CN105109466A - Mobile electric passenger car power battery replacement-based control method - Google Patents

Abstract

The invention relates to a mobile electric passenger car power battery replacement-based control method. The method comprises the steps that a mobile power station runs to the position where an electric passenger car in need of battery replacement is located after the mobile power station receives an instruction; a tail plate is unfolded and flatly arranged on the ground to form a platform, and an automatic telescopic slope plate is opened; a lifting device completes leveling after the electric passenger car is driven onto the platform of the tail plate and completes positioning operation; after a battery-replacing robot transfers a detached power-lack battery to a battery scheduling system, the battery scheduling system transfers the power-lack battery on the battery-replacing robot onto a power battery shelf system and transfers a full-power battery on the power battery shelf system onto the battery-replacing robot and the power-lack battery is locked by the power battery shelf system; the battery-replacing robot transfers the full-power battery moved by the battery scheduling system to a position below a chassis of the electric passenger car and installs the full-power battery at the bottom of the body. By adopting the mobile electric passenger car power battery replacement-based control method, the problem that the power batteries of electric passenger cars which cannot run to the power station cannot be replaced or vehicles cannot be maintained is solved.

Description

A kind of control method of the electric passenger vehicle dynamic battery changing based on movable type

Technical field

The present invention relates to electric passenger vehicle field, be specifically related to a kind of control method of the electric passenger vehicle dynamic battery changing based on movable type.

Background technology

In short supply along with global energy, problem of environmental pollution is on the rise, and under the megatrend of environmental protection and clean energy resource concept, because electric passenger vehicle is less relative to orthodox car to environmental concerns, its development prospect is very wide.It is power that electric passenger vehicle refers to vehicle power, drives wheels travel with motor, meets the vehicle of arteries of communication, legislative control on safety requirements.Wherein electrokinetic cell is the core of electric passenger vehicle, but the charging duration caused for power battery technology and charging technique is long, energy recharge point is few, flying power is poor, and battery fill soon to reduce service life with affect power grid operation security problems, be the bottleneck place suffering from electric passenger vehicle business development always.How allowing electric passenger vehicle electric energy supply with conveniently petrol service station is the same as mark, is the important topic of electric passenger vehicle business promotion.

Current appearance does not need to charge to electrokinetic cell, and the operation way adding power station of the electrokinetic cell being full of electric power that only electric passenger vehicle changed the outfit, which reduce the time that user waits for power battery charging, substantially identical with orthodox car refueling time, the custom of automobile is used without the need to changing user.

In such a mode, if user is in the process using electric passenger vehicle, due to vehicle problem (nearest adding power station or vehicle trouble can not travel as battery electric quantity is not enough to supply drive to) cause vehicle not drive to adding power station carry out electrokinetic cell replacing or to not keeping in repair vehicle, so concerning user, the Consumer's Experience of electric passenger vehicle is used to have a greatly reduced quality, bring inconvenience to user, even cause electric passenger vehicle not promoted widely.

Therefore, how a kind of technical scheme powered up for the movable type of electric passenger vehicle dynamic battery changing is newly provided, guarantee that can not drive to the electric passenger vehicle adding power station can carry out the replacing of electrokinetic cell or keep in repair vehicle, just become the current problem needing to solve.

Summary of the invention

Technical matters to be solved by this invention is the control method providing a kind of electric passenger vehicle dynamic battery changing based on movable type, to solve not driving to the replacing that the electric passenger vehicle adding power station can carry out electrokinetic cell or the problem of keeping in repair vehicle.

In order to solve the problem, the invention provides a kind of control method of the electric passenger vehicle dynamic battery changing based on movable type, comprising:

Mobile add after power station receives control center's dispatch command, drive to the electric passenger vehicle position needing to carry out changing electricity, wherein, the mobile power station that adds is that the movement of employing new forms of energy adds electric car;

The mobile direction of tailgate electric pushrod on rear side of envelope afterbody adding the envelope lateral tail in power station launches tailgate and is set level by tailgate to form a platform behind ground, and automatic telescopic ramp is opened to predeterminated position simultaneously;

Described electric passenger vehicle reaches the platform of tailgate by automatic telescopic ramp, and after tailgate completes the operation of location to the electric passenger vehicle that platform carries, the electric passenger vehicle that lifting device lifting tailgate carries reaches predeterminated position, and completes the Levelling operation to chassis of electric passenger vehicle;

Change the power shortage battery that the chassis of electric passenger vehicle unloads by electric machine people to be transplanted on after in scheduling batteries system, the power shortage battery changed on electric machine people is transplanted on electrokinetic cell commodity shelf system by scheduling batteries system, and battery full on electrokinetic cell commodity shelf system is transplanted on changes on electric machine people, electrokinetic cell commodity shelf system is by power shortage battery lock;

Change electric machine people the full battery of scheduling batteries system movement is sent to the bottom, chassis of electric passenger vehicle and is arranged on vehicle bottom, complete the control of dynamic battery changing.

Compared with prior art, application the present invention, by the structure adopting the movement of new forms of energy to add electric car, can make to drive to the electric passenger vehicle adding power station and be convenient for changing electrokinetic cell, improve the user satisfaction of user, have great power-assisted effect to the popularization of the electric passenger vehicle of new forms of energy.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is the structural representation of the portable electricity applying system for electric passenger vehicle dynamic battery changing of the present invention;

Fig. 2 is the working state schematic representation of the portable electricity applying system of the present invention;

Fig. 3 is the top view of electrokinetic cell commodity shelf system 101 of the present invention;

Fig. 4 is the three-dimensional side view of electrokinetic cell commodity shelf system 101 of the present invention;

Fig. 5 is the structural representation of scheduling batteries system of the present invention;

Fig. 6 is the working state schematic representation of scheduling batteries system of the present invention;

Fig. 7 is the schematic perspective view of batter-charghing system 103 of the present invention;

Fig. 8 is each angle schematic diagram of batter-charghing system 103 of the present invention;

Fig. 9 is the top view that the present invention changes electric machine people;

Figure 10 is the front view that the present invention changes electric machine people;

Figure 11 is the structural representation that the present invention changes the traveling gear Locking Device of electric machine people;

Figure 12 is the structural representation of the platform of tailgate 105 of the present invention;

Figure 13 is electrokinetic cell latching device and electrokinetic cell locking drive configuration schematic diagram on tailgate;

Figure 14 is Track width adjustment plate and Track width adjustment drive configuration schematic diagram on tailgate;

Figure 15 is V-type groove structural representation on tailgate;

Figure 16 is trailing wheel leveling equipment structural representation on tailgate;

Figure 17 is lifting device structural representation of the present invention;

Figure 18 is automatic telescopic ramp structural representation of the present invention;

Figure 19 is tailgate electric pushrod structural representation of the present invention;

Figure 20 is the diagram of circuit of the control method of a kind of electric passenger vehicle dynamic battery changing based on movable type of the present invention.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

In the present invention, for change electricity electrokinetic cell be pedigree battery, namely its apparent size be the size of established standards specification (such as: the width of all electrokinetic cells is identical, the size of several length is wherein provided with due to the quantity difference of arranged power brick, thereby produce the electrokinetic cell of several different size, for the electric passenger vehicle of different stage provides power), only in this way just can be applicable to portable electricity applying system of the present invention and quick-replaceable operation is carried out to electrokinetic cell, wherein the upgrading (such as various new chemical technology or atomic fusion technology are applied to electrokinetic cell) of electrokinetic cell core technology does not form impact to the present invention, electrokinetic cell of the present invention just sets the standard specification of outer shape size.

The electric powerplant of the electric pushrod adopted in the present invention to be a kind of by the converting rotary motion of electrical motor the be straight reciprocating motion of push rod.Can be used for using as execution machinery in various simple or complicated technological process; Electric pushrod is made up of drive motor, reducing gear, screw rod, nut, guide pin bushing, push rod, slide, spring, shell and turbine, fine motion master cock etc.Electric pushrod is a kind of novel electrically-powered actuator, and electric pushrod, primarily of a kind of novel linear actuating unit of mechanism's compositions such as motor, push rod and control setup, can realize distance control, centralized control.Electric pushrod makes back and forth movement in certain limit stroke.Adopt electric pushrod actuating unit, when changing control aperture, need power supply, just can no longer power when reaching required aperture, therefore from energy-conservation, electric pushrod actuating unit has obvious power saving advantages than air-actuator, electric pushrod modern design is exquisite, volume is little, precision is high, Complete Synchronization, self-locking property are good, health, motor direct-drive, does not need the source of the gas of pipeline, oil circuit, easy to use.

The leading screw mode adopted in the present invention, electrical motor, after gear reduction, drives a pair feed screw nut.The rotation motion of motor is in line motion, utilizes motor forward/backward rotation to complete push rod action.As the compound actions such as rotation, shake can be completed by mechanisms such as various lever, rocking bar or connecting rods.By changing lever arm of force length, can increase or reduce stroke.The Worm Wheel System form adopted in the present invention: the worm screw on motor gear drives worm gear wheel, little leading screw in worm gear is moved axially, driven by connecting panel that position-limited lever is corresponding moves axially, during to required stroke, by regulating limiting stopper depression stroke switch circuit breaking, electrical motor shuts down (positive revertive control is identical).The gear-driven form adopted in the present invention: motor is by driving the little leading screw being installed on interior pipe after reducing gear, drive be attached thereto together do axial running nut, limit switch power cut-off is pushed down, motor stop motion (oppositely identical with it) to nut feeler during set stroke.The chain wheel mode adopted in the present invention, is namely with the wheel of cog type whelp, in order to pitch on pitch chain ring or cable accurately block be meshed, engage with (roller) chain and move to transmit.

As shown in Figure 1, a kind of portable electricity applying system for electric passenger vehicle dynamic battery changing provided by the invention, the movement comprising employing new forms of energy adds electric car and (adopts the movement of new forms of energy to add electric car, can work not by the impact of the vehicle restricted driving policy of locality, any city in city, improve the service efficiency of vehicle), wherein

Mobile add electric car and comprise an envelope 10, comprise in envelope 10: electrokinetic cell commodity shelf system 101, scheduling batteries system 102, batter-charghing system 103 and change electric machine people 104, wherein,

Electrokinetic cell commodity shelf system 101 is for placing and locking electrokinetic cell;

Battery full on electrokinetic cell commodity shelf system 101 for the power shortage battery changed on electric machine people 104 is transplanted on electrokinetic cell commodity shelf system 101, and is transplanted on and changes on electric machine people 104 by scheduling batteries system 102;

The control of batter-charghing system 103 for charging to power shortage battery on electrokinetic cell commodity shelf system 101;

Change electric machine people 104 and be transplanted on scheduling batteries system 102 for the power shortage battery unloaded on the chassis of electric passenger vehicle, and the full battery of scheduling batteries system 102 movement is sent to the bottom, chassis of electric passenger vehicle for being arranged on vehicle bottom;

The mobile envelope lateral tail adding electric car comprises tailgate 105, lifting device 106, tailgate electric pushrod 107 and automatic telescopic ramp 108, wherein,

The direction laid out flat of tailgate 105 under the driving of tailgate electric pushrod 107 on rear side of envelope afterbody forms a platform behind ground, after positioning the electric passenger vehicle that platform carries, changes the control of the electrokinetic cell of electric passenger vehicle;

Lifting device 106 is for the electric passenger vehicle of carrying on lifting tailgate 105;

Tailgate electric pushrod 107 is for launching, packing up tailgate 105 and lifting device 106; (tailgate launches to be completed by 23 grades of intelligent electric push rods, tailgate electric pushrod peak load 1000kg, range 2000mm; Long 900 ~ the 1000mm of off working state of tailgate electric pushrod, the mode of operation of tailgate electric pushrod is stretched to 2000mm; The installation diameter 200 ~ 220mm of tailgate electric pushrod, working diameter 100 ~ 120mm); Tailgate can launch to pack up by above tailgate electric pushrod size arrange easily.

The platform of automatic telescopic ramp 108 for making electric passenger vehicle reach tailgate.

The mobile envelope 10 adding electric car, can adopt square steel skeleton, aluminium sheet covering and arc wrap angle unitized construction; Envelope is provided with and adopts section bar column (improving the rigid of envelope), and two columns of both sides, envelope front end connect with 4 angle members, connects outside it with circle cornerite section bar, not only attractive in appearance but also anticorrosion;

Envelope length can be 5500 ~ 5700mm, and width can be 2500 ~ 2550mm, can be highly 2500 ~ 2700mm (setting of above-mentioned size is in order to meet the requirement of vehicle chassis); The floor bearer be connected with vehicle frame is had bottom envelope; Envelope two sides install rolling screen door or clamshell doors (for mobile add electric car get back to power battery charging DISTRIBUTION CENTRE time, facilitate fork truck to take out electrokinetic cell); Envelope header board is equipped with exhaust fan and window (for heat dissipation ventilation) and external power supply socket/socket (standard can be 220V, external source easy to use and supplying power for outside);

Further, described movement adds electric car also can comprise a protective cover 109, is arranged at envelope afterbody outermost, and the material of protective cover is that non-metallic material is made; Jack 110 is also provided with bottom the envelope that described movement adds electric car.Protective cover can add resin solidification by carbon fiber and make (can be made up of glass-felt plastic, or the material such as engineering plastics being made), and the die-filling tool of inner-outer sleeve, ensures that the surfaces externally and internally of protective cover is smooth.Wherein the integral thickness of protective cover can for being less than or equal to 500mm, the entire length of protective cover can for being less than or equal to 3030mm, the thickness of shell of protective cover, for being less than or equal to 10mm, more than arranges the intensity that can ensure protective cover and weight again can not be excessive, affects in the mobile use adding electric car.Move and add the jack arranged bottom the envelope of electric car, vehicle can be made to change in electric process, the trailing wheel of vehicle does not bear weight, changing in electric process, the electric passenger vehicle needing to change electricity is very large with the weight of changing electric equipment, can guarantee that the trailing wheel of vehicle can not suffer damage by jack, wherein jack can adopt the mode of motor-driven jack and hand jack, and the mode of motor-driven jack can be raised the efficiency, and saves the time of changing electric process.

Described movement adds electric car and also can comprise further: move and power up fire-fighting system and maintenance unit in vehicle control, car, wherein, mobile power up vehicle control for carrying out radio communication with operation platform, by radio communication or install additional with car control power-up operations flow process from the large data system of net; In car, fire-fighting system comprises powder extinguisher and/or fire extinguisher bomb system; Maintenance unit is used for the instrument keeped in repair vehicle.

Movement powers up vehicle control and can carry out radio communication by wireless communication module and operation platform; Can by the communications such as WIFI or install additional with car control power-up operations flow process from the large data system of net; The communications protocol of wireless communication module meets the standard communication protocol of operation platform; Wireless communication module matches with mobile BMS and VCU adding electric car, also matches with needing BMS and VCU of the electric passenger vehicle changing electricity simultaneously.

In car, fire-fighting system can be included in bottom shelf both sides, front end, compartment and respectively arrange 1 powder extinguisher, and respectively arranges 1 powder extinguisher in rear end, compartment two bottom sides; Also can install fire extinguisher bomb system (improve the efficiency of fire extinguishing and promote the effect of fire extinguishing) additional in electrokinetic cell commodity shelf system simultaneously;

Maintenance unit can comprise: the service toolies such as 220V touch block and plug, the rubber pier (tower) determining operating range, aluminium alloy foldable ladder, tool box and/or flash light, and convenience adds electric car to movement and electric passenger vehicle keeps in repair.

As shown in Figure 2, the working state schematic representation of the portable electricity applying system of the present invention, illustrated therein is the state needing the electric passenger vehicle carrying out changing electrokinetic cell to reach the platform of tailgate.

As shown in Figure 3, the top view of described electrokinetic cell commodity shelf system 101, framework 1011, power brick electromagnetic locking device 1012, multiple running roller 1013 and running roller actuating device 1014 can be comprised, wherein, electric passenger vehicle battery to be changed is all deposited on framework 1011, (as shown in the three-dimensional side view of the electrokinetic cell commodity shelf system 101 of Fig. 4, framework 1011 both sides reserve space groove 1015), framework 1011 comprises multiple battery storing position, and wherein a reserved room is for depositing the power shortage battery changed from electric passenger vehicle; Electrokinetic cell is fixed on framework by the electromagnetism attracting mode of multiple magnetic chucks that power brick electromagnetic locking device 1012 is arranged, and when taking certain block electrokinetic cell, can unlock separately, taken off afterwards by scheduling batteries system this electrokinetic cell; The left and right sides of running roller 1013 drives between two by sprocket wheel, by being arranged on the drive motor of the running roller left and right sides, driving a set of sprocket wheel thus running roller is rotated, the electrokinetic cell on running roller is carried out corresponding movement.

Electrokinetic cell commodity shelf system 101 adopts tower structure, and every layer is connected with 2 crossbeams by 3 longerons, and framework is welded by section bar, and the size of section bar can be 50mm × 50mm, improves the intensity of the framework of electrokinetic cell commodity shelf system; Framework both sides reserve space groove, and the convenient mobile electric car that adds is when getting back to power battery charging DISTRIBUTION CENTRE, and stacker fork extracts electrokinetic cell;

The battery to be changed of electric passenger vehicle is all deposited on framework, and framework can comprise six battery storing positions, wherein deposits position for full electric battery storing for five, and a room is for depositing the power shortage battery changed from electric passenger vehicle;

Power brick electromagnetic locking device can be the magnetic chuck of diameter 200mm, each shelf can be set to multiplely (comprise 2,3 or 4 etc., as long as can electrokinetic cell be fixed on framework, the present invention is not construed as limiting this), by the electromagnetism attracting mode of magnetic chuck, electrokinetic cell is fixed on framework.The advantage adopting the electromagnetism attracting mode stationary power battery of magnetic chuck is that the electrokinetic cell being not limited to certain particular form is fixed.When taking certain block electrokinetic cell, electrokinetic cell commodity shelf system can unlock it separately, is taken off afterwards by scheduling batteries system.

As shown in Figure 5, described scheduling batteries system 102 can comprise lifts platform 1021 and mobile platform 1022, lift the framed structure that platform 1021 comprises many guideposts 10211 and forms with the leading screw 10212 that guidepost be arranged in parallel, make to lift platform 1021 by the driving of leading screw 10212 and do perpendicular movement along guidepost 10211, wherein leading screw 10212 drives a pair gear pair to move by motor; Mobile platform 1022 comprises a framework 10221 and is arranged on multiple running rollers 10222 of this frame plane, mobile platform 1022 is in the framed structure of lifting platform 1021, move along guide rail 1023 to direction, the car body left and right sides, mobile platform 1022 is moved by motor-driven gear tooth bar or guide screw movement pair, two wherein adjacent running rollers logical 10222 are after chain wheel drive between two, sprocket rotation is driven by motor, drive a set of sprocket wheel thus running roller is rotated, the electrokinetic cell on running roller is carried out corresponding movement.

The workflow of scheduling batteries system, comprising: first receive the power shortage battery changing electric machine people and send here, after delivering to the desired location of electrokinetic cell commodity shelf system, then receives the full battery of electrokinetic cell commodity shelf system transmission; Wherein lift platform movement to specified altitude assignment and mobile platform moves to battery location to be changed in the middle of about car body, prepare to receive the power shortage battery changing electric machine people and send here; Change electric machine people by after power shortage battery and scheduling batteries system docking, change the running roller running of electric machine people and mobile platform, power shortage battery is sent on mobile platform; Lift platform and mobile platform running, this power shortage battery is moved to the docking location of the battery of leaving a blank in advance of electrokinetic cell commodity shelf system; Start the running roller of electrokinetic cell commodity shelf system and scheduling batteries system, power shortage battery is sent to the reserved location of electrokinetic cell commodity shelf system; Start and lift platform and mobile platform, move to the electrokinetic cell commodity shelf system docking location of specifying full battery; Start the running roller of electrokinetic cell commodity shelf system and scheduling batteries system, full battery is sent to mobile platform; Platform and mobile platform are lifted in driving, are sent to by full battery and change electric machine people docking location; Start the running roller changing electric machine people and scheduling batteries system being ready to dock, full battery is sent to from mobile platform and changes electric machine people platform.

In Fig. 5, scheduling batteries system 102 comprises and lifts platform 1021,4 guidepost 10211,1 or 2 rhizoid thick sticks 10212, mobile platform 1022 and 6 bobbins and hold 1024; There is a column every root both sides of scheduling batteries system 6 cylinders, and ensure the effect of guide pillar, guidepost can be made up of solid drawn pipe;

Scheduling batteries system 102 working state schematic representation as shown in Figure 6, lifts platform and under the driving of leading screw, can do perpendicular movement along guidepost; Guide screw movement drives a pair gear pair to realize by motor;

Mobile platform can in the framework lifting platform, level (about car body) motion is done along guide rail, it is formed primarily of roller mechanism and framework, and roller mechanism passes through chain wheel drive between two by adjacent two running rollers, and sprocket rotation is driven by motor to realize; The motion of mobile platform is realized by motor-driven gear tooth bar or guide screw movement pair.

Wherein, scheduling batteries system 102 working state schematic representation as shown in Figure 6, after scheduling batteries system receives instruction, move to the frock position of battery to be changed, battery locking mechanism to be changed unlocks, the running roller of electrokinetic cell commodity shelf system and mobile platform starts to drive, and electrokinetic cell D moves and just moves on the mobile platform of scheduling batteries system from the framework of electrokinetic cell commodity shelf system;

Scheduling batteries system just moves to after being loaded into battery to be changed and the docking location changing electric machine people, and the mobile platform of scheduling batteries system, the running roller of robot platform start to drive, and are transplanted on the workplatform changing electric machine people by electrokinetic cell D.

Fig. 7 is the schematic perspective view of batter-charghing system 103.As shown in Figure 8, described batter-charghing system 103 can comprise battery charging inlet setting device 1031 and AC charging device (not shown in Fig. 7), battery charging inlet setting device 103 comprises 2 electric pushrods (namely X is to electric pushrod 1031 and Z-direction electric pushrod 1032), framed structure 1035, connector mouth 1036 and the connecting panel 1037 that respectively hold 1034 with 2 guideposts 1033 and 2 bobbins, makes connector mouth 1036 carry out along vehicle fore-and-aft direction and direction perpendicular to the ground adjustment of moving; AC charging device is also for monitoring electrokinetic cell, reporting to the police and power-off.

The structure of battery charging inlet setting device is as shown in Figure 7: respectively hold (each totally 4), framed structure, connector mouth, connecting panel (motor of electric pushrod is connected with driven member) etc. with 2 bobbins with 2 guideposts by 2 electric pushrods and form.Battery charging inlet setting device has two-way adjustment function: X is to (vehicle fore-and-aft direction) and Z-direction (vehicle height direction) each adjustment distance about 50mm;

The voltage of the battery charger of AC charging device is AC system 220V, and power is 7.5kw.

As shown in Figure 9 and Figure 10, describedly change electric machine people 104 and can comprise robot moving platform 1041, head sheave 1042 and sky wheel drive system 1043, land wheel 1044 and ground wheel drive system 1045, multiple running roller 1046 and running roller drive system 1047, traveling gear Locking Device 1048, electrokinetic cell Locking Device 1049, scissors fork lifting machine 10410 and lifting machine drive system 10411 and registration device 10412 (not shown), wherein robot moving platform does horizontal motion along guide rail direction under the driving of head sheave and sky wheel drive system and land wheel and ground wheel drive system, robot moving platform is in vertical motion by scissors fork lifting machine and lifting machine drive system, guide rail comprises a day rail TG and track DG, it rail TG is the walking track of the robot moving platform installed bottom tailgate of head sheave walking, on it rail TG and tailgate, V-type groove is to the track of a segment distance of tailgate, track DG be land wheel walking compartment in the track of robot moving platform installed of desired location, floor, track DG and tailgate are to the track of a segment distance of scheduling batteries system, head sheave and sky wheel drive system comprise 4 transmission breast wheels 10413,4 head sheave, drive motor and sprocket wheel and chains of being arranged on robot moving platform two middle side part, the drive form of robot moving platform traveling gear is 4 × 4 drivings, land wheel and ground wheel drive system comprise 4 land wheels, drive motor and the sprocket wheels and chain that are arranged on robot moving platform two side lower part, and the drive form of robot moving platform traveling gear is 4 × 4 drivings, multiple running roller and running roller drive system comprise multiple steel pipe, drive motor, sprocket wheel and chain, multiple running roller is arranged on robot moving platform, for the electrokinetic cell on running roller being carried out corresponding movement, (running roller drive system is for by the bottom of described robot moving platform, the electrokinetic cell be positioned on running roller carries out corresponding movement, described running roller drive system comprises drive motor, sprocket wheel and chain, described running roller drive system is rotated by motor-driven drive sprockets, two running rollers that chain wheel drive is adjacent between two, drive a set of sprocket wheel thus running roller is rotated, the electrokinetic cell be positioned on running roller is carried out corresponding movement, running roller is steel pipe, and running roller is set to left-hand revolution or clickwise, wherein, change described the framework that electrokinetic cell that electric machine people receives shifts out robot moving platform by the left-hand revolution of running roller, or the described electrokinetic cell changing electric machine people and need to receive is moved into the framework of robot moving platform by the clickwise of running roller), traveling gear Locking Device comprises push-pull electromagnet and promotes push rod and U-shaped bar spreading friction pair, electrokinetic cell Locking Device comprises multiple magnetic chuck, is fixed on robot moving platform by magnetic chuck by electrokinetic cell, scissors fork lifting machine and lifting machine drive system comprise double shear knife and fork and add an electric pushrod drive configuration, registration device can comprise the locating dowel pin (locating dowel pin is elastic construction, and can guarantee accurate location when inserting electrokinetic cell, locating dowel pin matches with the dowel hole of the bottom of electrokinetic cell) that optical sensor and robot moving platform are arranged.

The electrokinetic cell changing electric machine people and electric passenger vehicle carries out the workflow of precise positioning, comprise: described in change electric machine people and receive after pre-off-position puts information tailgate needing the electric passenger vehicle electrokinetic cell centre distance of changing electricity in car, unblock is changed electric machine people and to be walked mechanism lock locking apparatus, and start head sheave and sky wheel drive system and land wheel and ground wheel drive system, after robot moving platform being moved to the electrokinetic cell near center location of electric passenger vehicle bottom, accurately located by optical sensor and electrokinetic cell, and by scissors fork lifting machine and lifting machine drive system, the locating dowel pin on robot moving platform is inserted pin-and-hole bottom electrokinetic cell, complete the positioning flow of the electrokinetic cell changing electric machine people and electric passenger vehicle.

Change electric machine people to be made up of robot moving platform, head sheave and drive system thereof, land wheel and drive system, running roller and drive system thereof, traveling gear Locking Device, power brick lockable mechanism, scissors fork lifting and drive system, registration device etc.

---track, mounting robot walking track (V-type groove is to tailgate one segment distance) bottom tailgate---the sky rail that changes electric machine man day rail and track respectively: attachment rail (tailgate is to scheduling batteries system one segment distance) on desired location, floor in compartment;

Rail profile: high by 90 × wide by 50 ~ 60 × to expect thick 5, improves the intensity of track;

The frame of robot moving platform can be carried out bending, cutting, is welded by panel beating 15Mn, thickness 5mm, improves the intensity of frame;

Head sheave and drive system thereof are made up of 4 transmission breast wheels of robot 2 middle side part, 4 head sheaves, drive motor, sprocket wheel and chains, robot running gear drive form 4 × 4;

Land wheel and drive system thereof are made up of 4 land wheels, drive motor, sprocket wheel and chains of robot 2 side lower part, robot running gear drive form 4 × 4;

Wherein, 4 land wheels of space framework two side lower part of robot moving platform, be that non-perpendicular line is arranged to 4 corresponding head sheaves of the both sides, space framework top of robot moving platform, namely the center-point that forms than 4 land wheels of the integral central point that forms of 4 head sheaves is near compartment afterbody.Arranging of this spline structure can make robot moving platform be transitioned in the motion process of day rail from track, 4 head sheaves enter into day rail when driving completely, two land wheels rearward also drive in track, make transient process more steady, large vibrations can not be produced, improve stability and the reliability of robot moving platform on the go, safety simultaneously increases greatly; Anyway (make robot moving platform be transitioned in the motion process of track from sky rail, when 4 land wheels enter into track driving completely, two head sheaves rearward also drive on sky rail) as the same; Particularly, change head sheave in electric machine people and differ 180mm with corresponding land wheel fore-and-aft direction, make to change electric machine people when stop place predetermined in compartment drives to compartment afterbody, head sheave has entered a day rail, and now land wheel also in track, form 6 wheel drive in short-term, make to change electric machine people from very steady, reliable to tailgate walking compartment in compartment.

Change electric machine people by rack-and-gear battery Y-direction centering structure, application has elastomeric locating dowel pin and is fixed by electrokinetic cell.

Running roller and drive system thereof are made up of 5 diameter 60mm solid drawn pipes, drive motor, sprocket wheel and chains;

As shown in figure 11, traveling gear Locking Device 1048 promotes push rod 10481 by push-pull electromagnet, U-shaped bar spreading friction pair 10482 is formed, push-pull electromagnet promotes push rod and U-shaped bar spreading friction pair is arranged on day rail, promotes push rod promote the locking that U-shaped bar spreading friction pair controls the position of the robot moving platform of walking on sky rail by push-pull electromagnet.

Power brick lockable mechanism can be made up of the magnetic chuck of 4 diameter 200mm; The fork lifting of robot scissors and drive configuration thereof add an electric pushrod drive configuration by double shear knife and fork and form, and lift height is at 100 to 300mm;

Optical sensor can adopt infrared emission sensor or non-visible light opposite type sensor etc. (to adopt the positioning precision of infrared emission sensor high, decrease the error of changing when electric machine robot system docks with the electrokinetic cell of electric passenger vehicle vehicle chassis), as long as can realize positioning instant can, the present invention does not limit this.

As shown in figure 12, the platform of described tailgate 105 can comprise fixing frame plate 1051, Track width adjustment plate 1052 and Track width adjustment drive system 1053, electrokinetic cell latching device 1054 and electrokinetic cell locking drive system 1055, locating bush T, for placing V-type groove 1056 and the trailing wheel leveling equipment 1057 of electric passenger vehicle front-wheel, wherein fixing frame plate 1051 is the platform structure that carrying needs to carry out the electric passenger vehicle changing electrokinetic cell D, Track width adjustment plate 1052 and Track width adjustment drive system 1053 are the framed structures being arranged on removable adjustment on fixing frame plate 1051, Track width adjustment plate 1052 is arranged at above fixing frame plate, the motor that Track width guiding drive system 1053 is arranged under being included in Track width adjustment plate, motor is by the leading screw screw mechanism of Chain conveyer to Track width adjustment front edge of board, the leading screw other end arrives the leading screw screw mechanism of Track width adjustment plate rear end again by Chain conveyer simultaneously, before and after making Track width adjustment plate, integral left moves right, be suitable for the adjustment operation of different wheelspan, on the platform that electrokinetic cell latching device 1054 and electrokinetic cell locking drive system 1055 are arranged on tailgate in a L-type support, X, Y and Z tri-directions adjustment drive and are respectively completed by an electric pushrod, V-type groove 1056 and trailing wheel leveling system 1057 form jointly changes electric locating platform, for carrying out the positioning action changing electricity for electric passenger vehicle, wherein the bottom of the support of V-type groove 1056 is the sky rail TG changing electric machine people, V-type groove 1056 bottom is provided with dust boot, enters in compartment for preventing vehicle rear wheel bottom dust and/or muddy water, trailing wheel leveling equipment 1057 comprises 4 row's running rollers, support and slide rail, hinge, pipe link, pull bar and electric pushrod, wherein electric pushrod promotes pull bar, boost the pipe link around hinge through, and pipe link is connected with the support of trailing wheel leveling equipment, the slide rail motion that support vertically moves, makes support raise or reduces.

In fig. 13, on the platform that electrokinetic cell latching device 1054 and electrokinetic cell locking drive system 1055 are arranged on tailgate 105 in a L-type support, comprise the electric pushrod of X, Y and Z-direction, make electrokinetic cell latching device in X, Y and Z tri-direction adjustment, to adapt to the demand of the replacing electrokinetic cell of different automobile types electric passenger vehicle; Electrokinetic cell latching device 1054 comprises the locking electric pushrod 10542 unlocking shifting block 10541 and be connected with unblock shifting block, and locking electric pushrod promotes to unlock shifting block and completes unblock and locking action; The shape of locating bush T is connected the registration mast of latching device matching form with chassis of electric passenger vehicle upper body closes, locating bush T is used for changing and installing in the process of electrokinetic cell, guarantee to be provided with position transduser in this locating bush T in electrokinetic cell latching device is connected latching device and contacts with each other position with chassis of electric passenger vehicle upper body.

Idiographic flow is as follows: X, the electric pushrod of Y and Z-direction makes electrokinetic cell latching device and needs after electrokinetic cell positions on the chassis of the electric passenger vehicle of the different automobile types changing electrokinetic cell, after lifting device rises to the electrokinetic cell bottom of vehicle bottom, the registration mast be connected on latching device is combined together locating bush on electrokinetic cell latching device with car body, lifting device continues to rise, when after trigger position sensor, lifting device stops rising, send instructions to locking electric pushrod after receiving position transduser energizing signal, unblock shifting block is made to promote slide block compression elastic element, when reaching preset strokes, electrokinetic cell unlocks from vehicle, now lifting device declines, when dropping to preset strokes, complete car body and connect being separated of latching device and electrokinetic cell, electric passenger vehicle is located on the platform of tailgate and after the electrokinetic cell of power shortage is removed, change electric machine people by the electrokinetic cell of full electricity with change after electric lifting platform aligns, after lifting device rises to the battery compartment bottom of vehicle bottom, the registration mast be connected on latching device is combined together locating bush on electrokinetic cell latching device with car body, lifting device continues to rise, when after trigger position sensor, lifting device stops rising, send instructions to locking electric pushrod after receiving position transduser energizing signal, drive and unlock shifting block promotion slide block compression elastic element, after reaching preset strokes, lifting device continues to rise, when rising to preset strokes, electrokinetic cell enters in Vehicular battery storehouse completely, now lock electric pushrod and perform reset, promote to unlock shifting block to move to away from slide block direction, slide block and bracket component determine registration mast on block and electrokinetic cell fit together, complete the joint that car body connects latching device and electrokinetic cell.

When vehicle chassis insufficient height, in order to launch tailgate smoothly, need first tailgate to be promoted preset height (such as 100mm or 110mm equal altitudes), conveniently can launch tailgate like this, at this moment can also be realized by a tailgate bont, tailgate bont comprises drive motor and adds worm type of reduction gearing, power-transfer clutch (magnetic clutch or friction clutch), chain wheel driving mechanism, groove bracket upright post structure and dust boot, wherein drive motor adds worm type of reduction gearing and is arranged on lower end, rear portion, compartment, worm type of reduction gearing mouth connection chain wheel construction, lower chain wheel construction comprises power-transfer clutch, chain sprocket drive is thrown off when ensureing that tailgate raises from ground, reverse to prevent worm type of reduction gearing, retarder speed ratio can be 6 ~ 10, chain is fixed with the first chain connector and the second chain connector, ensures the miles of relative movement of tailgate, V-type groove support, tailgate hinge are all connected in groove bracket upright post, V-type groove bottom is provided with dust boot, enters in compartment for preventing vehicle rear wheel bottom dust and/or muddy water.Wherein tailgate bont also can realize tailgate to rise to preset height by electric pushrod.

Fixing frame plate can be carried out bending, cutting, is welded by panel beating 15Mn, thickness 5mm, improves the intensity of frame;

Track width adjustment plate 1052 and Track width adjustment drive system 1053 are framed structures of removable adjustment on fixing frame plate 1051, and its drive configuration as shown in figure 14;

Track width adjustment plate is positioned at above tailgate fixing frame plate, its drive system respectively has a motor around, motor is by the leading screw screw mechanism of Chain conveyer to adjustment front edge of board, the leading screw other end arrives the leading screw screw mechanism of adjustment plate rear end again by Chain conveyer simultaneously, before and after making adjustment plate, integral left moves right, thus reaches the requirement adjusting different wheelspan;

As shown in figure 15, V-type groove 1056 is for placing the front-wheel of electric passenger vehicle, and it and trailing wheel leveling system 1057 form jointly changes electric locating platform, provides basic guarantee for electric passenger vehicle changes electricity; Support 10561 bottom of V-type groove 1056 is provided with the sky rail changing electric machine people, V-type groove 1056 is also provided with roller 10562 and bearing 10563 (after roller 10562 can make the front-wheel of electric passenger vehicle enter into V-type groove, rotation due to roller decreases the friction force of tire, guarantees that front-wheel is stuck in V-type groove); In order to prevent, vehicle rear wheel bottom dust, muddy water etc. are dirty to be entered in compartment, has installed dust boot in V-type groove bottom.

As shown in figure 16, trailing wheel leveling equipment 1057 can be made up of pilot bar 10577,4 row running roller 10571, support 10572 and slide rail (not shown in Figure 16) thereof, hinge 10573, pipe link 10574, pull bar 10575, electric push rod 10576, and pilot bar and running roller are the vehicle rear automatic adjustments in order to make electric passenger vehicle; Wherein, trailing wheel leveling equipment is after receiving instruction, electric pushrod promotes pull bar, boost the pipe link around hinge through, and pipe link is connected with the support of leveling structure, the slide rail motion that support vertically moves, finally reaches rising 50 ~ 80mm job requirement, thus reach the object of electrokinetic cell level, ready for changing electricity.

As shown in figure 17, described lifting device 106 is arranged at bottom tailgate 105, described lifting device 106 comprises two double shear knife and fork structures, 1061, two electric pushrods 1062, upper bracket 1063, lower bracket 1064 and dust-proof (rain) cover 1065, after wherein lifting device starts, start tailgate and land the power-transfer clutch of drive sprocket, sprocket wheel and worm type of reduction gearing are thrown off, and lifting device makes the platform upper mounted plate frame of tailgate be elevated to preset height.Lifting device raises 765mm, makes tailgate (the changing electricity work of electric passenger vehicle) the high 1400mm in plane separation ground, conveniently changes the operation of electricity.

As shown in figure 18, automatic telescopic ramp 108 is arranged on envelope afterbody outermost, automatic telescopic ramp comprises protective cover 109 in the frame plate structure 1083, Figure 18 being arranged on hinge 1081 bottom tailgate on lifting structures base plate and bottom belt roller 1082 structure and is arranged at envelope afterbody outermost; During the work of automatic telescopic ramp and the leaning angle on ground be greater than 0 degree and be less than 15 degree, the length of automatic telescopic ramp is less than 3000mm.

Optimal way, during the work of automatic telescopic ramp and the leaning angle on ground be 10 degree, its length is 2840mm, and the length of this leaning angle and automatic telescopic ramp facilitates electric passenger vehicle to reach the platform of tailgate, and the length of this automatic telescopic ramp adapts to be arranged on mobile adding on electric car.

As shown in figure 19, tailgate electric pushrod 107 can comprise 23 grades of electric pushrods.

As shown in figure 20, a kind of control method of the electric passenger vehicle dynamic battery changing based on movable type, comprising:

Step 2010, mobile add after power station receives and receive control center's dispatch command, drive to the electric passenger vehicle position needing to carry out changing electricity, wherein, the mobile power station that adds is that the movement of employing new forms of energy adds electric car;

Step 2020, the mobile direction of tailgate electric pushrod on rear side of envelope afterbody adding the envelope lateral tail in power station are launched tailgate and are set level by tailgate to form a platform behind ground, and automatic telescopic ramp is opened to predeterminated position simultaneously;

Step 2030, described electric passenger vehicle reach the platform of tailgate by automatic telescopic ramp, and after tailgate completes the operation of location to the electric passenger vehicle that platform carries, the electric passenger vehicle that lifting device lifting tailgate carries reaches predeterminated position, and completes the Levelling operation to chassis of electric passenger vehicle;

Step 2040, change the power shortage battery that the chassis of electric passenger vehicle unloads by electric machine people and be transplanted on after in scheduling batteries system, the power shortage battery changed on electric machine people is transplanted on electrokinetic cell commodity shelf system by scheduling batteries system, and battery full on electrokinetic cell commodity shelf system is transplanted on changes on electric machine people, electrokinetic cell commodity shelf system is by power shortage battery lock;

Step 2050, change electric machine people and the full battery of scheduling batteries system movement is sent to the bottom, chassis of electric passenger vehicle and is arranged on vehicle bottom, complete the control of dynamic battery changing.

What movement of the present invention added electric car changes electric workflow, comprising:

Dead work: movement adds the motor-driven jack motor of control system startup rear vehicle end two side lower part of electric car, makes movement power up back wheels of vehicle tire and does not bear a heavy burden; Control system controls tailgate electric pushrod, and automatic telescopic ramp is in place, and meanwhile tailgate flattens by tailgate electric pushrod, and tailgate is placed ground by lifting chain, is arranged on the travel switch of tailgate and coder and jointly judges that it lands state; The user card punching of electric passenger vehicle, card reader obtains information of vehicles, the electrokinetic cell package informatin of electric passenger vehicle, and by Bluetooth wireless communication system, user's (vehicle, power brick) information is sent to company operation platform and controller, after obtaining company's license, Bluetootho Wireless system communicates information to control system, confirms full electric battery location in tailgate guide plate width, power brick model and compartment thereof; Control system is sent to tailgate motor by bus, and to adjust guide plate width, the proximity switch and the coder that are arranged on guide plate both sides confirm width simultaneously jointly; After confirmation, control system is sent to manual control panel by wireless system, and electric passenger vehicle is opened the platform of upper tailgate by professional service staff, and sails the front-wheel of electric passenger vehicle the V-type groove of tailgate into; Control system starts the lifting device of tailgate, and make it raise, now chain gearing disconnects power transmission by power-transfer clutch, reaches tailgate driving surface apart from ground 1400mm height; Confirm that tailgate rear portion and front portion are in same level additionally by infrared emission switch, guarantee vehicle chassis leveling;

Change electric process:

Take off power shortage battery: control system determination vehicle level, signal is sent to manual control panel, another one attendant is by range estimation simultaneously, double acknowledge, add electric car to take business personnel orally and press and change eletric button, activate the controller of electric passenger vehicle, make the controller carrying out shake communication of control system and electric passenger vehicle; Control system is according to the front wheel alignment of electric passenger vehicle, start and change electric machine people running gear, make robot be put to drive to by off-position pre-in car and add electric car bottom, the center of the bottom electrokinetic cell of location electric passenger vehicle by sky rail and track, brake lock changes electric machine people; The start the machine lifting structures of people of control system reaches desired location, and the power shortage power brick of electric passenger vehicle is taken off by release mechanism; Change the Quick Response Code of the Quick Response Code scanner scanning power shortage battery on electric machine people, confirm power brick identity;

Pick and place, change electrokinetic cell: change electric machine people and fall its lifting structures to assigned address, locking power brick, unlock the brake equipment of robot ambulation system, control system starts the machine people's running gear, make it to desired location in compartment by sky rail and track, scheduling batteries system cloud gray model is to assigned address simultaneously;

Control system starts scheduling batteries system and changes electric machine people roller mechanism separately, power shortage battery arrives scheduling batteries system platform (when electrokinetic cell has just been placed on platform completely by roller mechanism, be arranged on travel switch before scheduling batteries system platform, the basis for estimation for kinematic mechanism stops);

Control system confirms switch (or electromagnet state of power brick locking) by platform, judge idle electrokinetic cell shelf location, start scheduling batteries system traveling gear, it is made to arrive assigned address by its running roller and electrokinetic cell shelf roller mechanism, (confirmation of electrokinetic cell shelf adopts infrared emission switch power shortage battery to be sent to electrokinetic cell shelf assigned address, control system is by confirming number of times, in conjunction with motor encoder, double acknowledge electrokinetic cell pallet height);

Control system starts electrokinetic cell shelf centering and charging mechanism, to the charging of power shortage battery, (charging plug is by diffuser reflection switch determination electrokinetic cell width, highly, and in conjunction with power brick information, calculate electrokinetic cell Connector Clip position, located);

Scheduling batteries system, according to the instruction of control system, arrives assigned address, by its running roller and electrokinetic cell shelf roller mechanism, full battery is sent to scheduling batteries platform;

Scheduling batteries system arrives assigned address, by its running roller and change electric machine people roller mechanism, full battery is sent to robot platform (scheduling batteries system platform with change electric machine people and utilize infrared emission switch to carry out leveling.Change electric machine people controls electrokinetic cell movement position with travel switch, and make electrokinetic cell laterally placed in the middle by the vertical direction of electrokinetic cell adding locking structure.According to the diffuser reflection switch that the distance of locating dowel pin and electrokinetic cell is arranged, control electrokinetic cell forward to move, when scanning is less than stop motion during electrokinetic cell, locating dowel pin ejects, complete mechanical locking electrokinetic cell), last scheduling batteries system motion is to desired location;

Full battery is installed: change electric machine people and carry full battery and again in car, drive to electric passenger vehicle bottom by sky rail and track, again by electric passenger vehicle front wheel alignment, the battery compartment changing electric machine people and electric passenger vehicle is accurately located by control system, locking changes electric machine people, and the people's lifting structures that starts the machine, full battery is raised to position, finally starts power brick catch gear locking power battery;

Change electric machine people and fall lifting structures, power brick catch gear resets, and unlocks the Locking Device of robot running gear, gets back to the pre-off-position of specifying in car and put, its traveling gear of last locking by sky rail and track.

Electric passenger vehicle is driven off tailgate by attendant, and gives user, and user finally drives electric passenger vehicle and leaves.

The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, any people being familiar with this technology is in technical scope disclosed in this invention; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (10)

1., based on a control method for the electric passenger vehicle dynamic battery changing of movable type, it is characterized in that, comprising:

Mobile add after power station receives control center's dispatch command, drive to the electric passenger vehicle position needing to carry out changing electricity, wherein, the mobile power station that adds is that the movement of employing new forms of energy adds electric car;

The mobile direction of tailgate electric pushrod on rear side of envelope afterbody adding the envelope lateral tail in power station launches tailgate and is set level by tailgate to form a platform behind ground, and automatic telescopic ramp is opened to predeterminated position simultaneously;

Described electric passenger vehicle reaches the platform of tailgate by automatic telescopic ramp, and after tailgate completes the operation of location to the electric passenger vehicle that platform carries, the electric passenger vehicle that lifting device lifting tailgate carries reaches predeterminated position, and completes the Levelling operation to chassis of electric passenger vehicle;

Change the power shortage battery that the chassis of electric passenger vehicle unloads by electric machine people to be transplanted on after in scheduling batteries system, the power shortage battery changed on electric machine people is transplanted on electrokinetic cell commodity shelf system by scheduling batteries system, and battery full on electrokinetic cell commodity shelf system is transplanted on changes on electric machine people, electrokinetic cell commodity shelf system is by power shortage battery lock;

Change electric machine people the full battery of scheduling batteries system movement is sent to the bottom, chassis of electric passenger vehicle and is arranged on vehicle bottom, complete the control of dynamic battery changing.

2. control method as claimed in claim 1, is characterized in that,

Described electrokinetic cell commodity shelf system, comprise framework, power brick electromagnetic locking device, multiple running roller and running roller actuating device, wherein, electric passenger vehicle battery to be changed is all deposited on framework, framework both sides reserve space groove, framework comprises multiple battery storing position, and wherein a reserved room is for depositing the power shortage battery changed from electric passenger vehicle; Electrokinetic cell is fixed on framework by the electromagnetism attracting mode of multiple magnetic chucks that power brick electromagnetic locking device is arranged, and when taking certain block electrokinetic cell, can unlock separately, taken off afterwards by scheduling batteries system this electrokinetic cell; The left and right sides of running roller drives between two by sprocket wheel, by being arranged on the drive motor of the running roller left and right sides, driving a set of sprocket wheel thus running roller is rotated, the electrokinetic cell on running roller is carried out corresponding movement.

3. control method as claimed in claim 2, is characterized in that,

Described scheduling batteries system comprises lifts platform and mobile platform, lift the framed structure that platform comprises many guideposts and forms with the leading screw that guidepost be arranged in parallel, make to lift platform by the driving of leading screw and do perpendicular movement along guidepost, wherein leading screw drives a pair gear pair to move by motor; Mobile platform comprises a framework and is arranged on multiple running rollers of this frame plane, mobile platform is in the framed structure of lifting platform, move along guide rail to direction, the car body left and right sides, mobile platform is moved by motor-driven gear tooth bar or guide screw movement pair, two wherein adjacent running rollers pass through chain wheel drive between two, sprocket rotation is driven by motor, drives a set of sprocket wheel thus running roller is rotated, the electrokinetic cell on running roller is carried out corresponding movement;

Also comprise: described in lift platform movement to specified altitude assignment and mobile platform moves to battery location to be changed in the middle of about car body, prepare to receive the power shortage battery changing electric machine people and send here; Change electric machine people by after power shortage battery and scheduling batteries system docking, change the running roller running of electric machine people and mobile platform, power shortage battery is sent on mobile platform; Lift platform and mobile platform running, this power shortage battery is moved to the docking location of the battery of leaving a blank in advance of electrokinetic cell commodity shelf system; Start the running roller of electrokinetic cell commodity shelf system and scheduling batteries system, power shortage battery is sent to the reserved location of electrokinetic cell commodity shelf system; Start and lift platform and mobile platform, move to the electrokinetic cell commodity shelf system docking location of specifying full battery; Start the running roller of electrokinetic cell commodity shelf system and scheduling batteries system, full battery is sent to mobile platform; Platform and mobile platform are lifted in driving, are sent to by full battery and change electric machine people docking location; Start the running roller changing electric machine people and scheduling batteries system being ready to dock, full battery is sent to from mobile platform and changes electric machine people platform.

4. control method as claimed in claim 3, is characterized in that,

Described batter-charghing system comprises battery charging inlet setting device and AC charging device, battery charging inlet setting device comprises 2 electric pushrods, framed structure, connector mouth and the connecting panel that respectively hold with 2 guideposts and 2 bobbins, after making connector opening's edge vehicle fore-and-aft direction and direction perpendicular to the ground carry out motion adjustment, be connected with needing the electrokinetic cell charged; AC charging device is also for monitoring electrokinetic cell, reporting to the police and power-off.

5. control method as claimed in claim 4, is characterized in that,

Describedly change electric machine people and comprise robot moving platform, head sheave and sky wheel drive system, land wheel and ground wheel drive system, multiple running roller and running roller drive system, traveling gear Locking Device, electrokinetic cell Locking Device, scissors fork lifting machine and lifting machine drive system and registration device, wherein robot moving platform does horizontal motion along guide rail direction under the driving of head sheave and sky wheel drive system and land wheel and ground wheel drive system, robot moving platform is in vertical motion by scissors fork lifting machine and lifting machine drive system, guide rail comprises day rail and track, it rail is the walking track of the robot moving platform installed bottom tailgate of head sheave walking, on it rail and tailgate, V-type groove is to the track of a segment distance of tailgate, track be land wheel walking compartment in the track of robot moving platform installed of desired location, floor, track and tailgate are to the track of a segment distance of scheduling batteries system, head sheave and sky wheel drive system comprise 4 the transmission breast wheels being arranged on robot moving platform two middle side part, 4 head sheaves, drive motor and sprocket wheels and chain, the drive form of robot moving platform traveling gear is 4 × 4 drivings, land wheel and ground wheel drive system comprise 4 land wheels, drive motor and the sprocket wheels and chain that are arranged on robot moving platform two side lower part, and the drive form of robot moving platform traveling gear is 4 × 4 drivings, multiple running roller and running roller drive system comprise multiple steel pipe, drive motor, sprocket wheel and chain, and multiple running roller is arranged on robot moving platform, for the electrokinetic cell on running roller is carried out corresponding movement, traveling gear Locking Device comprises push-pull electromagnet and promotes push rod and U-shaped bar spreading friction pair, electrokinetic cell Locking Device comprises multiple magnetic chuck, is fixed on robot moving platform by magnetic chuck by electrokinetic cell, scissors fork lifting machine and lifting machine drive system comprise double shear knife and fork and add an electric pushrod drive configuration, registration device comprises the locating dowel pin that optical sensor and robot moving platform are arranged,

Also comprise: described in change electric machine people and receive after pre-off-position puts information tailgate needing the electric passenger vehicle electrokinetic cell centre distance of changing electricity in car, unblock is changed electric machine people and to be walked mechanism lock locking apparatus, and start head sheave and sky wheel drive system and land wheel and ground wheel drive system, after robot moving platform being moved to the electrokinetic cell near center location of electric passenger vehicle bottom, accurately located by optical sensor and electrokinetic cell, and by scissors fork lifting machine and lifting machine drive system, the locating dowel pin on robot moving platform is inserted the dowel hole bottom electrokinetic cell, complete the positioning flow of the electrokinetic cell changing electric machine people and electric passenger vehicle.

6. control method as claimed in claim 5, is characterized in that,

The platform of described tailgate comprises fixing frame plate, Track width adjustment plate and Track width adjustment drive system, electrokinetic cell latching device and electrokinetic cell locking drive system, for placing V-type groove and the trailing wheel leveling equipment of electric passenger vehicle front-wheel, wherein fixing frame plate is the platform structure that carrying needs to carry out the electric passenger vehicle changing electrokinetic cell, Track width adjustment plate and Track width adjustment drive system are the framed structures being arranged on removable adjustment on fixing frame plate, Track width adjustment plate is arranged at above fixing frame plate, the motor that Track width guiding drive system is arranged under being included in Track width adjustment plate, motor is by the leading screw screw mechanism of Chain conveyer to Track width adjustment front edge of board, the leading screw other end arrives the leading screw screw mechanism of Track width adjustment plate rear end again by Chain conveyer simultaneously, before and after making Track width adjustment plate, integral left moves right, be suitable for the adjustment operation of different wheelspan, on the platform that electrokinetic cell latching device and electrokinetic cell locking drive system are arranged on tailgate in a L-type support, X, Y and Z tri-directions adjustment drive and are respectively completed by an electric pushrod, V-type groove and trailing wheel leveling system form jointly changes electric locating platform, for carrying out the positioning action changing electricity for electric passenger vehicle, wherein the support bottom of V-type groove is the sky rail changing electric machine people, V-type groove bottom is provided with dust boot, enters in compartment for preventing vehicle rear wheel bottom dust and/or muddy water, trailing wheel leveling equipment comprises 4 row's running rollers, support and slide rail, hinge, pipe link, pull bar and electric pushrod, wherein electric pushrod promotes pull bar, boost the pipe link around hinge through, and pipe link is connected with the support of trailing wheel leveling equipment, the slide rail motion that support vertically moves, makes support raise or reduces.

7. control method as claimed in claim 6, is characterized in that,

Described lifting device is arranged at bottom tailgate, described lifting device comprises two double shear knife and fork structures, two electric pushrods, top and the bottom support and dust boots, and wherein the electric pushrod promotion double shear knife and fork structure of lifting device makes the platform upper mounted plate frame of tailgate be elevated to preset height.

8. control method as claimed in claim 6, is characterized in that,

Described automatic telescopic ramp comprises the frame plate structure being arranged on hinge bottom tailgate on lifting structures base plate and bottom belt roller structure, during the work of automatic telescopic ramp and the leaning angle on ground be greater than 0 degree and be less than 15 degree, the length of automatic telescopic ramp is less than 3000mm.

9. control method as claimed in claim 6, is characterized in that,

Described movement adds electric car and also comprises a protective cover, is arranged at envelope afterbody outermost, and the material of protective cover is that non-metallic material is made; Also jack is provided with bottom the envelope that described movement adds electric car.

10. control method as claimed in claim 6, is characterized in that,

Described movement adds electric car and comprises further: move and power up fire-fighting system and maintenance unit in vehicle control, car, wherein, mobile power up vehicle control with operation platform carries out radio communication, by radio communication or with car install additional from net large data system control power-up operations flow process; In car, fire-fighting system comprises powder extinguisher and/or fire extinguisher bomb system; Maintenance unit comprises the instrument keeped in repair vehicle.