CN105000001B - A kind of chassis of electric passenger vehicle battery change system and change method for electrically - Google Patents
A kind of chassis of electric passenger vehicle battery change system and change method for electrically Download PDFInfo
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- CN105000001B CN105000001B CN201510450635.6A CN201510450635A CN105000001B CN 105000001 B CN105000001 B CN 105000001B CN 201510450635 A CN201510450635 A CN 201510450635A CN 105000001 B CN105000001 B CN 105000001B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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Abstract
The invention discloses a kind of chassis of electric passenger vehicle battery change system and changing method for electrically, system includes changing level platform and changes electric machine people's device, change and X-direction is provided with Huan electricity areas on level platform, Huan electricity areas are hollow structure, Huan electricity areas both sides are provided with connecting gear, a wheel fixing mechanism is respectively equipped with Huan electricity areas end points, wheel fixing mechanism height adjustable, wheel is carried out into X, the fixation of Z-direction, a rotating mechanism is provided with the inside of each wheel fixing mechanism, rotating mechanism realizes vehicle along X, movement in Y direction, the X-direction in Huan electricity areas is provided with vehicle detection apparatus, change electric machine people's device and be arranged at and change level platform lower end, electric passenger vehicle for Huan electricity areas changes battery.After realizing that X/Y/Z directions are accurately positioned, electric machine people is changed in fixed position, by battery tray elevating movement, realize the quickly and accurately dismounting and installation of battery, provide a kind of safe and accurate, quick battery change method for electric passenger vehicle.
Description
Technical field
The present invention relates to a kind of chassis of electric passenger vehicle battery change system and change method for electrically.
Background technology
With environmental pollution and the aggravation of energy crisis, electric automobile as a kind of new traffic tool of energy-saving and environmental protection,
The direction of orthodox car industrial development is become.In recent years, national governments, enterprise's input substantial contribution, grind for electric automobile
Send out and apply, electric automobile industry is developed rapidly.However, due to the technical bottleneck problem of cell density and course continuation mileage,
The popularization and application of electric vehicle engineering are hindered seriously.
At present, electric automobile energy supply mainly has car load to fill electrically and mechanically change electric both of which.Charge mode is comprising slow
Fill and fill two methods soon.The trickle charge time is longer, and quick charge affects larger to battery, and both of which may be made
Into the harmonic pollution with net side, cause a devastating effect to electrical network.Therefore, the drawbacks of car load charge mode has larger.With it is whole
Car charges and compares, and machinery changes electrically operated simple, and the quick-replaceable of electric passenger vehicle set of cells can be completed within 5-10 minutes, real
The rapid supply of electric energy is showed.Meanwhile, concentration charging can be carried out to set of cells at night, realize " the peak regulation storage of network load
Can ", the comprehensive utilization ratio of power equipment is improve, with higher application value.
In published patent of invention CN200910090807.8 of China national Department of Intellectual Property, elaborate a kind of for electricity
The method of dynamic passenger car chassis battery altering, belongs to mechanical one kind changed electrically.Its electric passenger vehicle positioning mode is：It is electronic
Four rigidity lifting fulcrums are arranged at passenger car bottom, lift actuator by the appropriate of electric passenger vehicle fixation support to tire liftoff
Highly.This battery change method is not directed to being accurately positioned for two degree of freedom directions of electric passenger vehicle, larger position error meeting
Badly influence the successful efficiency of robot battery replacement operation；Whether replacing vehicle reaches lifting point, safeguard has no and retouches
State.Meanwhile, the support zone to lifting fulcrum (automobile, beam frame, frame welded framework) selects requirement higher, can draw under serious conditions
Play vehicle to occur to roll danger.
In published patent of invention CN201110199159.7 of China national Department of Intellectual Property, elaborate a kind of for electricity
The method of dynamic passenger car chassis battery altering, belongs to mechanical one kind changed electrically.Its electric passenger vehicle positioning mode is：It is electronic
Passenger car drives towards and changes electric plateau, realizes the positioning of X-direction by V-groove, realizes the positioning of Y direction by rubber block.
Drive vehicle to reach and change electric plateau, exist and fall into that hollow out is changed or unidirectional landing changes the danger of level platform in electrically operated the hole in.Meanwhile, it is extensive
V-groove car body crash into and rubber block passage positioning mode can all cause the damage of body part.
In published patent of invention CN201210222438.5 of China national Department of Intellectual Property, elaborate a kind of for electricity
The method of dynamic passenger car chassis battery altering, belongs to mechanical one kind changed electrically.Its electric passenger vehicle positioning mode is：It is electronic
Passenger car drives towards and changes electric plateau, realizes the positioning of X-direction by V-groove；Change electric machine people and electronic taking advantage of is determined by sensor
With car X/Y positional informationes, and carry out corresponding pose adjustment and battery altering.Electric passenger vehicle positioning is extensive, and changing electric machine people needs
According to concrete car body position information, multiaxis position pose adjustment is carried out, difficulty is caused to electric process is changed, is consumed the plenty of time.
Therefore, there is following technical deficiency in existing battery altering mode：
1., at present, using electric plateau is changed more than electric passenger vehicle battery altering mode, vehicle traveling is above unprotected to change electricity
Plateau, easily causes car body and slides danger；
2. electric passenger vehicle positioning is inaccurate, and causing to change electric machine people need to carry out each degree of freedom with reference to car body position information
The adjustment in direction, takes considerable time, causes the excessively complicated of battery altering process；
3. Location vehicle is simply extensive.The mode of four rigidity lifting positioning, is accurately positioned feelings accurate car body is not carried out
Under condition, car body is increased to into disengaging ground location, it is higher to lifting fulcrum load-bearing requirements, change electric process and easily cause inclination danger
Danger；The mode of V row groove compound rubbers block positioning, V-groove car body jolts and rubber block passage positioning can all cause body portions
The damage of part.
The content of the invention
The present invention in order to solve above-mentioned battery change system process, ask by complicated, difficult interface, spacing difficulty, overlong time etc.
Topic, it is proposed that a kind of chassis of electric passenger vehicle battery change system and change method for electrically, the method can solve the problem that existing electronic riding
Chassis battery altering pattern (machinery changes electricity) has problems.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of chassis of electric passenger vehicle battery change system, level platform and changes electric machine people including changing, wherein, change level platform
On X-direction is provided with Huan electricity areas, Huan electricity areas are hollow structure, and Huan electricity areas both sides are provided with connecting gear, Huan electricity areas end points
Place is respectively equipped with a wheel fixing mechanism, wheel fixing mechanism height adjustable, wheel is carried out X, Z-direction and is accurately positioned,
A rotating mechanism is provided with the inside of each wheel fixing mechanism, rotating mechanism is capable of achieving vehicle along X, Y by swing roller
Movement on direction of principal axis, the X-direction in Huan electricity areas are provided with two photoelectric sensors, and two photoelectric sensors are respectively arranged at and change
The front and back ends in electric area, change electric machine people's device and are fixed on and change level platform lower end, are that the electric passenger vehicle in Huan electricity areas changes battery.
The drive mechanism is located at respectively and changes level platform both sides, links with servo-driver respectively, is driven by servomotor.
The rotating mechanism is a cylindrical structural, is fixedly mounted on and changes on level platform, and rotating mechanism is provided with slip roller bearing,
Rotating mechanism is connected with servo-driver, is driven by servomotor, the Y-axis motion after being capable of achieving roller bearing X-axis and being rotated by 90 °.
The rotating mechanism can carry out elevating movement and 90 ° of rotary motions, including mounting flange, and large and small gear is arranged at
On mounting flange, gear wheel is concentric with column shaped rotating mechanism, and little gear is installed in servomotor upper end, and size gear mechanism is nibbled
Close, rotating servo motor realizes 90 ° of rotations of rotating mechanism by driving pinion；
The rotating mechanism lower end is disposed with lift servo motor, worm gear, worm screw and attachment means, and servomotor drives
Worm screw rotates, and realizes rotating mechanism elevating movement.
The wheel fixing mechanism is fixedly mounted on and changes on level platform, on the outside of rotating mechanism, is triangulo column structure.
The wheel fixing mechanism is connected with servo-driver, is driven by servomotor, and wheel fixing mechanism can rise to
Level altitude, realizes wheel being accurately positioned in X/Z axle both directions, can be prevented effectively from car body of the set of cells in Renewal process
Tenesmus and X-direction movement.Wheel fixing mechanism can make electric passenger vehicle wheel all the time in changing in level platform level height.Car
Wheel fixed mechanism elevating movement frame for movement is similar with rotating mechanism, repeats no more.
The level platform that changes is provided with former and later two photoelectric sensors, and first photoelectric sensing is triggered in electric passenger vehicle front end
Device, car body enter Huan electricity areas；When second photoswitch is triggered in electric passenger vehicle front end, first photoelectric transfer is no longer triggered in rear end
Sensor, car body are completely in and change electric zone position.Drive mechanism stop motion, electric passenger vehicle complete X-direction coarse positioning.
The electric machine people's device that changes includes changing electric machine people and battery transporter, and the battery transporter is arranged at
Change level platform lower end Y direction.
It is described to change electric machine people and be fixed on Huan electricity areas lower end, Z-direction vertical lifting motion can be carried out.By battery tray
The replacing of battery is realized in the change of pressure sensor signal, cooperation.
Described to change electric machine people, including lifting device, battery tray and detection module, the detection module is provided with DMP biographies
Sensor, pressure transducer, photoelectric sensor and sonac, DMP sensors, sonac are located at and change electric machine people's battery
Pallet side, pressure transducer are located at battery tray upper end, and photoelectric sensor is located at and changes electric machine people's zero point, extreme position,
Lifting device realizes the lifting of battery tray.
The DMP sensors are interacted with the circular reflecting plate of electric passenger vehicle set of cells bottom, obtain the X/Y axles of car body
The positional information in direction, calculates and adjusts the position deviation of identification point and target spot.
The sonac is used for the height for measuring battery tray and electric passenger vehicle Z-direction, and electric machine is changed in realization
People's battery tray is raised or lowered to level altitude position.
The pressure transducer passes through battery tray pressure value changes, for judging whether electric passenger vehicle set of cells solves
Lock, relevant information is conducted to upper computer control system.
The battery transporter is located at Y direction, links with servo-driver respectively, by AC servo machinery driving.
Described to change level platform and change electric machine people device containing a set of control system, control system includes that a master is automatically controlled
Cabinet and operating board, the inside of main electrical control cubicles are provided with PLC control modules, expansion module, power module and electric power system, operating board
Display module and manipulation button are installed；Connected by PROFIBUS-DP buses between described PLC control modules and display module
Connect news；The vehicle detection apparatus and the connection of DMP, pressure transducer, sonac and PLC control modules.
It is described change level platform and change the control system of electric machine people be connected with upper machine communication, transmission associated vehicle and electricity
Pond information, reads relevant control operational order.
Based on the battery change method of said system, comprise the following steps：
1) the electric passenger vehicle level of sailing into changes level platform, and vehicle is in neutral position sliding state, two sets of backstage PC control
Connecting gear starts to roll, and electric passenger vehicle is slided forward；
2) first photoelectric sensor is triggered in electric passenger vehicle front end, and car body is entered and changes level Tai Huan electricity areas, changes electric machine
The DMP sensors of people read electric passenger vehicle X/Y directions real-time position information, obtain electric passenger vehicle X with Y direction and target
The deviation of value；
3) backstage host computer controls servomotor rotating speed according to car body position deviation, adjusts the rotating speed of connecting gear, realizes
The correction of car body X-direction；
4) second photoelectric sensor is triggered in car body front end, and body rear end no longer triggers first photoelectric sensor, car body
Completely arrive at Huan electricity areas, PC control connecting gear stop motion；
5) wheel fixing mechanism rises to setting position, and car body completes being accurately positioned for X and Z-direction, under rotating mechanism
90 ° of rotations are carried out after drop, the correction of car body Y direction is realized；
6), after car body completes X, Y and Z-direction positioning, change electric machine people's battery tray and rise to level altitude, complete to treat
Fill and the replacing full of battery；
7) wheel fixing mechanism drops to and changes level platform horizontal level, and electric passenger vehicle is rolled away from and changes level platform, electronic riding
Car battery change system device returns to dead-center position, terminates electric passenger vehicle battery altering process.
The present invention operation principle be：
Electric installation is changed using upper and lower double-layer structure, electric passenger vehicle entirely changing in electric process, all the time in changing level platform
On horizontal plane；Electric machine people is changed positioned at platform negative one layer.When car body is sailed in Huan electricity areas, car body is capable of achieving by connecting gear
The motion of X-direction.Connecting gear is driven by servomotor, by connecting gear velocity variations, is capable of achieving passenger car X-direction
Correction and coarse positioning.Car body reaches fixed position, and triangle cylindricality wheel fixing mechanism rises, and on the one hand realizes X/Z direction of principal axis
Be accurately positioned, on the other hand can prevent car body because rotating mechanism position decline cause car body Z location change.Circular rotating mechanism
Comprising the axial slip roller bearing of horizontal X, after declining and being rotated by 90 °, the position adjustment of car body Y direction is capable of achieving.By light
The conduction of electric switch, DMP sensor signals, backstage host computer can obtain car body position information, and final control realization car in real time
The axial positioning of accurate X/Y/Z of body.After being accurately positioned of car body, changing electric machine people need not carry out the axial positions of X/Y
Adjustment.Change electric machine people and be fixed on precalculated position, it is only necessary to the elevating movement of battery tray Z-direction, you can realize battery
Quickly and accurately dismantle and install.
Beneficial effects of the present invention are：
(1) change that electric platform positioning mechanism is simple, positioning is reliable accurately, it is cheap；It is by changing level platform, two sets of conveyers
Structure, four sets of rotating mechanisms, four sets of wheel fixing mechanisms and two photoelectric sensor compositions；Drive mechanism passes through roller bearing rolling speed
Change, effectively realizes the coarse positioning of the correction of car body X-direction and X-direction；
(2) wheel fixing mechanism is in car body tire and is changed on electric platform level by being elevated to level altitude, a side
Face, can effectively realize that car body X/Z is axial and be accurately positioned, and on the other hand, can prevent position of the car body during battery altering
Put change；Rotating mechanism is rotated by roller bearing, the Y direction correction after effectively realizing the motion of car body X-direction and being rotated by 90 °；
(3) level platform is changed for an integral level structure, car body sails Huan electricity areas into, you can under connecting gear traction reach solid
Positioning is put, it is to avoid change the car body that electric plateau causes slide it is dangerous；
(4) sensor acquisition car body and battery information, pass to control system, and backstage host computer carries out letter with control system
Breath communication；Backstage host computer obtains the real time information such as car body position, battery status in real time, sends control signal, coordinates and realizes electricity
Dynamic passenger car is accurately positioned.
(5) car body X/Y/Z direction of principal axis is accurately positioned, and is capable of achieving to change electric machine people position and fixes, and only need to carry out simple Z axis
Elevating movement, you can realize the replacing of " waiting to fill " and " being full of " battery；Meanwhile, changing electric machine people need not carry out X/Y direction of principal axis position
Move and position adjustment, greatly shorten the time of system battery replacing, effectively reduce car body and hand over the information for changing electric machine people
Mutually, whole battery change system is simpler, reliable, meets quick, the safe and accurate energy recharge of electric passenger vehicle.
Description of the drawings
Fig. 1 is not sailed into for electric passenger vehicle in the embodiment of the present invention and is changed level platform schematic diagram；
Fig. 2 completes to position schematic diagram for electric passenger vehicle in the embodiment of the present invention；
Fig. 3 completes to position partial schematic diagram for electric passenger vehicle in the embodiment of the present invention；
Fig. 4 is electric passenger vehicle battery altering schematic diagram in the embodiment of the present invention；
Fig. 5 is DMP sensor target point location schematic diagrams in the embodiment of the present invention.
In figure：1st, change level platform, 2, connecting gear, 3, rotating mechanism, 4, wheel fixing mechanism, 5, photoelectric sensor, 6,
Electric passenger vehicle, 7, battery transporter, 8, change electric machine people, 9, set of cells.
Specific embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2,6 chassis battery change system of a kind of electric passenger vehicle, including changing level platform 1 and change electric machine
People 8, wherein, changing and X-direction is provided with Huan electricity areas on level platform 1, Huan electricity areas are hollow structure, and Huan electricity areas both sides are provided with biography
Mechanism 2 is sent, a wheel fixing mechanism 4 at Huan electricity areas end points, is respectively equipped with, wheel is carried out by 4 height adjustable of wheel fixing mechanism
X, Z-direction are accurately positioned, and the inner side of each wheel fixing mechanism 4 is provided with a rotating mechanism 3, rotating mechanism 3 passes through
Swing roller is capable of achieving movement of the vehicle in X, Y direction, and the X-direction in Huan electricity areas is provided with two photoelectric sensors 5, changes
8 device of electric machine people is fixed on and changes 1 lower end of level platform, is that the electric passenger vehicle 6 in Huan electricity areas changes battery.
The level platform 1 that changes includes 2, four sets of two sets of transmission mechanism, 3, four sets of rotating mechanism, 4, two light of wheel fixing mechanism
Electric transducer 5.
The drive mechanism is located at respectively and changes 1 both sides of level platform, links with servo-driver respectively, is driven by servomotor
It is dynamic.
The rotating mechanism 3 is a cylindrical structural, is fixedly mounted on and changes on level platform 1, and rotating mechanism 3 is provided with slip rolling
Axle, rotating mechanism 3 are connected with servo-driver, are driven by servomotor, the Y-axis fortune after being capable of achieving roller bearing X-axis and being rotated by 90 °
It is dynamic.
The rotating mechanism 3 carries out realizing elevating movement and 90 ° of rotary motions.Rotating mechanism 3 includes mounting flange, size
Gear is located on mounting flange, and gear wheel is concentric with column shaped rotating mechanism 3, and little gear is installed in rotating servo motor upper end, greatly
Little gear mechanical engagement, servomotor realize 90 ° of rotations of rotating mechanism 3 by driving pinion.Lower end is disposed with lifting and watches
Motor, worm gear, worm screw and attachment means are taken, servomotor drives worm screw rotation, realizes 3 elevating movement of rotating mechanism.
The wheel fixing mechanism 4 is fixedly mounted on and changes on level platform 1, on the outside of rotating mechanism 3, is triangulo column knot
Structure.
As shown in figure 3, the wheel fixing mechanism 4 is connected with servo-driver, driven by servomotor.Wheel fixes machine
Structure 4 can rise to level altitude, realize wheel being accurately positioned in X/Z axle both directions, can be prevented effectively from set of cells 9 and change
During car body tenesmus and X-direction movement.Wheel fixing mechanism 4 can be such that 6 wheel of electric passenger vehicle is in all the time and change level
In 1 level height of platform.4 elevating movement frame for movement of wheel fixing mechanism is similar with rotating mechanism 3, repeats no more.
As shown in figure 4, the level platform 1 that changes is provided with former and later two photoelectric sensors 5, the triggering of 6 front end of electric passenger vehicle
First photoelectric sensor, car body enter Huan electricity areas；When second photoswitch is triggered in 6 front end of electric passenger vehicle, rear end is no longer
First photoelectric sensor of triggering, car body are completely in and change electric zone position.Drive mechanism stop motion, electric passenger vehicle 6 complete X
Direction of principal axis coarse positioning.The electric machine people's device that changes includes changing electric machine people 8 and battery transporter 7, the battery transmission dress
Put 7 and be arranged at and change 1 lower end Y direction of level platform.
It is described to change electric machine people 8 and be fixed on Huan electricity areas lower end, Z-direction vertical lifting motion can be carried out.By battery tray
The replacing of battery is realized in the change of disk pressure sensor signal, cooperation.
Described to change electric machine people 8, including lifting device, battery tray and detection module, the detection module is provided with DMP biographies
Sensor, pressure transducer, photoelectric sensor and sonac, DMP sensors, sonac are located at and change electric machine people's battery
Pallet side, pressure transducer are located at battery tray upper end, and photoelectric sensor is located at and changes 8 zero point of electric machine people, extreme position,
Lifting device realizes the lifting of battery tray.
As shown in figure 5, the DMP sensors are interacted with the circular reflecting plate of 6 set of cells of electric passenger vehicle, 9 bottom, obtain
The axial positional informationes of X/Y of pick-up body, calculate and adjust the position deviation of identification point and target spot.
The sonac is used to measure battery tray and the axial height of electric passenger vehicle 6Z, and electric machine is changed in realization
8 battery tray of people is raised or lowered to level altitude position.
The pressure transducer passes through battery tray pressure value changes, for judging whether 6 set of cells 9 of electric passenger vehicle solves
Lock, relevant information is conducted to upper computer control system.
The battery transporter 7 is located at Y direction, links with servo-driver respectively, by AC servo machinery driving.
Described to change level platform 1 and change electric machine people device containing a set of control system, control system includes a main electricity
Control cabinet and operating board, the inside of main electrical control cubicles are provided with PLC control modules, expansion module, power module and electric power system, operate
Platform is provided with display module and manipulation button；Pass through PROFIBUS-DP buses between described PLC control modules and display module
Connecting communication；The vehicle detection apparatus and the connection of DMP, pressure transducer, sonac and PLC control modules.
It is described change level platform 1 and change the control system of electric machine people 8 be connected with upper machine communication, transmission associated vehicle and
Battery information, reads relevant control operational order.
Based on the battery change method of said system, comprise the following steps：
1) 6 level of sailing into of electric passenger vehicle changes level platform 1, and vehicle is in neutral position sliding state, backstage PC control two
Set connecting gear 2 starts to roll, and electric passenger vehicle 6 is slided forward；
2) first photoelectric sensor is triggered in 6 front end of electric passenger vehicle, and car body is entered and changes 1 Huan electricity areas of level platform, changes motor
The DMP sensors of device people 8 read electric passenger vehicle 6X/Y directions real-time position information, obtain electric passenger vehicle 6X and Y direction
With the deviation of desired value；
3) backstage host computer controls servomotor rotating speed according to car body position deviation, adjusts the rotating speed of connecting gear 2, real
The correction of existing car body X-direction；
4) second photoelectric sensor is triggered in car body front end, and body rear end no longer triggers first photoelectric sensor, car body
Completely arrive at Huan electricity areas, 2 stop motion of PC control connecting gear；
5) wheel fixing mechanism 4 rises to setting position, and car body completes being accurately positioned for X and Z-direction, rotating mechanism 3
90 ° of rotations are carried out after decline, the correction of car body Y direction is realized；
6), after car body completes X, Y and Z-direction positioning, change 8 battery tray of electric machine people and rise to level altitude, complete to treat
Fill and the replacing full of battery；
7) wheel fixing mechanism 4 drops to and changes 1 horizontal level of level platform, and electric passenger vehicle 6 is rolled away from and changes level platform 1, electronic
6 battery change system device of passenger car returns to dead-center position, terminates 6 battery altering process of electric passenger vehicle.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to present invention protection model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
The various modifications made by needing to pay creative work or deformation are still within protection scope of the present invention.
Claims (9)
1. a kind of chassis of electric passenger vehicle battery change system, is characterized in that：Level platform and electric machine people is changed including changing, wherein,
Change and X-direction is provided with Huan electricity areas on level platform, Huan electricity areas are hollow structure, and Huan electricity areas both sides are provided with connecting gear, change
A wheel fixing mechanism is respectively equipped with electric area's end points, wheel is carried out the standard of X, Z-direction by wheel fixing mechanism height adjustable
It is determined that position, is provided with a rotating mechanism on the inside of each wheel fixing mechanism, rotating mechanism is capable of achieving car by swing roller
Movement in X, Y direction, the X-direction in Huan electricity areas are provided with two photoelectric sensors, two photoelectric sensors difference
Be arranged at the front and back ends in Huan electricity areas, change electric machine people's device and be fixed on and change level platform lower end, be the electric passenger vehicle in Huan electricity areas more
Change battery；
The rotating mechanism is a cylindrical structural, is fixedly mounted on and changes on level platform, and rotating mechanism is provided with slip roller bearing, rotation
Mechanism is connected with servo-driver, is driven by servomotor, the Y-axis motion after being capable of achieving roller bearing X-axis and being rotated by 90 °；
The rotating mechanism carries out realizing elevating movement and 90 ° of rotary motions, including mounting flange that large and small gear is arranged at peace
On dress flange, gear wheel is concentric with column shaped rotating mechanism, and little gear is installed in rotating servo motor upper end, and size gear mechanism is nibbled
Close, servomotor realizes 90 ° of rotations of rotating mechanism by driving pinion；
The rotating mechanism lower end is disposed with lift servo motor, worm gear, worm screw and attachment means, and servomotor drives worm screw
Rotation, realizes rotating mechanism elevating movement.
2. a kind of chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that：The wheel fixes machine
Structure is fixedly mounted on and changes on level platform, on the outside of rotating mechanism, is triangulo column structure.
3. a kind of chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that：The wheel fixes machine
Structure is connected with servo-driver, is driven by servomotor, and wheel fixing mechanism can rise to level altitude, realize wheel in X/Z
Axle both direction is accurately positioned, it is to avoid car body tenesmus and X-direction movement of the set of cells in Renewal process.
4. a kind of chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that：It is described to change level platform peace
Equipped with former and later two photoelectric sensors, first photoelectric sensor is triggered in electric passenger vehicle front end, and car body enters Huan electricity areas；Work as electricity
Second photoswitch is triggered in dynamic passenger car front end, and first photoelectric sensor is no longer triggered in rear end, and car body is completely in and changes electricity
Zone position.
5. a kind of chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that：It is described to change electric machine people
Device includes changing electric machine people and battery transporter, and the battery transporter is arranged at and changes level platform lower end Y direction.
6. a kind of chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that：It is described to change electric machine people
Huan electricity areas lower end is fixed on, Z-direction vertical lifting motion can be carried out, by the change of battery tray pressure sensor signal,
The replacing of battery is realized in cooperation.
7. a kind of chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that：It is described to change electric machine
People, including lifting device, battery tray and detection module, the detection module are provided with DMP sensors, pressure transducer, photoelectricity
Sensor and sonac, DMP sensors, sonac are located at and change electric machine people's battery tray side, pressure transducer
Positioned at battery tray upper end, photoelectric sensor is located at and changes electric machine people's zero point, extreme position, and lifting device realizes battery tray
Lifting；
The DMP sensors are interacted with the circular reflecting plate of electric passenger vehicle set of cells bottom, obtain the X/Y direction of principal axis of car body
Positional information, calculate and adjust the position deviation of identification point and target spot；
The sonac is used for the height for measuring battery tray and electric passenger vehicle Z-direction, and electric machine people electricity is changed in realization
Pond pallet is raised or lowered to level altitude position；
The pressure transducer passes through battery tray pressure value changes, for judging whether electric passenger vehicle set of cells unlocks, will
Relevant information is conducted to upper computer control system.
8. a kind of chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that：It is described change level platform and
Electric machine people device is changed containing a set of control system, control system includes a main electrical control cubicles and operating board, main electrical control cubicles
Inside is provided with PLC control modules, expansion module, power module and electric power system, and operating board is provided with display module and manipulation
Button；Pass through PROFIBUS-DP bus connecting communications between described PLC control modules and display module；The photoelectric sensing
Device and the connection of DMP sensors, pressure transducer, sonac and PLC control modules；
It is described change level platform and change the control system of electric machine people be connected with upper machine communication, transmission associated vehicle and battery letter
Breath, reads relevant control operational order.
9. the battery change method based on the system any one of claim 1-8, is characterized in that：Comprise the following steps：
1) the electric passenger vehicle level of sailing into changes level platform, and vehicle is in neutral position sliding state, the two sets of transmission of backstage PC control
Mechanism starts to roll, and electric passenger vehicle is slided forward；
2) first photoelectric sensor is triggered in electric passenger vehicle front end, and car body is entered and changes level Tai Huan electricity areas, changes electric machine people DMP
Electric automobile real time position is read, the deviation of car body X/Y direction of principal axis and desired value is obtained；
3) backstage host computer controls servomotor rotating speed according to car body position deviation, adjusts two sets of connecting gear real-time speeds, real
The correction of existing car body X-direction；
4) second photoelectric sensor is triggered in car body front end, and body rear end no longer triggers first photoelectric sensor, and car body is complete
Reach Huan electricity areas, PC control connecting gear stop motion；
5) wheel fixing mechanism rises to desired location, and car body completes that X/Z is axial to be accurately positioned, and rotating mechanism declines laggard
90 ° of rotations of row, after rotating mechanism rises, roller bearing is rotated, and realizes the correction of car body Y direction；
6) car body complete X/Y/Z direction of principal axis positioning after, change electric machine people's battery tray and rise to level altitude, complete " waiting to fill " and
The replacing of " being full of " battery；
7) wheel fixing mechanism declines, and electric passenger vehicle is rolled away from and changes level platform, and electric passenger vehicle battery change system device is returned to
Dead-center position, this electric passenger vehicle battery altering process terminate.
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| CN105416248B (en) * | 2015-12-04 | 2018-03-23 | 北京新能源汽车股份有限公司 | Replacement device for battery of passenger electric vehicle and method for replacing battery by applying replacement device |
| CN111645561A (en) * | 2016-12-30 | 2020-09-11 | 上海电巴新能源科技有限公司 | Battery replacement method for replacing battery of electric automobile in quick-change system |
| WO2019104884A1 (en) * | 2017-11-30 | 2019-06-06 | 上海电巴新能源科技有限公司 | Battery replacing cart, battery replacing control system and control method therefor |
| CN109501752A (en) * | 2017-11-08 | 2019-03-22 | 蔚来汽车有限公司 | One kind changing electric transport device and its position control method |
| CN109501753B (en) * | 2017-11-22 | 2021-11-23 | 蔚来控股有限公司 | Automatic battery replacing platform and battery replacing station of electric automobile |
| CN207860149U (en) * | 2017-11-22 | 2018-09-14 | 蔚来汽车有限公司 | Electric vehicle moves level platform and electrical changing station certainly |
| CN109515395B (en) * | 2017-12-13 | 2022-05-03 | 蔚来(安徽)控股有限公司 | Battery changing actuating mechanism |
| CN108928327B (en) * | 2018-07-06 | 2020-08-25 | 蔚来(安徽)控股有限公司 | Lifting control method and device, battery replacement station, controller and medium |
| CN109584200B (en) * | 2018-09-06 | 2023-08-04 | 蔚来(安徽)控股有限公司 | Visual positioning system and positioning method in power exchange station |
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| CN114734867A (en) * | 2018-09-10 | 2022-07-12 | 奥动新能源汽车科技有限公司 | Battery taking and placing method and system |
| CN110126793B (en) * | 2019-02-25 | 2022-10-04 | 广东工业大学 | B2C type shared automobile quick battery changing system |
| CN111823940B (en) * | 2019-03-29 | 2024-08-20 | 中立元(镇江)电动汽车加电科技有限公司 | Intelligent power conversion positioning platform suitable for sharing power conversion of electric motor buses of different vehicle types |
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