CN105109466B - A kind of control method based on portable electric passenger vehicle dynamic battery changing - Google Patents

Abstract

A kind of control method based on portable electric passenger vehicle dynamic battery changing, including：Mobile power-up station is received after instruction, drives to the position for needing change the electric passenger vehicle of electricity；Deploy tailgate and tailgate be laid flat behind ground to form platform, and automatic telescopic ramp is opened；Electric passenger vehicle reaches the platform of tailgate and completed after positioning action, and lifting device completes leveling；After the power shortage battery unloaded is transplanted in scheduling batteries system by electricity changing robot, power shortage battery in electricity changing robot is transplanted on electrokinetic cell commodity shelf system by scheduling batteries system, and full electricity battery on electrokinetic cell commodity shelf system is transplanted in electricity changing robot, electrokinetic cell commodity shelf system is by power shortage battery lock；The full battery that scheduling batteries system is moved is sent to the chassis bottom of electric passenger vehicle and installed in vehicle bottom by electricity changing robot.The present invention solves the problem of electric passenger vehicle that can not drive to power-up station can be carried out the replacing of electrokinetic cell or be repaired to vehicle.

Description

A kind of control method based on portable electric passenger vehicle dynamic battery changing

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 control method 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.

Therefore, how a kind of technical side of the new portable power-up for being used for electric passenger vehicle dynamic battery changing is provided Case, it is ensured that can not drive to the electric passenger vehicle at power-up station can carry out the replacing of electrokinetic cell or be repaired to vehicle, just Become the problem of being currently needed for solving.

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 control method changed, to solve that the replacing of electrokinetic cell can be carried out or to car to the electric passenger vehicle that can not drive to power-up station The problem of maintenance.

In order to solve the above problems, the invention provides a kind of electric passenger vehicle dynamic battery changing based on movable type Control method, including：

Mobile power-up station 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 station is a mobile power-up car using new energy；

The tailgate electric pushrod of the carriage body lateral tail at mobile power-up station deploys tailgate simultaneously to the direction on rear side of carriage body afterbody Tailgate is laid flat behind ground and forms a platform, while automatic telescopic ramp 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 device lifting tailgate reaches predeterminated position, and completes To 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, battery Power shortage battery in electricity changing robot is transplanted on electrokinetic cell commodity shelf system by scheduling system, and by electrokinetic cell commodity shelf system Upper full electric battery is transplanted in electricity changing robot, and electrokinetic cell commodity shelf system is by power shortage battery lock；

The full battery that scheduling batteries system is moved is sent to the chassis bottom of electric passenger vehicle and pacified by electricity changing robot Mounted in vehicle bottom, the control of dynamic battery changing is completed.

Compared with prior art, using the present invention, by using the structure of the mobile power-up car of new energy, can make can not The electric passenger vehicle for driving to power-up station is convenient for changing electrokinetic cell, the user satisfaction of user is improved, to the electricity of new energy The popularization of dynamic passenger car has great power-assisted to act on.

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 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 of electricity changing robot of the present invention；

Figure 10 is the front view of electricity changing robot of the present invention；

Figure 11 is the structural representation of the walking mechanism locking system of electricity changing robot of the present invention；

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

Figure 13 is electrokinetic cell locking device and electrokinetic cell locking driving structure schematic diagram on tailgate；

Figure 14 is Track width adjustment plate and Track width adjustment driving structure schematic diagram on tailgate；

Figure 15 is V-groove structural representation on tailgate；

Figure 16 is trailing wheel levelling device 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 a kind of flow of control method based on portable electric passenger vehicle dynamic battery changing of the present invention Figure.

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.

As shown in figure 1, a kind of portable electricity applying system for electric passenger vehicle dynamic battery changing that the present invention is provided, (using the mobile power-up car of new energy, it can be worked including one using the mobile power-up car of new energy in city not by any The influence of the local vehicle restricted driving policy in city, improves the service efficiency of vehicle), wherein,

Mobile power-up car includes including in a carriage body 10, carriage body 10：Electrokinetic cell commodity shelf system 101, scheduling batteries system 102nd, batter-charghing system 103 and electricity changing robot 104, wherein,

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

Scheduling batteries system 102 is used to the power shortage battery in electricity changing robot 104 being transplanted on electrokinetic cell commodity shelf system On 101, and full electricity battery on electrokinetic cell commodity shelf system 101 is transplanted in electricity changing robot 104；

Batter-charghing system 103 is used for the control charged to power shortage battery on electrokinetic cell commodity shelf system 101；

The power shortage battery that electricity changing robot 104 is used to unload on the chassis of electric passenger vehicle is transplanted on scheduling batteries system On 102, and the full battery that scheduling batteries system 102 is moved is sent to the chassis bottom of electric passenger vehicle for installed in car Body bottom；

The carriage body lateral tail of mobile power-up car includes tailgate 105, lifting device 106, tailgate electric pushrod 107 and automatic Flexible ramp 108, wherein,

Tailgate 105 is under the driving of tailgate electric pushrod 107 to the direction laid out flat on rear side of carriage body afterbody behind ground A platform is formed, after being positioned to the electric passenger vehicle carried on platform, the electrokinetic cell of electric passenger vehicle is changed Control；

Lifting device 106 is used to lift the electric passenger vehicle carried on tailgate 105；

Tailgate electric pushrod 107 is used to deploy, pack up tailgate 105 and lifting device 106；(tailgate deploys by 23 grades of intelligence Can electric pushrod completion, tailgate electric pushrod peak load 1000kg, range 2000mm；The inoperative of tailgate electric pushrod State 900~1000mm of length, the working condition of tailgate electric pushrod is extended to 2000mm；The installation diameter of tailgate electric pushrod 200~220mm, 100~120mm of working diameter)；The setting of above tailgate electric pushrod size easily can deploy tailgate Pack up.

Automatic telescopic ramp 108 is used for the platform for making electric passenger vehicle reach tailgate.

The carriage body 10 of mobile power-up car, can use square steel skeleton, aluminium sheet covering and arc wrap angle combining structure；Carriage body is set It is equipped with using section bar column (rigid for improving carriage body), two columns of carriage body front end both sides are connected with 4 angle members, its Outside is connected with circle cornerite section bar, not only attractive in appearance but also anti-corrosion；

Carriage body length can be 5500~5700mm, and width can be 2500~2550mm, highly can for 2500~ 2700mm (setting of above-mentioned size in order to meet the requirement of vehicle chassis)；The joist being connected with vehicle frame is arranged at carriage body bottom；Railway carriage or compartment Two side installation rolling screen door of body or clamshell doors are (convenient to pitch when returning to power battery charging home-delivery center for mobile power-up car Car takes out electrokinetic cell)；Carriage body foreboard is equipped with ventilating fan and window (being used for heat dissipation ventilation) and external power supply socket/socket (mark 220V, convenient use external power supply and supplying power for outside will definitely be thought)；

Further, the mobile power-up car may also include a protective cover 109, is arranged at carriage body afterbody outermost, protects The material of cover is made up of nonmetallic materials；The carriage body bottom of the mobile power-up car is additionally provided with jack 110.Protective cover can be with It is made up of carbon fiber plus resin solidification and (can be made up of fiberglass, or the material such as engineering plastics is made), inner-outer sleeve is die-filling Tool, it is ensured that the surfaces externally and internally of protective cover is smooth.Wherein the integral thickness of protective cover can be less than or equal to 500mm, protective cover Entire length can be that the thickness of shell of protective cover is that arrangement above can ensure less than or equal to 10mm less than or equal to 3030mm The intensity and weight of protective cover again will not be excessive, influence the use in mobile power-up car.The carriage body bottom of mobile power-up car is set Jack, can make vehicle in electric process is changed, the trailing wheel of vehicle is not subject to weight, need to change the electricity of electricity in electric process is changed The weight of dynamic passenger car and battery replacement device is very big, and the trailing wheel that may insure vehicle by jack will not suffer damage, wherein thousand Jin top can be by the way of motor-driven jack and hand jack, and the mode of motor-driven jack can improve efficiency, and electricity is changed in saving The time of process.

The mobile power-up car can also further comprise：Mobile power-up vehicle control, in-car fire-fighting system and maintenance dress Put, wherein, mobile power-up vehicle control is used to carry out radio communication with operation platform, is installed additional by radio communication or with car Off-network big data system controls power-up operations flow；In-car fire-fighting system includes dry powder extinguisher and/or fire extinguisher bomb system；Maintenance Device is used for the instrument repaired to vehicle.

Mobile power-up vehicle control can carry out radio communication by wireless communication module and operation platform；It can pass through The communications such as WIFI or the off-network big data system installed additional with car control power-up operations flow；Wireless communication module it is logical News agreement meets the standard communication protocol of operation platform；The BMS and VCU of wireless communication module and mobile power-up car match, together When also match with the BMS and VCU of electric passenger vehicle that needs to change electricity.

In-car fire-fighting system can be included in compartment front end bottom shelf both sides and respectively set 1 dry powder extinguisher, and in car Railway carriage or compartment rear end two bottom sides respectively set 1 dry powder extinguisher；Fire extinguisher bomb system can also be installed additional in electrokinetic cell commodity shelf system simultaneously System (improves the efficiency of fire extinguishing and the effect of lifting fire extinguishing)；

Maintenance unit can include：220V terminal plates and plug, rubber pier (tower), the aluminium alloy folding for determining working range The maintenance tools such as ladder, tool box and/or flashlight, it is convenient that mobile power-up car and electric passenger vehicle are repaired.

As shown in Fig. 2 the working state schematic representation of present invention movable type electricity applying system, illustrated therein is needs to be changed The electric passenger vehicle of electrokinetic cell reaches the state of the platform of tailgate.

As shown in figure 3, the top view of the electrokinetic cell commodity shelf system 101, can include framework 1011, battery bag electromagnetism Locking system 1012, multiple disk rollers 1013 and disk roller drive device 1014, wherein, electric passenger vehicle battery to be changed deposits in frame On frame 1011, (as shown in the three-dimensional side view of Fig. 4 electrokinetic cell commodity shelf system 101, the both sides of framework 1011 reserve space groove 1015), framework 1011 includes multiple battery storings position, is changed wherein a reserved room is used to deposit from electric passenger vehicle Power shortage battery；The electromagnetism attracting mode for multiple magnechucks that electrokinetic cell is set by battery bag electromagnetic locking device 1012 It is fixed on framework, when taking certain block electrokinetic cell, individually the electrokinetic cell can be unlocked, afterwards by scheduling batteries system System is removed；The left and right sides of disk roller 1013 drives two-by-two by sprocket wheel, by being arranged on the motor of the disk roller left and right sides, drives A set of sprocket wheel is moved so that disk roller is rotated, the electrokinetic cell on disk roller is accordingly moved.

Electrokinetic cell commodity shelf system 101 uses tower structure, and every layer is connected by 3 longerons and 2 crossbeams, and framework is by type Material is welded, and the size of section bar can be 50mm × 50mm, improve the intensity of the framework of electrokinetic cell commodity shelf system；Framework Both sides reserve space groove, are moved easily power-up car when returning to power battery charging home-delivery center, stacker fork is to power electric Extracted in pond；

The battery to be changed of electric passenger vehicle is deposited on framework, and framework can include six battery storing positions, wherein five Individual storage position is used for full electric battery storing, and a room is used to deposit the power shortage battery changed from electric passenger vehicle；

Battery bag electromagnetic locking device can be diameter 200mm magnechuck, and each shelf could be arranged to multiple (bags 2,3 or 4 etc. are included, as long as electrokinetic cell can be fixed on framework, this is not limited by the present invention), pass through Electrokinetic cell is fixed on framework by the electromagnetism attracting mode of magnechuck.Fix dynamic using the electromagnetism attracting mode of magnechuck The electrokinetic cell that the advantage of power battery is not limited to certain particular form is fixed.When taking certain block electrokinetic cell, power electric Pond commodity shelf system can be unlocked individually to it, be removed afterwards by scheduling batteries system.

As shown in figure 5, the scheduling batteries system 102 can include lifting platform 1021 and mobile platform 1022, lift Platform 1021 includes the frame structure that many leads 10211 and the leading screw 10212 being be arranged in parallel with lead are constituted, and passes through silk The driving of thick stick 10212 makes to lift platform 1021 to be moved vertically along lead 10211, and wherein leading screw 10212 is driven by motor A pair of gear pairs are moved to be moved；Mobile platform 1022 includes a framework 10221 and is arranged on multiple disk rollers of the frame plane 10222, mobile platform 1022 is transported in the frame structure for lifting platform 1021 along guide rail 1023 to car body left and right sides direction Dynamic, mobile platform 1022 is moved by motor-driven gear rack or guide screw movement pair, wherein two adjacent disk rollers Logical 10222 cross chain wheel drive two-by-two, and sprocket wheel, which is rotated, to be driven by motor, drive a set of sprocket wheel so that disk roller carries out rotation fortune It is dynamic, the electrokinetic cell on disk roller is accordingly moved.

The workflow of scheduling batteries system, including：The power shortage battery that electricity changing robot is sent first is received, power electric is sent to Behind the precalculated position of pond commodity shelf system, then receive the full battery of electrokinetic cell commodity shelf system transmission；Wherein lift platform movement The battery location to be changed moved to specified altitude assignment and mobile platform in the middle of car body or so, prepares to receive what electricity changing robot was sent Power shortage battery；Electricity changing robot is by after power shortage battery and scheduling batteries system docking, the disk roller of electricity changing robot and mobile platform Operating, power shortage battery is sent on mobile platform；Platform and mobile platform operating are lifted, the power shortage battery is moved to power The docking location of the pre- battery of leaving a blank of battery commodity shelf system；Start electrokinetic cell commodity shelf system and the disk roller of scheduling batteries system, Power shortage battery is sent to the reserved location of electrokinetic cell commodity shelf system；Platform and mobile platform are lifted in startup, are moved to specified The electrokinetic cell commodity shelf system docking location of full electricity battery；Start electrokinetic cell commodity shelf system and the disk roller of scheduling batteries system, Full battery is sent to mobile platform；Platform and mobile platform are lifted in driving, and full battery is sent into electricity changing robot pair Connect position；Start the disk roller of the electricity changing robot and scheduling batteries system that get out docking, full battery is passed from mobile platform It is sent on electricity changing robot platform.

In Fig. 5 scheduling batteries system 102 include lifting platform 1021,4 leads 10211,1 or 2 leading screw 10212, Mobile platform 1022 and 6 bobbins hold 1024；There is a column the every both sides of 6 cylinders of scheduling batteries system, ensure column The effect of guiding, lead can be made up of seamless steel pipe；

The working state schematic representation of scheduling batteries system 102 as shown in Figure 6, lifting platform can be under the driving of leading screw, edge Lead moves vertically；Guide screw movement is to drive a pair of gear pairs to realize by motor；

Mobile platform can do level (car body or so) motion, it is mainly by disk roller in the framework for lifting platform along guide rail Mechanism and framework are constituted, and roller mechanism is by two adjacent disk rollers by chain wheel drive two-by-two, and it is by motor that sprocket wheel, which is rotated, Driving is realized；The motion of mobile platform is realized by motor-driven gear rack or guide screw movement pair.

Wherein, the working state schematic representation of scheduling batteries system 102 as shown in Figure 6, scheduling batteries system is received after instruction, The frock position of battery to be changed is moved to, battery locking mechanism to be changed is unlocked, the roller of electrokinetic cell commodity shelf system and mobile platform Wheel starts driving, and electrokinetic cell D moves the movement that scheduling batteries system is just moved to from the framework of electrokinetic cell commodity shelf system On platform；

Scheduling batteries system is just moved to the docking location with electricity changing robot, scheduling batteries system after being loaded into battery to be changed Mobile platform, the disk roller of robot platform start driving, electrokinetic cell D is transplanted on the workbench of electricity changing robot.

Fig. 7 is the schematic perspective view of batter-charghing system 103.As shown in figure 8, the batter-charghing system 103 can be wrapped Include battery charging inlet adjusting apparatus 1031 and AC charging device (not shown in Fig. 7), battery charging inlet adjusting apparatus 103 Hold 1,034 2 electric pushrods including respectively carrying 2 leads 1033 and 2 bobbins (i.e. X is electric to electric pushrod 1031 and Z-direction Dynamic push rod 1032), frame structure 1035, connector mouthful 1036 and connecting plate 1037, make connector mouthful 1036 along before vehicle Rear carries out motion adjustment to direction perpendicular to the ground；AC charging device is additionally operable to be monitored electrokinetic cell, alarmed And power-off.

The structure of battery charging inlet adjusting apparatus is as shown in Figure 7：2 leads and 2 are respectively carried by 2 electric pushrods Bobbin holds the groups such as (each totally 4), frame structure, connector mouth, connecting plate (motor of electric pushrod is connected with driven member) Into.Battery charging inlet adjusting apparatus 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 charger of AC charging device is AC system 220V, and power is 7.5kw.

As shown in Figure 9 and Figure 10, the electricity changing robot 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 1047, Walking mechanism locking system 1048, electrokinetic cell locking system 1049, scissors fork lifting machine 10410 and lifting machine drive system 10411 with the (not shown) of positioner 10412, wherein robot moving platform is in head sheave and day wheel drive system and land wheel And moved horizontally under the driving of ground wheel drive system along guide rail direction, robot moving platform pitches lifting machine and act by scissors Rise machine drive system to be in vertical motion, guide rail includes day rail TG and track DG, day rail TG is head sheave walking in tailgate bottom The walking track of the robot moving platform of installation, day rail TG be on tailgate V-groove to the track of a segment distance of tailgate, track DG is the track of the robot moving platform that floor precalculated position is installed in compartment that land wheel is walked, and track DG is tailgate to battery The track of one segment distance of scheduling system；Head sheave and day wheel drive system include being arranged on the middle side part of robot moving platform two 4 transmission breast wheels 10413,4 head sheaves, motor and sprocket wheel and chain, the driving of robot moving platform walking mechanism Form is 4 × 4 drivings, and land wheel and ground wheel drive system include being arranged on 4 land wheels of the side lower part of robot moving platform two, driven Dynamic 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, are used for Electrokinetic cell on disk roller accordingly moved to (disk roller drive system is used to the bottom of the robot moving platform being located at Electrokinetic cell on disk roller is accordingly moved, and the disk roller drive system includes motor, sprocket wheel and chain, the 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 so that Disk roller is rotated, and the electrokinetic cell on disk roller is accordingly moved；Disk roller is steel pipe, and disk roller is set to the inverse time Pin rotates or turned clockwise；Wherein, the electrokinetic cell received the electricity changing robot by the rotate counterclockwise of disk roller is moved Go out the framework of robot moving platform, or the power of reception is needed the electricity changing robot by turning clockwise for disk roller Battery moves into the framework of robot moving platform)；Walking mechanism locking system includes push-pull electromagnet and promotes push rod and U-shaped bar Spreading friction pair；Electrokinetic cell locking system includes multiple magnechucks, and electrokinetic cell is fixed on into machine by magnechuck On people's mobile platform；Scissors pitches lifting machine and lifting machine drive system adds an electric pushrod driving structure including double shear knife and fork；It is fixed Position device can include the alignment pin that is set on optical sensor and robot moving platform, and (alignment pin is elastic construction, can be true Being accurately positioned when protecting insertion electrokinetic cell, alignment pin is engaged with the dowel hole of the bottom of electrokinetic cell).

The electrokinetic cell of electricity changing robot and electric passenger vehicle carries out the workflow of precise positioning, including：It is described to change electricity Robot is received after the information that in-car pre- off-position puts the electric passenger vehicle electrokinetic cell centre distance for needing to change electricity on tailgate, solution Electricity changing robot walking mechanism locking system is locked, and starts head sheave and day wheel drive system and land wheel and ground wheel drive system, will Robot moving platform is moved to after the electrokinetic cell near center location of electric passenger vehicle bottom, passes through optical sensor and power Battery is accurately positioned, and pitches lifting machine and lifting machine drive system by the alignment pin on robot moving platform by scissors Electrokinetic cell bottom pin-and-hole is inserted, the positioning flow of the electrokinetic cell of electricity changing robot and electric passenger vehicle is completed.

Electricity changing robot by robot moving platform, head sheave and its drive system, land wheel and its drive system, disk roller and its Drive system, walking mechanism locking system, battery bag lockable mechanism, scissors pitch the groups such as lifting and its drive system, positioner Into.

Electricity changing robot day rail and track are respectively：Attachment rail (the tailgate to battery on the precalculated position of floor in compartment The segment distance of scheduling system one) --- track, tailgate bottom mounting robot walking track (V-groove to the segment distance of tailgate one) --- Its 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, day in electricity changing robot Wheel differ 180mm with corresponding land wheel fore-and-aft direction so that electricity changing robot out of compartment predetermined stop place drive to During 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 electricity changing robot It is very steady, reliable to tailgate walking outside compartment out of compartment.

Electricity changing robot is by rack-and-pinion battery Y-direction centering structure, using flexible alignment pin by electrokinetic cell It 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 11, walking mechanism locking system 1048 promotes push rod 10481, U-shaped bar spreading by push-pull electromagnet Friction pair 10482 is constituted, and push-pull electromagnet promotes push rod and U-shaped bar spreading friction pair to be arranged on day rail, by plug-type The lock of the position for the robot moving platform that the U-shaped bar spreading friction sub-control of electromagnet promotion push rod promotion is walked on day rail It is fixed.

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 12, the platform of the tailgate 105 can include fixing frame plate 1051, Track width adjustment plate 1052 and Track width adjustment drive system 1053, electrokinetic cell locking device 1054 and electrokinetic cell locking drive system 1055, positioning T, V-groove 1056 and trailing wheel levelling device 1057 for placing electric passenger vehicle front-wheel are covered, wherein fixing frame plate 1051 is to hold The platform structure for needing change electrokinetic cell D electric passenger vehicle is carried, Track width adjustment plate 1052 and Track width are adjusted Whole drive system 1053 is provided in the frame structure that adjustment is may move on fixing frame plate 1051, and Track width adjustment plate 1052 is set It is placed in above fixing frame plate, Track width is oriented to drive system 1053 and is included in the motor set under Track width adjustment plate, electricity Machine adjusts the leading screw screw mechanism of front edge of board by Chain conveyer to Track width, while the leading screw other end is reached by Chain conveyer again The leading screw screw mechanism of Track width adjustment plate rear end, makes integrally to move left and right before and after Track width adjustment plate, is applicable different wheels Away from adjustment operation；Electrokinetic cell locking device 1054 and electrokinetic cell locking drive system 1055 are arranged on the platform of tailgate In one L-type support, tri- direction adjustment drivings of X, Y and Z are each to be completed by an electric pushrod；V-groove 1056 and trailing wheel leveling system 1057 collectively constitute and change electric locating platform, the branch of positioning action, wherein V-groove 1056 for for electric passenger vehicle change electricity The bottom of frame is the day rail TG of electricity changing robot, and the bottom of V-groove 1056 is provided with dust cover, for preventing vehicle rear wheel bottom ash Dirt and/or muddy water enter in compartment；Trailing wheel levelling device 1057 includes 4 row's disk rollers, support and its slide rail, hinge, connecting rod, pushed away Pull bar and electric pushrod, wherein electric pushrod promote pull bar, boost the connecting rod rotated around hinge, and connecting rod and trailing wheel The support of levelling device is connected, the slide rail motion that support is vertically moved, and support is raised and lowered.

In fig. 13, electrokinetic cell locking device 1054 and electrokinetic cell locking drive system 1055 are arranged on tailgate 105 Platform in a L-type support, including X, Y and the electric pushrod of Z-direction make electrokinetic cell locking device in tri- directions of X, Y and Z Adjustment, with the demand for the replacing electrokinetic cell for adapting to different automobile types electric passenger vehicle；Electrokinetic cell locking device 1054 includes solution Lock shifting block 10541 and the locking electric pushrod 10542 being connected with unblock shifting block, locking electric pushrod promote unblock shifting block to complete solution Lock and locking action；Positioning sleeve T shape is connected the shape phase of the locating dowel of locking device with chassis of electric passenger vehicle upper body Coordinate, positioning sleeve T is used for during changing and installing electrokinetic cell, it is ensured that electrokinetic cell locking device and electric passenger vehicle Position sensor is set in the position that chassis upper body connection locking device contacts with each other, positioning sleeve T.

Idiographic flow is as follows：X, Y and the electric pushrod of Z-direction make electrokinetic cell locking device and need to change electrokinetic cell After electrokinetic cell is positioned on the chassis of the electric passenger vehicle of different automobile types, lifting device rises to the power electric of vehicle bottom Behind the bottom of pond, the locating dowel that the positioning sleeve on electrokinetic cell locking device is connected with car body on locking device is combined together, and is lifted Rise device to continue to rise, after trigger position sensor, lifting device stops rising, and receives after position sensor trigger signal Issue a command to locking electric pushrod, make unblock shifting block promote sliding block compression elastic element, when reaching preset strokes electrokinetic cell from Unlocked on vehicle, now lifting device declines, when dropping to preset strokes, complete car body connection locking device and electrokinetic cell Separation；Electric passenger vehicle positioned on the platform of tailgate and power shortage electrokinetic cell be removed after, electricity changing robot will be full electric Electrokinetic cell and change after electric lifting platform aligns, lifting device is risen to behind the battery compartment bottom of vehicle bottom, electrokinetic cell lock The locating dowel that positioning sleeve on tight device is connected with car body on locking device is combined together, and lifting device continues to rise, when tactile Send out after position sensor, lifting device stops rising, receive to issue a command to after position sensor trigger signal and lock electronic push away Bar, driving unblock shifting block promotes sliding block compression elastic element, reaches that lifting device continues to rise after preset strokes, rises to default During stroke, electrokinetic cell locks electric pushrod completely into Vehicular battery storehouse, now and performs resets, and promotion unlocks shifting block to remote Determine block from the motion of sliding block direction, on sliding block and bracket component to fit together with electrokinetic cell upper positioning column, complete car body connection The engagement of locking device and electrokinetic cell.

In the case of vehicle chassis insufficient height, in order to smoothly deploy tailgate, it is necessary to which tailgate first is lifted into preset height (such as 100mm or 110mm height), so can conveniently expansion tailgate, at this moment can also by a tailgate lifting device come Realize, tailgate lifting device including motor add worm type of reduction gearing, clutch (electromagnetic clutch or friction clutch), Chain wheel driving mechanism, groove bracket upright post structure and dust cover, wherein motor add worm type of reduction gearing to be arranged on behind compartment Subordinate end, worm type of reduction gearing output end connection chain sprocket structure, bottom chain sprocket structure includes clutch, it is ensured that tailgate is from ground Face disengages chain gear transmission when raising, to prevent worm type of reduction gearing from reversing, and decelerator speed ratio can be 6~10；It is solid on chain Surely there are the first chain connector and the second chain connector, it is ensured that the displacement of tailgate；V-groove support, tailgate hinge all connect It is connected in groove bracket upright post；V-groove bottom is provided with dust cover, for preventing vehicle rear wheel bottom dust and/or muddy water from entering In compartment.Wherein tailgate lifting device can also be realized by electric pushrod arrives preset height by tailgate lifting.

Fixing frame plate can be carried out bending by metal plate 15Mn, thickness 5mm, cut, be welded, and improve the strong of frame Degree；

Track width adjustment plate 1052 and Track width adjustment drive system 1053 are removable on fixing frame plate 1051 The frame structure of adjustment, its driving structure is as shown in figure 14；

Track width adjustment plate is located above tailgate fixing frame plate, and its drive system is that respectively have a motor around, and motor leads to Chain conveyer is crossed to the leading screw screw mechanism of adjustment front edge of board, while the leading screw other end reaches adjustment plate rear end by Chain conveyer again Leading screw screw mechanism, makes integrally to move left and right before and after adjustment plate, so as to reach the requirement for adjusting different wheelspans；

As shown in figure 15, V-groove 1056 is used for the front-wheel for placing electric passenger vehicle, and it is common with trailing wheel leveling system 1057 Composition changes electric locating platform, and changing electricity for electric passenger vehicle provides basic guarantee；The bottom of support 10561 of V-groove 1056 is provided with The day rail of electricity changing robot, V-groove 1056 is additionally provided with roller 10562 and bearing 10563, and (roller 10562 can make electronic multiply Entered with the front-wheel of car after V-groove, because the rotation of roller reduces the frictional force of tire, it is ensured that front-wheel is stuck in V-groove In)；To prevent in the dirty entrance compartment such as vehicle rear wheel bottom dust, muddy water, dust cover is mounted with V-groove bottom.

As shown in figure 16, trailing wheel levelling device 1057 can by guide rod 10577,4 row's disk rollers 10571, support 10572 and Its slide rail (not shown in Figure 16), hinge 10573, connecting rod 10574, pull bar 10575, electric putter 10576 are constituted, guide rod And disk roller is the vehicle rear automatic adjustment in order that electric passenger vehicle；Wherein, trailing wheel levelling device is electronic after instruction is received Push rod promotes pull bar, boosts the connecting rod rotated around hinge, and connecting rod is connected with the support of leveling structure, and support is along upper The slide rail motion of lower motion, is finally reached rise 50~80mm job requirements, so that the purpose of electrokinetic cell level is reached, to change Electricity is ready.

As shown in figure 17, the lifting device 106 is arranged at the bottom of tailgate 105, and the lifting device 106 includes two pairs Scissors fork structure 1061, two electric pushrods 1062, upper bracket 1063, lower bracket 1064 and dust-proof (rain) cover 1065, its After middle lifting device starts, start the clutch that tailgate lands drive sprocket, sprocket wheel is disengaged with worm type of reduction gearing, lifting Device makes the platform upper mounted plate frame of tailgate be increased to preset height.Lifting device raises 765mm, makes tailgate (electric passenger vehicle Change electric work) the high 1400mm in plane separation ground, conveniently change the operation of electricity.

As shown in figure 18, automatic telescopic ramp 108 is arranged on carriage body afterbody outermost, and automatic telescopic ramp includes being arranged on The frame plate structure 1083, Tu18Zhong of hinge 1081 and the structure of bottom belt roller 1082 on the lifting structures bottom plate of tailgate bottom Protective cover 109 is arranged at carriage body afterbody outermost；The inclination angle on when automatic telescopic ramp works and ground is greater than 0 degree and is less than 15 degree, the length of automatic telescopic ramp is less than 3000mm.

Preferred embodiment, the inclination angle on when automatic telescopic ramp works and ground is 10 degree, and its length is 2840mm, the inclination The length of angle and automatic telescopic ramp facilitates electric passenger vehicle to reach the platform of tailgate, and the length of the automatic telescopic ramp is adapted to On mobile power-up car.

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

As shown in figure 20, a kind of control method based on portable electric passenger vehicle dynamic battery changing, including：

Step 2010, mobile power-up station are received after reception control centre dispatch command, and driving to needs to carry out changing electricity Electric passenger vehicle position, wherein, mobile power-up station is a mobile power-up car using new energy；

Step 2020, the tailgate electric pushrod of the carriage body lateral tail at mobile power-up station are to the direction exhibition on rear side of carriage body afterbody Open tailgate and tailgate is laid flat behind ground and form a platform, while automatic telescopic ramp is opened to predeterminated position；

Step 2030, the electric passenger vehicle reach the platform of tailgate by automatic telescopic ramp, and tailgate is on platform The electric passenger vehicle of carrying is completed after the operation of positioning, and the electric passenger vehicle carried on lifting device lifting tailgate reaches default position Put, and complete the Levelling operation to chassis of electric passenger vehicle；

The power shortage battery that the chassis of electric passenger vehicle is unloaded is transplanted on scheduling batteries system by step 2040, electricity changing robot After upper, the power shortage battery in electricity changing robot is transplanted on electrokinetic cell commodity shelf system by scheduling batteries system, and by power electric Full electricity battery is transplanted in electricity changing robot on the commodity shelf system of pond, and electrokinetic cell commodity shelf system is by power shortage battery lock；

The full battery that scheduling batteries system is moved is sent to the chassis of electric passenger vehicle by step 2050, electricity changing robot Bottom is simultaneously arranged on vehicle bottom, completes the control of dynamic battery changing.

The mobile power-up car of the present invention changes electric workflow, including：

Preparation：The control system of mobile power-up car starts the motor-driven jack motor of the side lower part of rear vehicle end two, makes Mobile power-up back wheels of vehicle tire does not bear a heavy burden；Control system controls tailgate electric pushrod, and automatic telescopic ramp is installed in place, same with this When tailgate electric pushrod tailgate is flattened, tailgate is placed ground by lifting chain, is arranged on the travel switch and encoder of tailgate Its landing state is judged jointly；The user card punching of electric passenger vehicle, card reader obtains information of vehicles, the power electric of electric passenger vehicle Pond package informatin, and by Bluetooth wireless communication system by user's (vehicle, battery bag) information transmission to company operation platform and control Device processed, after company's license is obtained, Bluetootho Wireless system communicates information to control system, confirms tailgate guide plate width, electricity Full electricity battery location in pond pouch-type number and its compartment；Control system is sent to tailgate motor by bus, wide to adjust guide plate Degree, while the proximity switch and encoder installed in guide plate both sides confirm width jointly；After confirmation is finished, control system passes through Wireless system is sent to manual control panel, and professional service staff opens electric passenger vehicle on the platform of upper tailgate, and multiplies electronic The V-groove of tailgate is driven into the front-wheel of car；Control system starts the lifting device of tailgate, raises it, now chain drive dress Put and power transmission is disconnected by clutch, reach tailgate working face away from ground 1400mm height；It is true additionally by infrared emission switch Recognize tailgate rear portion to be in same level with front portion, it is ensured that vehicle chassis leveling；

Change electric process：

Remove power shortage battery：Control system determines vehicle level, sends the signal to manual control panel, while another one Attendant is by estimating, dual confirmation, and the in-car attendant of power-up, which presses, changes eletric button, activates the control of electric passenger vehicle Device, makes control system and the controller carrying out shake communication of electric passenger vehicle；Control system is opened according to the front wheel alignment of electric passenger vehicle Dynamic electricity changing robot running gear, makes robot be put by in-car pre- off-position and drives to power-up car bottom by day rail and track, fixed The center of the bottom electrokinetic cell of position electric passenger vehicle, brake lock electricity changing robot；The lifting of control system start machine people Structure reaches precalculated position, and unlocking mechanism removes the power shortage battery bag of electric passenger vehicle；Quick Response Code in electricity changing robot is swept The Quick Response Code that instrument scans power shortage battery is retouched, battery bag identity is confirmed；

Pick and place, change electrokinetic cell：Electricity changing robot falls its lifting structures to specified location, locking battery bag, unblock The brake apparatus of robot ambulation system, control system start machine people's running gear, makes it to compartment by day rail and track Interior precalculated position, while scheduling batteries system operation is to specified location；

Control system starts scheduling batteries system and the respective roller mechanism of electricity changing robot, and power shortage battery passes through disk roller machine Structure reaches scheduling batteries system platform and (when electrokinetic cell is just completely placed in platform, is arranged on before scheduling batteries system platform Face travel switch, the basis for estimation stopped for motion)；

Control system confirms switch (or electromagnet state of battery bag locking) by platform, judges idle electrokinetic cell goods Rack position, starts scheduling batteries system walking mechanism, it is reached specified location and passes through its disk roller and electrokinetic cell shelf disk roller Mechanism, by power shortage battery be sent to electrokinetic cell shelf specified location (confirmation of electrokinetic cell shelf using infrared emission switch, Control system is by confirming number of times, with reference to motor encoder, dual confirmation electrokinetic cell pallet height)；

Control system starts the centering of electrokinetic cell shelf and charging mechanism, and to the charging of power shortage battery, (charging plug passes through unrestrained Reflex switch determines electrokinetic cell width, height, and combines battery package informatin, calculates electrokinetic cell plug connector position, gives Positioning)；

Scheduling batteries system reaches specified location, passes through its disk roller and electrokinetic cell shelf according to the instruction of control system Roller mechanism, scheduling batteries platform is sent to by full battery；

Scheduling batteries system reaches specified location, and by its disk roller and electricity changing robot roller mechanism, full battery is passed Being sent to robot platform, (scheduling batteries system platform carries out leveling with electricity changing robot using infrared emission switch.Change electric machine People controls the movement position of electrokinetic cell with travel switch, and steps up structure in the vertical direction for passing through electrokinetic cell and make power electric Pond is laterally centered.The diffusing reflection switch set according to the distance of alignment pin and electrokinetic cell, control electrokinetic cell is forward moved, when Stop motion when scanning is less than electrokinetic cell, alignment pin ejection, completes mechanical locking electrokinetic cell), last scheduling batteries system Move to precalculated position；

Full electric battery is installed：The full electric battery of electricity changing robot carrying is driven to electronic from in-car again by day rail and track Passenger car bottom, again by electric passenger vehicle front wheel alignment, control system is by electricity changing robot and the battery of electric passenger vehicle Storehouse is accurately positioned, locking electricity changing robot, and start machine people's lifting structures, and full battery is raised into position, finally starts battery Bag retaining mechanism locking power battery；

Electricity changing robot falls lifting structures, and battery bag retaining mechanism resets, the locking dress of unblock robot running gear Put, returning to the in-car pre- off-position specified by day rail and track puts, its walking mechanism of last locking.

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

The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any to be familiar with the people of the technology in technical scope disclosed in this invention, the change or replacement that can be readily occurred in should all be covered Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.

Claims (10)

1. a kind of control method based on portable electric passenger vehicle dynamic battery changing, it is characterised in that including：

Mobile power-up station is received after control centre's dispatch command, and driving to needs the electric passenger vehicle institute for carrying out changing electricity in place Put, wherein, mobile power-up station is a mobile power-up car using new energy, the carriage body length of mobile power-up car for 5500~ 5700mm, width is 2500~2550mm, is highly 2500~2700mm；

The tailgate electric pushrod of the carriage body lateral tail at mobile power-up station deploys tailgate and by tail to the direction on rear side of carriage body afterbody Plate, which is laid flat behind ground, forms a platform, while automatic telescopic ramp is opened to predeterminated position；

The electric passenger vehicle reaches the platform of tailgate by automatic telescopic ramp, and tailgate is electronic riding to what is carried on platform Car is completed after the operation of positioning, and the electric passenger vehicle carried on lifting device lifting tailgate reaches predeterminated position, and completes to electricity The Levelling operation on dynamic passenger car chassis；

After the power shortage battery that the chassis of electric passenger vehicle is unloaded is transplanted in scheduling batteries system by electricity changing robot, scheduling batteries Power shortage battery in electricity changing robot is transplanted on electrokinetic cell commodity shelf system by system, and will be full on electrokinetic cell commodity shelf system Battery is transplanted in electricity changing robot, and electrokinetic cell commodity shelf system is by power shortage battery lock；

The full battery that scheduling batteries system is moved is sent to the chassis bottom of electric passenger vehicle and is arranged on by electricity changing robot Vehicle bottom, completes the control of dynamic battery changing.

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

The electrokinetic cell commodity shelf system, including framework, battery bag electromagnetic locking device, multiple disk rollers and disk roller drive device, Wherein, electric passenger vehicle battery to be changed is deposited on framework, and framework both sides reserve space groove, and framework is deposited including multiple batteries Position is put, wherein a reserved room is used to deposit the power shortage battery changed from electric passenger vehicle；Electrokinetic cell passes through battery The electromagnetism attracting mode of multiple magnechucks that bag electromagnetic locking device is set is fixed on framework, when taking certain block electrokinetic cell When, individually the electrokinetic cell can be unlocked, be removed afterwards by scheduling batteries system；The left and right sides of disk roller is by sprocket wheel two Two drivings, by being arranged on the motor of the disk roller left and right sides, drive a set of sprocket wheel so that disk roller is rotated, will Electrokinetic cell on disk roller is accordingly moved.

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

The scheduling batteries system includes lifting platform and mobile platform, lifts platform including many leads and flat with lead The frame structure that the leading screw that row is set is constituted, makes to lift platform and is moved vertically along lead by the driving of leading screw, wherein silk Thick stick is to drive a pair of gear pairs to be moved by motor；Mobile platform includes a framework and is arranged on the multiple of the frame plane Disk roller, mobile platform is moved, mobile platform is logical in the frame structure for lifting platform along guide rail to car body left and right sides direction Cross motor-driven gear rack or guide screw movement pair is moved, wherein two adjacent disk rollers pass through chain wheel drive two-by-two, chain Taking turns rotation is driven by motor, drives a set of sprocket wheel so that disk roller is rotated, the electrokinetic cell on disk roller is entered Row is corresponding mobile；

Also include：The platform of lifting is moved to the battery to be changed position that specified altitude assignment and mobile platform are moved in the middle of car body or so Put, prepare to receive the power shortage battery that electricity changing robot is sent；Electricity changing robot by after power shortage battery and scheduling batteries system docking, The disk roller operating of electricity changing robot and mobile platform, power shortage battery is sent on mobile platform；Lift platform and mobile platform Operating, the power shortage battery is moved to the docking location of the pre- battery of leaving a blank of electrokinetic cell commodity shelf system；Start electrokinetic cell goods The disk roller of frame system and scheduling batteries system, power shortage battery is sent to the reserved location of electrokinetic cell commodity shelf system；Start support Platform and mobile platform are lifted, the electrokinetic cell commodity shelf system docking location for specifying full electric battery is moved to；Start electrokinetic cell goods The disk roller of frame system and scheduling batteries system, mobile platform is sent to by full battery；Platform and mobile platform are lifted in driving, will Full electricity battery is sent to electricity changing robot docking location；Start the roller of the electricity changing robot and scheduling batteries system that get out docking Wheel, full battery is sent on electricity changing robot platform from mobile platform.

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

The batter-charghing system includes battery charging inlet adjusting apparatus and AC charging device, battery charging inlet adjustment dress Put including respectively carrying 2 electric pushrods, frame structure, connector mouthful and connecting plate that 2 leads and 2 bobbins are held, make Connector opening's edge vehicle fore-and-aft direction and direction perpendicular to the ground are carried out after motion adjustment, with needing the electrokinetic cell of charging to enter Row connection；AC charging device is additionally operable to be monitored electrokinetic cell, alarm and power off.

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

The electricity changing robot includes robot moving platform, head sheave and day wheel drive system, land wheel and ground wheel drive system, many Individual disk roller and disk roller drive system, walking mechanism locking system, electrokinetic cell locking system, scissors fork lifting machine and lifting machine drive Dynamic system and positioner, wherein robot moving platform are in head sheave and day wheel drive system and land wheel and ground wheel drive system Moved horizontally under driving along guide rail direction, robot moving platform pitches lifting machine by scissors and lifting machine drive system is carried out Vertical movement, guide rail includes day rail and track, and day rail is the robot moving platform installed in tailgate bottom that head sheave is walked Walking track, day rail is that V-groove is to the track of a segment distance of tailgate on tailgate, and track is that floor is pre- in the compartment of land wheel walking The track of the robot moving platform of installation is put in positioning, and track is track of the tailgate to a segment distance of scheduling batteries system；My god Wheel and day wheel drive system include being arranged on 4 transmission breast wheels of the middle side part of robot moving platform two, 4 head sheaves, drivings Motor and sprocket wheel and chain, the drive form of robot moving platform walking mechanism is 4 × 4 drivings, land wheel and land wheel drivetrain System includes 4 land wheels, motor and sprocket wheel and the chain for being arranged on the side lower part of robot moving platform two, and robot movement is flat The drive form of platform walking mechanism is 4 × 4 drivings；Multiple disk roller and disk roller drive systems include multiple steel pipes, motor, chain Wheel and chain, multiple disk rollers are arranged on robot moving platform, for the electrokinetic cell on disk roller accordingly to be moved；OK Walk mechanism locking system and promote push rod and U-shaped bar spreading friction pair including push-pull electromagnet；Electrokinetic cell locking system includes Electrokinetic cell, is fixed on robot moving platform by multiple magnechucks by magnechuck；Scissors pitches lifting machine and lifting Machine drive system adds an electric pushrod driving structure including double shear knife and fork；Positioner includes optical sensor and robot movement is flat The alignment pin set on platform；

Also include：The electricity changing robot receives in-car pre- off-position and puts the electric passenger vehicle electrokinetic cell for needing to change electricity on tailgate After the information of centre distance, electricity changing robot walking mechanism locking system is unlocked, and start head sheave and day wheel drive system and ground Wheel and ground wheel drive system, robot moving platform are moved to the electrokinetic cell near center location of electric passenger vehicle bottom Afterwards, it is accurately positioned by optical sensor with electrokinetic cell, and lifting machine and lifting machine drive system is pitched by machine by scissors The dowel hole of alignment pin insertion electrokinetic cell bottom on device people's mobile platform, completion electricity changing robot and electric passenger vehicle The positioning flow of electrokinetic cell.

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

The platform of the tailgate includes fixing frame plate, Track width adjustment plate and Track width adjustment drive system, electrokinetic cell Locking device and electrokinetic cell locking drive system, V-groove and trailing wheel levelling device for placing electric passenger vehicle front-wheel, its Middle fixing frame plate needs change the platform structure of the electric passenger vehicle of electrokinetic cell, Track width adjustment plate and wheel for carrying The frame structure that adjustment is may move on fixing frame plate is provided in away from width adjustment drive system, Track width adjustment plate is arranged at Above fixing frame plate, Track width is oriented to drive system and is included in the motor set under Track width adjustment plate, and motor passes through chain The leading screw screw mechanism that Track width adjusts front edge of board is transferred to, while the leading screw other end reaches Track width by Chain conveyer again The leading screw screw mechanism of adjustment plate rear end, makes integrally to move left and right before and after Track width adjustment plate, is applicable the adjustment of different wheelspans Operation；Electrokinetic cell locking device and electrokinetic cell locking drive system are arranged on the platform of tailgate in a L-type support, X, Y It is each by electric pushrod completion with tri- direction adjustment drivings of Z；V-groove and trailing wheel leveling system collectively constitute that to change electricity positioning flat Platform, the wherein positioning action for for electric passenger vehicle change electricity, the support bottom of V-groove are the day rail of electricity changing robot, V Type groove bottom is provided with dust cover, for preventing vehicle rear wheel bottom dust and/or muddy water from entering in compartment；Trailing wheel levelling device Including 4 row's disk rollers, support and its slide rail, hinge, connecting rod, pull bar and electric pushrod, wherein electric pushrod promotes pull bar, The connecting rod rotated around hinge is boosted, and connecting rod is connected with the support of trailing wheel levelling device, the cunning that support is vertically moved Rail is moved, and support is raised and lowered.

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

The lifting device is arranged at tailgate bottom, the lifting device include two double shear knife and fork structures, two electric pushrods, The electric pushrod of top and the bottom support and dust cover, wherein lifting device promotes double shear knife and fork structure to make the platform upper mounted plate of tailgate Frame is increased to preset height.

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

The automatic telescopic ramp includes the hinge and bottom belt roller structure being arranged on tailgate bottom lifting structures bottom plate Frame plate structure, the inclination angle on when automatic telescopic ramp works and ground is greater than 0 degree and less than 15 degree, automatic telescopic ramp Length be less than 3000mm.

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

The mobile power-up car also includes a protective cover, is arranged at carriage body afterbody outermost, the material of protective cover is non-metallic material Material is made；The carriage body bottom of the mobile power-up car is additionally provided with jack.

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

The mobile power-up car further comprises：Mobile power-up vehicle control, in-car fire-fighting system and maintenance unit, wherein, Mobile power-up vehicle control carries out radio communication, the off-network big data system installed additional by radio communication or with car with operation platform System control power-up operations flow；In-car fire-fighting system includes dry powder extinguisher and/or fire extinguisher bomb system；Maintenance unit is included to car The instrument repaired.