ethernet and charging monitoring system
The network switch of the connection of network interchanger, distributing monitoring system is correlated by the communication network of native industry Ethernet and superior system
It connects, the communication network that distribution system communication processor passes through 3G/4G wireless communication link and distribution system and superior system
Connection connects, the communication that power information acquisition terminal passes through 3G/4G wireless communication link and metering system and superior system
The intelligent communications terminal of gateway connection, battery replacement of electric automobile monitoring system passes through native industry Ethernet and charging monitoring system
The network switch of system connects, and it includes the first robot palletizer (86), the second stacking that batteries of electric automobile group, which replaces workshop (133),
Robot (87), ferry-boat robot (25), four column lifting machines (22), rail (24), the first pipeline (85) and the second pipeline
(88), each step of battery is replaced with the control of monitoring center computer, commander, guidance electric car, video monitoring system
Video server is connected by native industry Ethernet and the communication gate of superior system, and wherein data server can store prison
System history data is controlled, front server can acquire reconciliation phase separation and close real time data, and be transmitted to other computers, security protection prison
Monitoring and control that work station is used for video monitoring system are controlled, CAN bus and native industry Ethernet may be implemented in communication gate
Between conversion, the network switch has 24 mouthfuls, can divide VLAN (Virtual Local Area Network, virtual local area
Net), realize the communication between subsystems, electric car car-mounted device (131) is hard with electric automobile charging station monitoring system
After part is by Industrial Ethernet or other network connections, the electric car to be charged (26) by 3G/4G network (136) and
The connection of third monitor workstation (129) computer is found and changes battery station away from nearest, and after battery station is changed in arrival, automobile is driven
The person of sailing drives four column lifting machine (22) electric cars that electric car (26) opens upper electric car battery replacing workshop (133)
Indoor driver, which starts to be controlled remotely to monitor by computer on the LCD screen of electric car car-mounted device (131), changes battery
Mode, at this time the cell process of changing of automobile is transferred to the first monitor workstation by network by third monitor workstation (129)
(127) perhaps the second monitor workstation (128) is completed by the first monitor workstation (127) or the second monitor workstation (128)
The vehicle changes the whole process of battery until vehicle leaves four column lifting machines (22), the first monitor workstation (127), the second monitoring work
Stand (128) connected with the computer network of third monitor workstation (129) by telecommunications network or Industrial Ethernet
Together: the first robot palletizer (86), the second robot palletizer (87) ferry-boat robot (25), four column lifting machines (22), steel
The battery replacement of electric automobile system of rail (24), the first pipeline (85) and the second pipeline (88) composition, the first pipeline
(85) the first battery box of electric car (99) or the second battery box (105) of the power shortage unloaded, the second conveying are transported
Line (88) transports the first battery box of electric car (99) and the second battery box (105) for being full of battery, the first pipeline
(85) it is located within the working radius of the first robot palletizer (86) with the operating area of the second pipeline (88), is lifted with four columns
Machine (22) and matched first pipeline (85) of ferry-boat (25) first robot palletizer (86) of robot and the second pipeline (88)
Arrangement can be piled up for 2 arranged in parallel or up and down, it can also be only with 1 strip transmission line (85) or 1 the second pipeline (88)
It is mating with four column lifting machines (22) and ferry-boat (25) first robot palletizer (86) of robot, with the first pipeline (85) and second
The matched system being made of four column lifting machines (22), ferry-boat robot (25) and the first robot palletizer (86) of pipeline (88)
It is 1 set, is the first pipeline (85) and mating the second robot palletizer (87) for carrying out stacking de-stacking of the second pipeline (88)
Be 1, the first battery box (99) or the second battery box (105) of power shortage transport process: ferry-boat robot (25), which carries, unloads
Along rail under the first battery box (99) or the second battery box (105) You Sizhu lifting machine (22) of the power shortage carried
(24) track travel is accurately positioned to station one (90) position, and the first robot palletizer (86) is by the first battery box (99) or the
Two battery boxs (105), which are removed, is put into station seven (96), the first battery box (99) or the second battery box (105) of power shortage with
The first pipeline (85) flow to station five (94), robot is using 3-D scanning identifier to the first battery box (99) or the
Two battery boxs (105) upper surface carries out single pass, scanning speed > 500mm/s, and 3-D scanning identifier passes through scanning quilt
The profile diagram of detectable substance, then it is fitted to three-dimensional image by multiple profile diagrams, by its 3D detection mode, obtain the first battery box
(99) or the three-dimensional coordinate of the height of the second battery box (105) and position and the angle with coordinate system axis respectively, then height
And position three-dimensional coordinate and be sent to the second robot palletizer (87) with the angle of coordinate system axis respectively and positioned, second code
The control device PLC of pile robot (87) gives 3-D scanning identifier one trigger signal, and 3-D scanning identifier is enabled to start to scan,
After the end of scan, the position coordinates of the first battery box of electric car (99) or the second battery box (105) are obtained, according to first
Battery box (99) or the second battery box (105) position data, the second robot palletizer (87) run to station five (94) position
Set crawl the first battery box (99) or the second battery box 105) stacking, the complete pile descendant of code are carried out in station six (95) position
Work fork truck walks whole the first battery box of pile (99) or the second battery box (105) fork, fully charged the first battery box (99)
Or second battery box (105) transport process: fully charged the first battery box of electric car (99) of whole pile or the second battery pack
Box (105) is entered by forklift to after station four (93), and the second robot palletizer (87) is electric by the first battery box (99) or second
At pond group box (105) borrowing station three (92), the first battery box (99) or the second battery box (105) are with the second pipeline
(88) it is flowed away to station (91) position, the first battery box (99) or the second battery box (105) are defeated by the second pipeline (88)
Enter to robot and grab station two (91), and accurate positioning, ferry-boat robot (25) enters station along rail (24) walking
One (90), the first robot palletizer (86) is in station two (91) position crawl the first battery box of electric car (99) or the second electricity
Pond group box (105) is put at the top of the ferry-boat robot (25) for entering station one (90) position, ferries robot (25) along steel
Under four column lifting machine (22) of rail (24) track travel, since single first battery box (99) or the second battery box (105) exist
Second pipeline (88) uploads delivery of energy and is accurately positioned, so 3-D scanning identifier does not work, the first robot palletizer (86) is grabbed
The height of the first battery box (99) or the second battery box (105) on preceding pipeline is taken to judge by optoelectronic switch, the
The elevation information of one battery box (99) or the second battery box (105) is transmitted to the first robot palletizer (86), the first stacking machine
Device people (86) automatically walk is to fixture crawl position.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104828028A CN104828028A (en) | 2015-08-12 |
| CN104828028B true CN104828028B (en) | 2019-02-26 |
Family
ID=53799576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410053423.XA Active CN104828028B (en) | 2014-02-12 | 2014-02-12 | The batteries of electric automobile group of the multiple robot compositions of computer internet replaces system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104828028B (en) |
| WO (1) | WO2015120753A1 (en) |
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Also Published As
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| CN104828028A (en) | 2015-08-12 |
| WO2015120753A1 (en) | 2015-08-20 |
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