CN105059264B - Electricity changing robot system based on portable electric passenger vehicle dynamic battery changing - Google Patents
Electricity changing robot system based on portable electric passenger vehicle dynamic battery changing Download PDFInfo
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- CN105059264B CN105059264B CN201510463443.9A CN201510463443A CN105059264B CN 105059264 B CN105059264 B CN 105059264B CN 201510463443 A CN201510463443 A CN 201510463443A CN 105059264 B CN105059264 B CN 105059264B
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Abstract
A kind of electricity changing robot system based on portable electric passenger vehicle dynamic battery changing, including：Robot moving platform, guide rail and orbital drive system, hoisting system and positioner, robot moving platform are a space framework, and orbital drive system is arranged on robot moving platform with hoisting system；Orbital drive system is used to promote robot moving platform to move horizontally along guide rail direction in orbit；Hoisting system is used to promote robot moving platform to be vertically moved；Positioner is used to be positioned robot moving platform and the electrokinetic cell of electric passenger vehicle bottom.The present invention is solved in the portable power-up scheme of new electric passenger vehicle dynamic battery changing, due to portable characteristic, cause the moving structure taken electrokinetic cell and change electrokinetic cell with electric passenger vehicle excessive can not be adapted to the space of portable characteristic, and conveniently to take and move the problem of changing electrokinetic cell.
Description
Technical field
The present invention relates to electric passenger vehicle field, and in particular to a kind of electric passenger vehicle electrokinetic cell based on movable type is more
The electricity changing robot system changed.
Background technology
In short supply with global energy, problem of environmental pollution is on the rise, in becoming greatly for environmental protection and clean energy resource concept
Under gesture, because the relatively conventional automobile of electric passenger vehicle effect on environment is smaller, its development prospect is very wide.Electric passenger vehicle is
Refer to using vehicle power as power, travelled with power wheel, meet road traffic, the vehicle of security legislation requirements.Its
Middle electrokinetic cell is the core of electric passenger vehicle, but caused for power battery technology and charging technique charging interval length, energy
Source supply point is few, endurance is poor, and battery fills service life to be reduced and influence power grid operation security problems soon, always
It is the bottleneck place for suffering from electric passenger vehicle business development.How electric passenger vehicle electric energy supply is allowed with conveniently refueling
Stand equally to mark, be the important topic of electric passenger vehicle business promotion.
Currently occur in that and electrokinetic cell need not be charged, and only electric passenger vehicle is changed the outfit full of electric power
Electrokinetic cell power-up station operation way, so reduce user wait power battery charging time, with orthodox car plus
The oily time is essentially identical, and the custom of automobile is used without changing user.
In such a mode, if user is during using electric passenger vehicle, due to vehicle problem (such as battery electric quantity
It is not enough to supply and drives to nearest power-up station or vehicle trouble and can not travel) cause vehicle to drive to power-up station to enter action
The replacing of power battery or to that can not be repaired to vehicle, then for user, use the Consumer's Experience meeting of electric passenger vehicle
Have a greatly reduced quality, inconvenience is brought to user, even resulting in electric passenger vehicle can not widely be promoted.
New is used in the technical scheme of portable power-up of electric passenger vehicle dynamic battery changing, due to portable spy
Property, cause the moving structure taken electrokinetic cell and change electrokinetic cell with electric passenger vehicle excessive can not be adapted to shifting
The space of dynamic formula characteristic, and the electrokinetic cell for changing electric passenger vehicle is conveniently taken and move, just become and be currently needed for
The problem of solution.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of electric passenger vehicle electrokinetic cell based on movable type more
The electricity changing robot system changed, to solve the technical side in the new portable power-up for being used for electric passenger vehicle dynamic battery changing
In case, due to portable characteristic, cause the mobile knot taken electrokinetic cell and with electric passenger vehicle change electrokinetic cell
Structure excessive can not will be adapted to the space of portable characteristic, and conveniently take and move the power electric for changing electric passenger vehicle
The problem of pond.
In order to solve the above problems, the invention provides a kind of electric passenger vehicle dynamic battery changing based on movable type
Electricity changing robot system, including：Robot moving platform, guide rail and orbital drive system, hoisting system and positioner, its
In,
Robot moving platform is a space framework, is arranged in compartment, and electrokinetic cell, wherein rail are placed in space framework
Road drive system is arranged on robot moving platform with hoisting system；
Orbital drive system is used to promote robot moving platform to move horizontally along guide rail direction in orbit；
Hoisting system is used to promote robot moving platform to be vertically moved；
Positioner is used to be positioned robot moving platform and the electrokinetic cell of electric passenger vehicle bottom.
Compared with prior art, using the present invention, robot moving platform is by head sheave and the driving structure of land wheel in day
Movement on rail and track so that robot moving platform convenient inside and outside compartment can be walked, and conveniently take and move replacing
Electrokinetic cell, can make the structure of electricity changing robot system excessive will not be adapted to the space of portable characteristic, and can be very
Conveniently take and move the electrokinetic cell for changing electric passenger vehicle.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill of field, on the premise of not paying creative work, it can also obtain other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the top view of electricity changing robot system of the present invention；
Fig. 2 is the front view of electricity changing robot system of the present invention；
Fig. 3 is the structural representation of the walking mechanism locking system of electricity changing robot system of the present invention；
Fig. 4 is that the portable power-up car of the electricity changing robot system of the application present invention carries out changing electric passenger vehicle power electric
The working state schematic representation in pond.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In the present invention, the electrokinetic cell for changing electricity is that pedigree battery, i.e. its apparent size are established standardses specification
Size is (for example：The width of all electrokinetic cells is identical, wherein by the quantity of the battery bag arranged is different and is provided with several
The size of length, thereby produces the electrokinetic cell of several different sizes, and power is provided for the electric passenger vehicle of different stage),
The portable electricity applying system that only in this way just can be suitably used for the present invention carries out quick-replaceable operation, wherein power to electrokinetic cell
The upgrading (such as various new chemical technologies or nuclear fusion technology are applied to electrokinetic cell) of battery core technology is not to this
Invention constitutes influence, and electrokinetic cell of the invention is the standard specification for setting outer shape size.
The electric pushrod used in the present invention is a kind of linear reciprocation that the rotary motion of motor is changed into push rod
The power-driven gear of motion.Available in various simple or complicated technological process as perform machinery use；Electric pushrod
By the group such as motor, reduction gearing, screw rod, nut, guide pin bushing, push rod, slide, spring, shell and turbine, fine motion controlling switch
Into.Electric pushrod is a kind of new electric operator, and electric pushrod is mainly by the mechanism such as motor, push rod and control device group
Into a kind of novel linear executing agency, it is possible to achieve far distance controlled, centralized Control.Electric pushrod is in certain limit stroke
Make back and forth movement.Using electric pushrod executing agency, when changing control aperture, it is necessary to power, needed for reaching during aperture just
Can no longer it power, therefore in terms of energy-conservation, there are obvious power saving advantages, electric pushrod in electric pushrod executing agency than pneumatic actuator
Exquisiteness novel in design, small volume, precision height, Complete Synchronization, self-locking property are good, health, motor direct-drive, it is not necessary to pipeline
Source of the gas, oil circuit, convenient use.
The leading screw mode used in the present invention, motor drives a pair of feed screw nuts after The gear deceleration.Motor
Rotation motion is in line motion, utilizes motor forward/backward rotation to complete putter action.Such as pass through various levers, rocking bar or connecting rod
Mechanism such as can complete to rotate, shake at the compound action.By changing lever arm of force length, it can increase or reduce stroke.The present invention
The Worm Wheel System form of middle use：Worm screw on motor gear drives worm gear wheel, the small leading screw in worm gear is made axially
It is mobile, drive gag lever post accordingly to move axially by connecting plate, during to required stroke, switched by adjusting limited block depression stroke
Power-off, motor shuts down (positive revertive control is identical).The gear-driven form used in the present invention：Motor passes through reduction gearing
Drive afterwards and be installed on the small leading screw of inner tube, drive be attached thereto together do axial running nut, to spiral shell during set stroke
Female feeler pushes down limit switch deenergization, motor stop motion (reversely same).The chain wheel mode used in the present invention,
Wheel i.e. with cog type whelp, to be meshed with the accurate block of pitch on pitch chain ring or cable, is nibbled with (roller) chain
Close to transmit motion.
The electricity changing robot system of the present invention is arranged on the inside of portable power-up car, dynamic by scheduling batteries system call
Electrokinetic cell on power battery commodity shelf system, it is electronic by head sheave and the driving structure of land wheel being moved on day rail and track
Passenger car bottom, power shortage battery is unloaded and power shortage battery is sent into scheduling batteries system by mobile, and by the electricity of reception
Full electric electrokinetic cell on the electrokinetic cell commodity shelf system of pond scheduling system call, is existed by the driving structure of head sheave and land wheel
Electric passenger vehicle bottom is moved on its rail and track, and this is expired into the bottom that electric electrokinetic cell is installed to electric passenger vehicle
Portion, completes to change the flow of electrokinetic cell.
As depicted in figs. 1 and 2, the electricity changing robot system 104 can include robot moving platform 1041, head sheave
1042 and day wheel drive system 1043, land wheel 1044 and ground wheel drive system 1045, multiple disk rollers 1046 and disk roller drive system
1047th, walking mechanism locking system 1048, electrokinetic cell locking system 1049, scissors fork lifting machine 10410 and lifting machine driving
System 10411 and the (not shown) of positioner 10412, wherein robot moving platform in head sheave and day wheel drive system and
Moved horizontally under the driving of land wheel and ground wheel drive system along guide rail direction, robot moving platform pitches lifting machine by scissors
And lifting machine drive system is in vertical motion, guide rail includes day rail TG and track DG, and day rail TG is head sheave walking in tailgate
Bottom install robot moving platform walking track, day rail TG be on tailgate V-groove to a segment distance of tailgate track,
Track DG be land wheel walk compartment in floor precalculated position install robot moving platform track, track DG be tailgate extremely
The track of one segment distance of scheduling batteries system；Head sheave and day wheel drive system include being arranged in robot moving platform both sides
4 of portion transmission breast wheels 10413,4 head sheaves, motor and sprocket wheel and chain, robot moving platform walking mechanism
Drive form is 4 × 4 drivings, and land wheel and ground wheel drive system include 4 ground for being arranged on the side lower part of robot moving platform two
Wheel, motor and sprocket wheel and chain, the drive form of robot moving platform walking mechanism is 4 × 4 drivings；Multiple disk rollers and
Disk roller drive system includes multiple steel pipes, motor, sprocket wheel and chain, and multiple disk rollers are arranged on robot moving platform,
For the electrokinetic cell on disk roller accordingly to be moved, (disk roller drive system is used for the bottom of the robot moving platform
Electrokinetic cell on disk roller is accordingly moved, and the disk roller drive system includes motor, sprocket wheel and chain, described
Disk roller drive system is rotated by motor-driven drive sprockets, two-by-two two adjacent disk rollers of chain wheel drive, drive a set of sprocket wheel from
And disk roller is rotated, the electrokinetic cell on disk roller is accordingly moved；Disk roller is steel pipe, and disk roller is set to
Rotate counterclockwise turns clockwise；Wherein, by the rotate counterclockwise of disk roller by the electricity changing robot system receive it is dynamic
The framework of power battery removal robot moving platform, or needed the electricity changing robot system by turning clockwise for disk roller
The electrokinetic cell to be received moves into the framework of robot moving platform)；Walking mechanism locking system is pushed away including push-pull electromagnet
Dynamic push rod and U-shaped bar spreading friction pair；Electrokinetic cell locking system includes multiple magnechucks, by magnechuck by power electric
Pond is fixed on robot moving platform；Scissors pitches lifting machine and lifting machine drive system adds an electric pushrod including double shear knife and fork
Driving structure；Positioner can include the alignment pin that is set on optical sensor and robot moving platform, and (alignment pin is elasticity
Structure, it can be ensured that being accurately positioned during insertion electrokinetic cell, the dowel hole of the bottom of alignment pin and electrokinetic cell matches
Close).
The electrokinetic cell of electricity changing robot system and electric passenger vehicle carries out the workflow of precise positioning, including：It is described
Electricity changing robot system receives in-car pre- off-position and put to be needed to change electric electric passenger vehicle electrokinetic cell centre distance on tailgate
After information, electricity changing robot walking mechanism locking system is unlocked, and start head sheave and day wheel drive system and land wheel and ground wheel driving
Dynamic system, robot moving platform is moved to after the electrokinetic cell near center location of electric passenger vehicle bottom, passed by light
Sensor is accurately positioned with electrokinetic cell, and pitches lifting machine and lifting machine drive system by robot moving platform by scissors
On alignment pin insertion electrokinetic cell bottom pin-and-hole, complete the positioning of the electrokinetic cell of electricity changing robot system and electric passenger vehicle
Flow.
Electricity changing robot system is by robot moving platform, head sheave and its drive system, land wheel and its drive system, disk roller
And its lifting of drive system, walking mechanism locking system, battery bag lockable mechanism, scissors fork and its drive system, positioner
Deng composition.
The day rail and track of electricity changing robot system be respectively：Attachment rail (the tailgate on the precalculated position of floor in compartment
To the segment distance of scheduling batteries system one) --- track, tailgate bottom mounting robot walk track (V-groove to one section of tailgate away from
From) --- day rail；
Rail profile：High by 90 × wide by 50~60 × material thickness 5, improves the intensity of track；
The frame of robot moving platform can be carried out bending by metal plate 15Mn, thickness 5mm, cut, be welded, and be improved
The intensity of frame；
Head sheave and its drive system are driven breast wheel, 4 head sheaves, motor, sprocket wheels by 4 of the middle side part of robot 2
And chain composition, robot running gear drive form 4 × 4；
Land wheel and its drive system are made up of 4 land wheels, motor, sprocket wheel and the chain of the side lower part of robot 2, machine
People's walking mechanism drive form 4 × 4；
Wherein, 4 land wheels of the side lower part of space framework two of robot moving platform, the solid with robot moving platform
Corresponding 4 head sheaves of framework upper both sides are set for non-perpendicular line, i.e., than 4 land wheels of integral central point that 4 head sheaves are constituted
The central point of composition is close to compartment afterbody.The setting of this spline structure can make robot moving platform be transitioned into a day rail from track
Motion process in, when 4 head sheaves to day rail completely into driving, two land wheels rearward drive also in track, make transition
Process is more steady, will not produce big vibrations, improves the stability and reliability of robot moving platform during exercise, together
When security greatly increase；Anyway as the same (make robot moving platform in the motion process of track is transitioned into from day rail, 4
When land wheel to track completely into driving, two head sheaves rearward drive also on day rail)；Specifically, electricity changing robot system
Middle head sheave differs 180mm with corresponding land wheel fore-and-aft direction so that electricity changing robot system is in the predetermined stop place out of compartment
Put when driving to compartment afterbody, head sheave has been enter into a day rail, and now land wheel forms 6 wheel drives in short-term also in track so that change
Electric machine people's system is very steady, reliable to tailgate walking outside compartment out of compartment.
Electricity changing robot system is by rack-and-pinion battery Y-direction centering structure, using flexible alignment pin by power
Battery is fixed.
Disk roller and its drive system are made up of 5 diameter 60mm seamless steel pipes, motor, sprocket wheel and chain；
As shown in figure 3, walking mechanism locking system 1048 promotes push rod 10481, U-shaped bar spreading to rub by push-pull electromagnet
Wipe pair 10482 to constitute, push-pull electromagnet promotes push rod and U-shaped bar spreading friction pair to be arranged on day rail, passes through plug-type electricity
The locking of the position for the robot moving platform that the U-shaped bar spreading friction sub-control of magnet promotion push rod promotion is walked on day rail.
Battery bag lockable mechanism can be made up of 4 diameter 200mm magnechuck；Robot scissors fork lifting and its drive
Dynamic structure adds an electric pushrod driving structure to constitute by double shear knife and fork, and lift height is 100 to 300mm；
Optical sensor can be using infrared emission sensor or non-visible light opposite type sensor etc. (using infrared emission sensing
The positioning precision of device is high, reduces mistake when electricity changing robot system is docked with the electrokinetic cell of electric passenger vehicle vehicle chassis
Difference), as long as positioning can be realized, the present invention is not limited this.
As shown in figure 4, the portable power-up car of the electricity changing robot system of the application present invention carries out replacing electric passenger vehicle
The working state schematic representation of electrokinetic cell, illustrated therein is needs the electric passenger vehicle for change electrokinetic cell to reach tailgate
The state of platform.
Mobile power-up car is received after control centre's dispatch command, and driving to needs change where the electric passenger vehicle of electricity
Position, wherein, mobile power-up car is used as power using the electrokinetic cell of new energy；
Tailgate is simultaneously laid flat by the electric pushrod expansion tailgate of the carriage body lateral tail of mobile power-up car, while automatic telescopic slope
Plate is opened to predeterminated position；
The electric passenger vehicle reaches the platform of tailgate by automatic telescopic ramp, and tailgate is electronic to what is carried on platform
Passenger car is completed after the operation of positioning, and the electric passenger vehicle carried on lifting machine lifting tailgate reaches predeterminated position, and completion pair
The Levelling operation of chassis of electric passenger vehicle；
After the power shortage battery that the chassis of electric passenger vehicle is unloaded is transplanted in scheduling batteries system by electricity changing robot system,
Power shortage battery in electricity changing robot system is transplanted on electrokinetic cell shelf by scheduling batteries system, and by electrokinetic cell shelf
Full electricity battery is transplanted in electricity changing robot system in system, and electrokinetic cell shelf are by power shortage battery lock；
The full battery that scheduling batteries system is moved is sent to the chassis bottom of electric passenger vehicle by electricity changing robot system
And installed in vehicle bottom, complete the control of dynamic battery changing.
The electricity changing robot system based on portable electric passenger vehicle dynamic battery changing of the present invention, including：Machine
People's mobile platform, guide rail and orbital drive system, hoisting system and positioner, wherein,
Robot moving platform is a space framework, is arranged in compartment, and electrokinetic cell, wherein rail are placed in space framework
Road drive system is arranged on robot moving platform with hoisting system；
Orbital drive system is used to promote robot moving platform to move horizontally along guide rail direction in orbit；
Hoisting system is used to promote robot moving platform to be vertically moved；
Positioner is used to be positioned robot moving platform and the electrokinetic cell of electric passenger vehicle bottom.
The robot moving platform also includes multiple disk rollers and disk roller drive system, and disk roller drive system is used for will be described
The electrokinetic cell that the bottom of robot moving platform is located on disk roller is accordingly moved, and the disk roller drive system includes driving
Motor, sprocket wheel and chain, the disk roller drive system is rotated by motor-driven drive sprockets, two-by-two adjacent two of chain wheel drive
Disk roller, drives a set of sprocket wheel so that disk roller is rotated, the electrokinetic cell on disk roller is accordingly moved.
The disk roller is steel pipe, and the disk roller is set to rotate counterclockwise or turned clockwise；Wherein, the inverse of disk roller is passed through
The electrokinetic cell that hour hands rotation receives the electricity changing robot system removes the framework of robot moving platform, or passes through roller
The framework for needing the electrokinetic cell received to move into robot moving platform the electricity changing robot system that turns clockwise of wheel.
The robot moving platform further comprises electrokinetic cell locking system, and electrokinetic cell locking system is arranged on institute
State on the bottom of robot moving platform, electrokinetic cell locking system includes multiple magnechucks, by magnechuck by power
Battery is fixed on the robot moving platform.
The guide rail includes day rail and track, the orbital drive system include land wheel and ground wheel drive system and head sheave and
Its wheel drive system, wherein, the track is the robot moving platform that floor precalculated position is installed in the compartment of land wheel walking
Track, the day rail be head sheave walk compartment afterbody tailgate bottom install robot moving platform walking rail
Road；Land wheel and ground wheel drive system include being arranged on 4 land wheels of the side lower part of space framework two of robot moving platform, driving
Motor and sprocket wheel and chain, wherein the drive form of wheel drive system be 4 × 4 drivings；The head sheave and day wheel drive system
Including be arranged on 4 of the middle side part of space framework two transmission breast wheels of robot moving platform, space framework top both sides 4
Individual head sheave, motor and sprocket wheel and chain, the wherein drive form of day wheel drive system are 4 × 4 drivings.
4 land wheels of the side lower part of space framework two of the robot moving platform, with the robot moving platform
Corresponding 4 head sheaves of space framework top both sides are set for non-perpendicular line, i.e., the integral central point that 4 head sheaves are constituted is than 4
The central point that land wheel is constituted is close to compartment afterbody.
Also include walking mechanism locking system, walking mechanism locking system includes push-pull electromagnet and promotes push rod and U-shaped
Bar spreading friction pair, push-pull electromagnet promotes push rod and U-shaped bar spreading friction pair to be arranged on day rail, passes through plug-type electromagnetism
The locking of the position for the robot moving platform that the U-shaped bar spreading friction sub-control of iron promotion push rod promotion is walked on day rail.
Also include scissors and pitch lifting machine and lifting machine drive system, scissors fork lifting machine and lifting machine drive system are arranged on
The space framework bottom of the robot moving platform, wherein adding the driving structure of an electric pushrod by machine by double shear knife and fork
The bottom of people's mobile platform carries out lifting moving in vertical direction.
The positioner includes the alignment pin set on optical sensor and robot moving platform, alignment pin and power electric
The dowel hole of the bottom in pond is engaged.
In the specification that this place is provided, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect, exist
Above in the description of the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
The application claims of shield features more more than the feature being expressly recited in each claim.More precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
All as the separate embodiments of the present invention.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit is required, summary and accompanying drawing) disclosed in each feature can or similar purpose identical, equivalent by offer alternative features come generation
Replace.
Although in addition, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of be the same as Example does not mean in of the invention
Within the scope of and form different embodiments.For example, in the following claims, times of embodiment claimed
One of meaning mode can be used in any combination.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" is not excluded the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and coming real by means of properly programmed computer
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Claims (8)
1. a kind of electricity changing robot system based on portable electric passenger vehicle dynamic battery changing, it is characterised in that
Including：Robot moving platform, guide rail and orbital drive system, hoisting system and positioner, wherein,
Robot moving platform is a space framework, is arranged in compartment, and electrokinetic cell is placed in space framework, and its middle orbit drives
Dynamic system is arranged on robot moving platform with hoisting system；
Orbital drive system is used to promote robot moving platform to move horizontally along guide rail direction in orbit；
Hoisting system is used to promote robot moving platform to be vertically moved；
Positioner is used to be positioned robot moving platform and the electrokinetic cell of electric passenger vehicle bottom；
The guide rail includes day rail and track, and the orbital drive system includes land wheel and ground wheel drive system and head sheave and head sheave
Drive system, wherein, the track is the rail of the robot moving platform that floor precalculated position is installed in the compartment of land wheel walking
Road, the day rail is the walking track for the robot moving platform that the tailgate bottom in compartment afterbody that head sheave is walked is installed；Ground
Wheel and ground wheel drive system include 4 land wheels, motors for being arranged on the side lower part of space framework two of robot moving platform
With sprocket wheel and chain, wherein wheel drive system drive form for 4 × 4 driving；The head sheave and day wheel drive system include
It is arranged on 4 transmission breast wheels, 4 days of space framework top both sides of the middle side part of space framework two of robot moving platform
Wheel, motor and sprocket wheel and chain, the wherein drive form of day wheel drive system are 4 × 4 drivings；Wherein, the robot
4 land wheels of the side lower part of space framework two of mobile platform, with the space framework top both sides of the robot moving platform
Corresponding 4 head sheaves are set for non-perpendicular line, i.e., the central point that than 4 land wheels of integral central o'clock that 4 head sheaves are constituted are constituted is leaned on
Nearly compartment afterbody.
2. electricity changing robot system as claimed in claim 1, it is characterised in that
The robot moving platform also includes multiple disk rollers and disk roller drive system, and disk roller drive system is used for the machine
The electrokinetic cell that the bottom of people's mobile platform is located on disk roller is accordingly moved, and the disk roller drive system includes driving electricity
Machine, sprocket wheel and chain, the disk roller drive system is rotated by motor-driven drive sprockets, two-by-two two adjacent rollers of chain wheel drive
Wheel, drives a set of sprocket wheel so that disk roller is rotated, the electrokinetic cell on disk roller is accordingly moved.
3. electricity changing robot system as claimed in claim 2, it is characterised in that
The disk roller is steel pipe, and the disk roller is set to rotate counterclockwise or turned clockwise；Wherein, the counterclockwise of disk roller is passed through
Rotate the electrokinetic cell for receiving the electricity changing robot system and remove the framework of robot moving platform, or pass through disk roller
Turn clockwise the framework for needing the electrokinetic cell received to move into robot moving platform the electricity changing robot system.
4. electricity changing robot system as claimed in claim 3, it is characterised in that
The robot moving platform further comprises electrokinetic cell locking system, and electrokinetic cell locking system is arranged on the machine
On the bottom of device people's mobile platform, electrokinetic cell locking system includes multiple magnechucks, by magnechuck mode by power
Battery is fixed on the robot moving platform.
5. electricity changing robot system as claimed in claim 4, it is characterised in that
Also include walking mechanism locking system, walking mechanism locking system includes push-pull electromagnet and promotes push rod and U-shaped bar to rise
Friction pair is opened, push-pull electromagnet promotes push rod and U-shaped bar spreading friction pair to be arranged on day rail, pushed away by push-pull electromagnet
The locking of the position for the robot moving platform that the dynamic U-shaped bar spreading friction sub-control of push rod promotion is walked on day rail.
6. electricity changing robot system as claimed in claim 5, it is characterised in that
The hoisting system includes scissors and pitches lifting machine and lifting machine drive system, scissors fork lifting machine and lifting machine drive system
The space framework bottom of the robot moving platform is arranged on, wherein adding the driving structure of an electric pushrod by double shear knife and fork
The bottom of robot moving platform is subjected to lifting moving in vertical direction.
7. electricity changing robot system as claimed in claim 6, it is characterised in that
The positioner includes the alignment pin set on optical sensor and robot moving platform, alignment pin and electrokinetic cell
The dowel hole of bottom is engaged.
8. electricity changing robot system as claimed in claim 7, it is characterised in that
The optical sensor is infrared emission sensor or non-visible light opposite type sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510463443.9A CN105059264B (en) | 2015-07-31 | 2015-07-31 | Electricity changing robot system based on portable electric passenger vehicle dynamic battery changing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510463443.9A CN105059264B (en) | 2015-07-31 | 2015-07-31 | Electricity changing robot system based on portable electric passenger vehicle dynamic battery changing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105059264A CN105059264A (en) | 2015-11-18 |
| CN105059264B true CN105059264B (en) | 2017-08-29 |
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| CN108422444A (en) * | 2018-02-02 | 2018-08-21 | 广州凯柔进出口贸易有限公司 | A kind of modified medical robot device |
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| CN202272088U (en) * | 2011-09-22 | 2012-06-13 | 柳崇禧 | Mobile automatic charging/replacing station for electric vehicles |
| CN203439001U (en) * | 2013-07-31 | 2014-02-19 | 深圳市力能加电站有限公司 | Movable lifting-type battery box carrying device |
| CN203713840U (en) * | 2013-11-28 | 2014-07-16 | 西安航天精密机电研究所 | Automatic battery replacing mechanism for electric car |
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