CN106627514A - Chassis type battery replacing robot and battery replacing method - Google Patents
Chassis type battery replacing robot and battery replacing method Download PDFInfo
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- CN106627514A CN106627514A CN201611247501.5A CN201611247501A CN106627514A CN 106627514 A CN106627514 A CN 106627514A CN 201611247501 A CN201611247501 A CN 201611247501A CN 106627514 A CN106627514 A CN 106627514A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 230000007704 transition Effects 0.000 claims abstract description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 77
- 230000003028 elevating effect Effects 0.000 claims description 33
- 230000008859 change Effects 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 15
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 239000000758 substrate Substances 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 235000004443 Ricinus communis Nutrition 0.000 claims description 6
- 230000000630 rising effect Effects 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000010008 shearing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000005121 nitriding Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
Abstract
The invention belongs to the field of electric vehicle battery replacement, and relates to a chassis type battery replacing robot and a battery replacing method. The battery replacing robot comprises a parking station, a control cabinet and a battery replacing device, wherein the control cabinet is respectively connected with the parking station and the battery replacing device; the parking station comprises a front wheel base and a rear wheel base which are oppositely arranged; both ends of the front wheel base are connected with both ends of the rear wheel base through transition stations; the front wheel base, the rear wheel base and the two transition stations define a battery replacing cavity in a surrounding manner; the battery replacing device is located on a rail below the battery replacing cavity; an extending direction of the rail is perpendicular to a travelling direction of the electric vehicle; the battery replacing device comprises a battery taking and placing mechanism capable of freely sliding on the rail; the battery taking and placing mechanism comprises a base located at the bottom and a battery lifting platform located at the top; a battery unlocking assembly is mounted on the battery lifting platform. The chassis type battery replacing robot and the battery replacing method provided by the invention does not need a large number of civil works, visual positioning and manual operation, has a battery replacement success rate up to 99%, performs pure mechanical positioning on the electric vehicles, has high positioning precision, and has stable and reliable battery replacing operation performance.
Description
Technical field
The invention belongs to electric automobile changes field of batteries, it is related to a kind of chassis type and changes electric machine people and its change method for electrically.
Background technology
Environmental pollution and petroleum resources deficiency are the bottlenecks of current China Automobile Industry.In this context, the pure electricity of new forms of energy
Electrical automobile arises at the historic moment.So-called pure electric automobile referred to vehicle power as power, is travelled with battery driving moment, meets road
Traffic, the vehicle of security legislation requirements.Although pure electric automobile uses clean energy resource, due to current battery technology
Limitation so that the endurance of pure electric automobile is limited, the battery accordingly, it would be desirable to pure electric automobile charges in time or changes.
For charging modes, mainly there are two kinds of quick charge and charging pile.Rapid nitriding can fill at short notice
Full battery electric quantity, but seriously compromise the life-span of battery；And for charging pile technology, because electric automobile and battery standard are not united
One, need to design special train charging pile, seriously reduce the service efficiency of charging pile.
For changing electrically, that is, setting up one includes changing changing for the equipment such as electric machine people, piler, charging rack, charger
Power station, the battery that electric automobile is finished is charged by changing electric machine people and being removed and placed in charging rack, and will be filled with electricity
Battery is put into electric automobile, meets the continuation of the journey requirement of electric automobile.
At present, in order that endurance can be reached on 300 kilometers, the weight of usual battery is greater than 300 to electric automobile
Kilogram, the existing power technology that changes is difficult to meet demand mostly, and the electric automobile for being especially located at chassis location in battery is being carried out
When changing electrically operated, battery altering is very difficult.
The content of the invention
In order to solve the existing technical problem for changing battery altering difficulty in chassis in power technology, the present invention provides a kind of chassis
Formula is changed electric machine people and its changes method for electrically.
The present invention technical solution be：A kind of chassis type changes electric machine people, and it is characterized in that：Including parking
Platform, switch board and change electric installation；The switch board respectively with parking platform and change electric installation and be connected；
The parking platform includes front-wheel pedestal and the trailing wheel pedestal being oppositely arranged, and the two ends of the front-wheel pedestal respectively pass through one
Individual transition bench is connected with the two ends of trailing wheel pedestal；Front-wheel pedestal, trailing wheel pedestal and two transition bench surround one and change electric chamber jointly；
The electric installation that changes is located on the track that changes below electric chamber, and the track extends perpendicularly to electric automobile
Direct of travel；
It is described change electric installation include can in orbit slidably battery taking and placing mechanism；The battery taking and placing mechanism includes
Pedestal positioned at bottom and the battery hoistable platform positioned at top, are provided with battery solution lock set on the battery hoistable platform.
Above-mentioned battery taking and placing mechanism also includes being located at the battery lifting motor in the middle part of pedestal and two are located at pedestal two ends
Battery elevating mechanism；
The battery lifting motor is connected with the input of a reductor, two output ends respectively connection one of reductor
Horizontally disposed ball-screw；
The battery elevating mechanism includes one-level driving lever, one-level follower lever and two of two interconnections for scissors shape
Individual interconnection is two grades of driving levers, two grades of follower levers of scissors shape；On the bottom of the one-level driving lever and ball-screw
Feed screw nut be hinged, the top of one-level driving lever is hinged with the bottom of two grades of driving levers；The bottom of the one-level follower lever with
The pedestal is hinged, and the top of one-level follower lever is hinged with the bottom of two grades of follower levers, the top of two grades of follower levers and the electricity
Pond hoistable platform is hinged.
Above-mentioned battery solution lock set includes being symmetricly set in two unlocking mechanisms of the battery hoistable platform both sides；
The unlocking mechanism includes unblock lifting motor, unlocking head installing plate and two unlocking heads；The unblock lifting electricity
The output end of machine is connected with the input of a reductor, and the output end of reductor connects a ball-screw being vertically arranged,
The ball-screw is fixed on battery hoistable platform；Feed screw nut on the middle part of the unlocking head installing plate and ball-screw
It is fixedly connected, two unlocking heads are respectively arranged in the two ends of unlocking head installing plate.
Two gathering sills corresponding with transition bench are each provided with above-mentioned front-wheel pedestal and trailing wheel pedestal；Each gathering sill
A roll wheel assembly is mounted on the junction of transition bench, the rotating direction of roll wheel assembly is perpendicular to the traveling side of electric automobile
To；
On front-wheel pedestal, two roll wheel assemblies correspond to respectively two front-wheels of electric automobile；Between two roll wheel assemblies
Centering body is installed；The lower section of two roll wheel assemblies is installed by vehicle body elevating mechanism；
On trailing wheel pedestal, two roll wheel assemblies correspond to respectively two trailing wheels of electric automobile；Between two roll wheel assemblies
Centering body is installed；
The outside of two transition bench is respectively installed by one vehicle body elevating mechanism.
Above-mentioned centering body include centering motor, one enter it is double go out reductor and two ball-screw components；The centering electricity
Machine with one enter it is double go out reductor input be connected, one enter it is double go out reductor two output ends respectively by a shaft coupling and
One ball-screw component is connected；Ball-screw component includes the ball-screw being arranged on leading screw pedestal, pacifies on ball-screw
Equipped with a screw slider, the direct of travel of the glide direction of screw slider perpendicular to electric automobile；It is provided with screw slider
Castor, is provided with push rod at the top of screw slider.
Above-mentioned vehicle body elevating mechanism includes that substrate and the vehicle body lifting motor on substrate, one enter double to go out to slow down
Machine, two ball-screw components and two scissors lift components；The vehicle body lifting motor with one enter it is double go out reductor it is defeated
Enter end to be connected, one enters pair two output ends for going out reductor is connected respectively by a shaft coupling with a ball-screw component；
Ball-screw component includes the ball-screw being arranged on leading screw pedestal, and a screw slider, leading screw are provided with ball-screw
Direct of travel of the glide direction of slide block perpendicular to electric automobile；Castor is installed on screw slider；The scissors lift group
Part includes vehicle body hoistable platform and interconnection for the driving lever and follower lever of scissors shape；Cut with scissors with substrate follower lever one end
Connect, the other end and vehicle body hoistable platform one end of follower lever are hinged；Driving lever one end arranges one with vehicle body hoistable platform bottom
The roller for contacting, the other end and the screw slider of driving lever are hinged；
On front-wheel pedestal, the top of two vehicle body hoistable platforms is respectively mounted roll wheel assembly；
On the outside of transition bench, a horizontally disposed vehicle body supporting plate is installed on the top of two vehicle body hoistable platforms.
It is above-mentioned change electric installation also include can in orbit slidably pallet body；The pallet body includes being located at bottom
The tray susceptor in portion and the pallet lift platform positioned at top；Electric chamber is changed on the size of the pallet lift platform and parking platform
Size matches；
Pallet lift motor is provided with the middle part of the tray susceptor, the two ends of tray susceptor respectively arrange a pallet lift
Mechanism；
The pallet lift motor is connected with the input of a reductor, two output ends respectively connection one of reductor
Horizontally disposed ball-screw；
The pallet lift mechanism includes two interconnections for the driving lever and follower lever of scissors shape；The bottom of driving lever
End is hinged with the feed screw nut on ball-screw, and the top of driving lever arranges a rolling contacted with pallet lift mesa base
Wheel；The bottom of follower lever is hinged with tray susceptor, and top and the pallet lift platform of follower lever are hinged.
On electric automobile direct of travel, the front and back of the parking platform respectively arranges a driving slope, the row
Car slope is 5-7.5 ° with the angle of horizontal plane.
The present invention also provide it is a kind of change method for electrically based on what chassis type changed electric machine people, it is characterized in that：Including with
Lower step：
1) electric automobile sails parking platform into, and parking platform adjusts the attitude of electric automobile, completes electric automobile positioning；
2) after pallet lift platform declines, pallet body is moved to parking platform side along track；
3) battery taking and placing mechanism is moved to along track and changes electric chamber lower section, and battery hoistable platform is lifted to electric automobile chassis；
4) battery solution lock set carries out battery unblock；
5) after battery hoistable platform declines, the battery taking and placing mechanism for being loaded with power shortage battery is moved to the another of parking platform along track
Side；
6) it is full electricity battery by the power shortage battery altering in battery taking and placing mechanism；
7) the battery taking and placing mechanism for being loaded with full battery is moved to along track and changes electric chamber lower section, after battery hoistable platform rises
Full battery is lifted in the battery compartment of electric automobile chassis；
8) battery solution lock set carries out battery locking；
9) after battery hoistable platform declines, battery taking and placing mechanism is moved to initial position along track；
10) pallet body is moved to along track and changes electric chamber lower section, and pallet lift platform raising is to initial position；
11) electric automobile rolls parking platform away from, completes battery altering.
Preferably, step 1) specifically include following steps：
1.1) front-wheel jacking：Start the vehicle body elevating mechanism of front-wheel pedestal, before the roll wheel assembly of front-wheel pedestal is lifted to
Between latter two voussoir；
1.2) electric automobile enters position：Electric automobile is sailed into by trailing wheel pedestal, and the front-wheel of electric automobile crosses successively trailing wheel base
After gathering sill, roll wheel assembly and the transition bench of seat, it is parked on the roll wheel assembly of front-wheel pedestal, now the trailing wheel of electric automobile is parked in
On the roll wheel assembly of trailing wheel pedestal；
1.3) front-wheel centering positioning：Start the centering body of front-wheel pedestal, make electric automobile front-wheel horizontal on roll wheel assembly
To rolling, the center ofthe positioning of front-wheel is completed；
Trailing wheel centering is positioned：Start the centering body of trailing wheel pedestal, electric automobile trailing wheel is laterally rolled on roll wheel assembly
It is dynamic, complete the center ofthe positioning of trailing wheel；
1.4) front-wheel declines：Start the vehicle body elevating mechanism of front-wheel pedestal, the roll wheel assembly for making front-wheel pedestal declines, electronic
Drop down onto under vehicle front between two voussoirs；
1.5) vehicle body jacking：Start the vehicle body elevating mechanism on the outside of two transition bench, it is complete by vehicle body jacking to preset height
Into electric automobile positioning.
The beneficial effects of the present invention is：What the present invention can realize chassis type electric automobile automatically changes Electricity Functional, phase
Motor structure is changed than traditional chassis, this chassis changes the advantage of electric machine people and is：Without the need for a large amount of civil engineering operations；It is fixed without the need for vision
Position；Without the need for manually operating；Change electric success rate and reach 99%；The purely mechanic positioning of electric automobile, positioning precision is high, battery altering operation
It is stable and reliable for performance.
Description of the drawings
Fig. 1 is the preferred embodiment structural representation that chassis type of the present invention changes electric machine people.
Fig. 2 is the preferred embodiment structural representation of parking platform of the present invention.
Fig. 3 is the preferred embodiment structural representation that the present invention changes electric installation.
Fig. 4 is the preferred embodiment structural representation (compressive state) of pallet body of the present invention.
Fig. 5 is the preferred embodiment structural representation (extended configuration) of pallet body of the present invention.
Fig. 6 is the preferred embodiment structural representation (compressive state) of battery taking and placing mechanism of the present invention.
Fig. 7 is the preferred embodiment structural representation (extended configuration) of battery taking and placing mechanism of the present invention.
Fig. 8 is the preferred embodiment structural representation of battery solution lock set of the present invention.
Fig. 9 is the preferred embodiment structural representation of front-wheel pedestal of the present invention.
Figure 10 is the preferred embodiment structural representation (compressive state) of centering body of the present invention.
Figure 11 is the A direction views of Figure 10.
Figure 12 is the preferred embodiment structural representation (extended configuration) of centering body of the present invention.
Figure 13 is the preferred embodiment structural representation (compressive state) of front-wheel elevating mechanism of the present invention.
Figure 14 is the preferred embodiment structural representation (extended configuration) of front-wheel elevating mechanism of the present invention.
Specific embodiment
Referring to Fig. 1, the present invention provides a kind of chassis type and changes electric machine people, and the system of its preferred embodiment is constituted and includes parking
Platform 100, switch board 400 and change electric installation 300；Switch board 400 respectively with parking platform 100 and change electric installation 300 and be connected.Preferably
, on electric automobile direct of travel, the front and back of parking platform 100 respectively arranges one and facilitates electric automobile to enter and exit
Driving slope 200, driving slope 200 be mainly welded by the rectangle steel and steel plate of different size.Driving slope 200 and water
The angle of plane is 5-7.5 °, meets the hill climbing demands of electric automobile.
Referring to Fig. 2, parking platform includes front-wheel pedestal 110 and the trailing wheel pedestal 120 being oppositely arranged, front-wheel base in the present embodiment
The two ends of seat 110 are connected respectively by left transition bench 180 and right transition bench 190 with the two ends of trailing wheel pedestal 120.Front-wheel pedestal
110th, trailing wheel pedestal 120 and two transition bench surround one and change electric chamber jointly.The function of parking platform is that electric car to be changed is carried out
Pose adjustment and positioning.
Referring to Fig. 3, change electric installation 300 and be located on the track 310 changed below electric chamber, track 310 is extended perpendicularly to
The direct of travel of electric automobile.Change electric installation 300 include can be on track 310 slidably battery taking and placing mechanism 330 and support
Disc mechanism 320.Battery taking and placing mechanism 330 is used to change battery and move, pallet body 320 for before electricity is changed or
The opening for changing the electric chamber of exchange after electricity is filled up, in case there is peril when sailing into or rolling parking platform away from electric automobile.
Referring to Fig. 4 and Fig. 5, pallet body 320 includes being located at the tray susceptor 321 and the pallet lift positioned at top of bottom
Platform 322, the size of pallet lift platform 322 matches with the size that electric chamber is changed on parking platform.The middle part of tray susceptor 321 sets
Pallet lift motor 323 is equipped with, the two ends of tray susceptor 321 respectively arrange a pallet lift mechanism.Pallet lift motor 323 with
The input of one reductor 324 is connected, and two output ends of reductor 324 respectively connect a horizontally disposed ball-screw
325.Pallet lift mechanism includes two interconnections for the driving lever 326 and follower lever 327 of scissors shape.Driving lever 326
Bottom is hinged with the feed screw nut on ball-screw 325, and the top of driving lever 326 arranges one with the bottom of pallet lift platform 322
The roller that portion contacts, bottom and the tray susceptor 321 of follower lever 327 are hinged, top and the pallet lift platform of follower lever 327
322 are hinged.
The operation principle of pallet body 320 is：Pallet lift motor 323 drives reductor 324 to rotate, and then drives two ends
Ball-screw 325 rotate.The convert rotational motion of ball-screw 325 is the translational motion of feed screw nut, and feed screw nut is outside
Or slid inward, cause pallet lift mechanism to do shearing motion, the pallet lift platform 322 at the top of drive is reduced or risen
It is high.
Referring to Fig. 6 and Fig. 7, the battery taking and placing mechanism 330 in the present embodiment includes being located at the pedestal 331 of bottom and positioned at top
The battery hoistable platform 332 in portion, is provided with battery solution lock set 333 on battery hoistable platform 332.The middle part of pedestal 331 is arranged
The two ends for having battery lifting motor 334, pedestal 331 respectively arrange a battery elevating mechanism.Battery lifting motor 331 subtracts with one
The input of fast machine is connected, and two output ends of reductor respectively connect a horizontally disposed ball-screw 335.
Battery elevating mechanism includes one-level driving lever 336, one-level follower lever 337 and of two interconnections for scissors shape
Two interconnections are two grades of driving levers, 338, two grades of follower levers 339 of scissors shape；The bottom of one-level driving lever 336 and ball
Feed screw nut on leading screw 335 is hinged, and the top of one-level driving lever 336 is hinged with the bottom of two grades of driving levers 338；One-level is driven
The bottom of bar 337 is hinged with pedestal 331, and the top of one-level follower lever 337 is hinged with the bottom of two grades of follower levers 339, two grades from
The top of lever 339 is hinged with battery hoistable platform 332.The operation principle of battery elevating mechanism and pallet lift mechanism principle phase
Together, simply single-stage shear constitution replaced with into twin-stage cutting mechanism, to increase height adjustment range, adapts to different automobile types and battery
The height dimension change of model.
Referring to Fig. 8, the battery solution lock set 333 in the present embodiment includes being symmetricly set in the both sides of battery hoistable platform 332
Two unlocking mechanisms；The unlocking mechanism includes unblock lifting motor 3331, unlocking head installing plate 3332 and two unlocking heads
3333.The output end of unblock lifting motor 3331 is connected with the input of a reductor, and the output end of reductor connects one
The ball-screw 3334 being vertically arranged, ball-screw 3334 is fixed on battery hoistable platform 332.Unlocking head installing plate 3332
Middle part is fixedly connected with the feed screw nut on ball-screw 3334, and two unlocking heads 3333 are respectively arranged in unlocking head installing plate
3332 two ends.Unlocking head installing plate 3332 could be arranged to V-shape flat board or yi word pattern flat board, when unlocking head installing plate
3332 be V-shape flat board when, be fixedly connected with feed screw nut at its turning point.The operation principle of unlocking mechanism is：Unblock lifting
Motor 3331 drives reductor to rotate, and then drives ball-screw 3334 to rotate, and feed screw nut upwardly or downwardly slides, and causes
Unlocking head installing plate 3332 is moved up and down, so as to the position for changing the height of the unlocking head 3333 positioned at two ends to adapt to battery
Put, be that battery unblock or locking are prepared.
Referring to Fig. 9, front-wheel pedestal 110 is the main carrying support body of electric automobile front-wheel, be also front-wheel centering body 130,
The installation pedestal of front-wheel elevating mechanism 150.It is made up of front-wheel frame 111, front-wheel substrate 112 and gathering sill 113.Wherein front turbine
Frame 111 and gathering sill 113 are welded by the rectangle steel and steel plate of different size, when gathering sill 113 plays electric automobile and rolls away from
Guide effect.It is provided with front-wheel substrate 112 for lacking that front-wheel centering body 130, front-wheel elevating mechanism 150 are installed
Mouthful, voussoir 114 is mounted between gathering sill 113 and breach and between breach and transition bench, the front-wheel of electric automobile is needed
Sail between two voussoirs 114, positioning before and after carrying out.Trailing wheel pedestal 120 is oppositely arranged with front-wheel pedestal 110, its structure base
This is identical.
Referring to Figure 10 to Figure 12, front-wheel centering body 130 is by centering motor 131, reductor 132, shaft coupling 133 and two
Ball-screw component is constituted.Centering motor 131 is connected with the input of reductor 132, two output ends difference of reductor 132
It is connected with a ball-screw component by a shaft coupling 133.Ball-screw component includes being arranged on leading screw pedestal 135
Ball-screw 134, is provided with a screw slider 136 on ball-screw 134, the glide direction of screw slider 136 is perpendicular to electricity
The direct of travel of electrical automobile.Castor 137 is installed, the top of screw slider 136 is provided with push rod 138, pushes away on screw slider 136
Roller 139 is also equipped with bar 138.
Its operation principle is：Centering motor 131 drives reductor 132 to rotate, and drives ball-screw 134 to rotate, and then band
Dynamic screw slider 136 is moved horizontally, and castor 137 supports screw slider movement, causes the pushing rolling wheels 139 of push rod 138 to roll, electronic
The front-wheel of automobile transverse shifting on roll wheel assembly, completes the function of electric automobile or so centering.
Referring to Figure 13 and Figure 14, front-wheel elevating mechanism 150 includes front-wheel elevation base plate 151 and lifts base installed in front-wheel
Front-wheel lifting motor 152, reductor 153 on plate 151,154, two ball-screw components of shaft coupling and two scissors lifts
Component.Front-wheel lifting motor 152 is connected with the input of reductor 153, and two output ends of reductor 153 pass through respectively one
Shaft coupling 154 is connected with a ball-screw component.Ball wire in the structure and front-wheel centering body 130 of ball-screw component
Thick stick modular construction is similar.Scissors lift component includes the active of front-wheel hoistable platform 155 and interconnection for scissors shape
Bar 156 and follower lever 157.The one end of follower lever 157 is hinged with substrate 151, the other end and the hoistable platform 155 1 of follower lever 157
End is hinged.The one end of driving lever 156 arranges a roller tactile with the bottom connection of front-wheel hoistable platform 155, driving lever 156 it is another
End is hinged with the screw slider of ball-screw component.In front-wheel elevating mechanism 150, the top difference of two hoistable platforms 155
Roll wheel assembly 158 is installed, is used when carrying out left and right centering for front-wheel centering body 130.
Its operation principle is：Front-wheel lifting motor 152 drives reductor 153 to rotate, and drives ball screw turns, leading screw to slide
Block outwardly or inwardly slides, and causes driving lever 156 to rotate, and driving lever 156 carries out shearing fortune with follower lever 157 around its tie point
It is dynamic, drive hoistable platform 155 steadily to raise or decline, complete being raised and lowered for electric automobile front-wheel.
The structure of left vehicle body elevating mechanism 160 and right vehicle body elevating mechanism 170 is similar to front-wheel elevating mechanism 150,
Except for the difference that, in left vehicle body elevating mechanism 160 and right vehicle body elevating mechanism 170, the top of two hoistable platforms installs one
Horizontally disposed vehicle body supporting plate, for supporting electric automobile chassis, completes being raised and lowered for left and right vehicle body.
The chassis type provided based on the present invention is changed the method for electrically that changes of electric machine people and is mainly included the following steps that：
1) electric automobile sails parking platform into, and parking platform adjusts the attitude of electric automobile, completes electric automobile positioning；
2) after pallet lift platform declines, pallet body is moved to parking platform side along track；
3) battery taking and placing mechanism is moved to along track and changes electric chamber lower section, and battery hoistable platform is lifted to electric automobile chassis；
4) battery solution lock set carries out battery unblock；
5) after battery hoistable platform declines, the battery taking and placing mechanism for being loaded with power shortage battery is moved to the another of parking platform along track
Side；
6) it is full electricity battery by the power shortage battery altering in battery taking and placing mechanism；
7) the battery taking and placing mechanism for being loaded with full battery is moved to along track and changes electric chamber lower section, after battery hoistable platform rises
Full battery is lifted in the battery compartment of electric automobile chassis；
8) battery solution lock set carries out battery locking；
9) after battery hoistable platform declines, battery taking and placing mechanism is moved to initial position along track；
10) pallet body is moved to along track and changes electric chamber lower section, and pallet lift platform raising is to initial position；
11) electric automobile rolls parking platform away from, completes battery altering.
With regard to step 1) in carry out comprising the following steps that for electric automobile positioning：
1.1) front-wheel jacking：Start the vehicle body elevating mechanism of front-wheel pedestal, before the roll wheel assembly of front-wheel pedestal is lifted to
Between latter two voussoir；
1.2) electric automobile enters position：Electric automobile is sailed into by trailing wheel pedestal, and the front-wheel of electric automobile crosses successively trailing wheel base
After gathering sill, roll wheel assembly and the transition bench of seat, it is parked on the roll wheel assembly of front-wheel pedestal, now the trailing wheel of electric automobile is parked in
On the roll wheel assembly of trailing wheel pedestal；
1.3) front-wheel centering positioning：Start the centering body of front-wheel pedestal, make electric automobile front-wheel horizontal on roll wheel assembly
To rolling, the center ofthe positioning of front-wheel is completed；
Trailing wheel centering is positioned：Start the centering body of trailing wheel pedestal, electric automobile trailing wheel is laterally rolled on roll wheel assembly
It is dynamic, complete the center ofthe positioning of trailing wheel；
1.4) front-wheel declines：Start the elevating mechanism of front-wheel pedestal, the roll wheel assembly for making front-wheel pedestal declines, electric automobile
Drop down onto under front-wheel between two voussoirs；
1.5) vehicle body jacking：Start the elevating mechanism on the outside of two transition bench, by vehicle body jacking to preset height, complete electricity
Electrical automobile is positioned.
Claims (10)
1. a kind of chassis type changes electric machine people, it is characterised in that：Including parking platform, switch board and change electric installation；The switch board
Respectively with parking platform and change electric installation and be connected；
The parking platform includes front-wheel pedestal and the trailing wheel pedestal being oppositely arranged, and the two ends of the front-wheel pedestal respectively pass through a mistake
Cross platform to be connected with the two ends of trailing wheel pedestal；Front-wheel pedestal, trailing wheel pedestal and two transition bench surround one and change electric chamber jointly；
The electric installation that changes is located on the track changed below electric chamber, the traveling for extending perpendicularly to electric automobile of the track
Direction；
It is described change electric installation include can in orbit slidably battery taking and placing mechanism；The battery taking and placing mechanism includes being located at
The pedestal of bottom and the battery hoistable platform positioned at top, on the battery hoistable platform battery solution lock set is provided with.
2. chassis type according to claim 1 changes electric machine people, it is characterised in that：The battery taking and placing mechanism also includes position
Battery lifting motor and two battery elevating mechanisms for being located at pedestal two ends in the middle part of pedestal；
The battery lifting motor is connected with the input of a reductor, and two output ends of reductor respectively connect a level
The ball-screw of setting；
The battery elevating mechanism includes the one-level driving lever that two interconnections are scissors shape, one-level follower lever and two friendships
Fork is connected as two grades of driving levers, two grades of follower levers of scissors shape；Silk on the bottom of the one-level driving lever and ball-screw
Thick stick nut is hinged, and the top of one-level driving lever is hinged with the bottom of two grades of driving levers；The bottom of the one-level follower lever with it is described
Pedestal is hinged, and the top of one-level follower lever is hinged with the bottom of two grades of follower levers, the top of two grades of follower levers and the battery liter
Drop platform is hinged.
3. chassis type according to claim 2 changes electric machine people, it is characterised in that：The battery solution lock set includes symmetrical
It is arranged at two unlocking mechanisms of the battery hoistable platform both sides；
The unlocking mechanism includes unblock lifting motor, unlocking head installing plate and two unlocking heads；The unblock lifting motor
Output end is connected with the input of a reductor, and the output end of reductor connects a ball-screw being vertically arranged, described
Ball-screw is fixed on battery hoistable platform；The middle part of the unlocking head installing plate is fixed with the feed screw nut on ball-screw
Connection, two unlocking heads are respectively arranged in the two ends of unlocking head installing plate.
4. chassis type according to claim 1 changes electric machine people, it is characterised in that：On the front-wheel pedestal and trailing wheel pedestal
It is each provided with two gathering sills corresponding with transition bench；Each gathering sill is mounted on a roller with the junction of transition bench
Component, the direct of travel of the rotating direction of roll wheel assembly perpendicular to electric automobile；
On front-wheel pedestal, two roll wheel assemblies correspond to respectively two front-wheels of electric automobile；Install between two roll wheel assemblies
Centering body；The lower section of two roll wheel assemblies is installed by vehicle body elevating mechanism；
On trailing wheel pedestal, two roll wheel assemblies correspond to respectively two trailing wheels of electric automobile；Install between two roll wheel assemblies
Centering body；
The outside of two transition bench is respectively installed by one vehicle body elevating mechanism.
5. chassis type according to claim 4 changes electric machine people, it is characterised in that：The centering body includes centering electricity
Machine, one enter it is double go out reductor and two ball-screw components；The centering motor enters pair input for going out reductor and is connected with one,
One enters pair two output ends for going out reductor is connected respectively by a shaft coupling with a ball-screw component；Ball-screw group
Part includes the ball-screw being arranged on leading screw pedestal, and a screw slider, the slip of screw slider are provided with ball-screw
Direct of travel of the direction perpendicular to electric automobile；Castor is installed on screw slider, push rod is installed at the top of screw slider.
6. chassis type according to claim 5 changes electric machine people, it is characterised in that：The vehicle body elevating mechanism includes substrate
And the vehicle body lifting motor on substrate, one enter it is double go out reductor, two ball-screw components and two scissor liters
Come down to a lower group part；The vehicle body lifting motor enters pair input for going out reductor and is connected with one, and one enters pair two outputs for going out reductor
End is connected respectively by a shaft coupling with a ball-screw component；Ball-screw component includes being arranged on leading screw pedestal
Ball-screw, is provided with a screw slider on ball-screw, the traveling of the glide direction of screw slider perpendicular to electric automobile
Direction；Castor is installed on screw slider；The scissors lift component includes vehicle body hoistable platform and interconnection to cut
The driving lever and follower lever of knife-edge shape；Follower lever one end is hinged with substrate, the other end and vehicle body hoistable platform one end of follower lever
It is hinged；Driving lever one end arranges a roller touched with vehicle body hoistable platform bottom connection, and the other end and the leading screw of driving lever are slided
Block is hinged；
On front-wheel pedestal, the top of two vehicle body hoistable platforms is respectively mounted roll wheel assembly；
On the outside of transition bench, a horizontally disposed vehicle body supporting plate is installed on the top of two vehicle body hoistable platforms.
7. electric machine people is changed according to arbitrary described chassis type in claim 1-6, it is characterised in that：The electric installation that changes also is wrapped
Include can in orbit slidably pallet body；The pallet body includes being located at the tray susceptor of bottom and positioned at top
Pallet lift platform；The size of the pallet lift platform matches with the size that electric chamber is changed on parking platform；
Pallet lift motor is provided with the middle part of the tray susceptor, the two ends of tray susceptor respectively arrange a pallet lift
Structure；
The pallet lift motor is connected with the input of a reductor, and two output ends of reductor respectively connect a level
The ball-screw of setting；
The pallet lift mechanism includes two interconnections for the driving lever and follower lever of scissors shape；The bottom of driving lever with
Feed screw nut on ball-screw is hinged, and the top of driving lever arranges a roller contacted with pallet lift mesa base；
The bottom of follower lever is hinged with tray susceptor, and top and the pallet lift platform of follower lever are hinged.
8. chassis type according to claim 7 changes electric machine people, it is characterised in that：On electric automobile direct of travel, institute
The front and back for stating parking platform respectively arranges a driving slope, and the driving slope is 5-7.5 ° with the angle of horizontal plane.
It is 9. a kind of to change method for electrically based on what chassis type changed electric machine people, it is characterised in that：Comprise the following steps：
1) electric automobile sails parking platform into, and parking platform adjusts the attitude of electric automobile, completes electric automobile positioning；
2) after pallet lift platform declines, pallet body is moved to parking platform side along track；
3) battery taking and placing mechanism is moved to along track and changes electric chamber lower section, and battery hoistable platform is lifted to electric automobile chassis；
4) battery solution lock set carries out battery unblock；
5) after battery hoistable platform declines, the battery taking and placing mechanism for being loaded with power shortage battery is moved to the another of parking platform along track
Side；
6) it is full electricity battery by the power shortage battery altering in battery taking and placing mechanism；
7) the battery taking and placing mechanism for being loaded with full battery is moved to along track and changes electric chamber lower section, and battery hoistable platform will be full after rising
Battery is lifted in the battery compartment of electric automobile chassis；
8) battery solution lock set carries out battery locking；
9) after battery hoistable platform declines, battery taking and placing mechanism is moved to initial position along track；
10) pallet body is moved to along track and changes electric chamber lower section, and pallet lift platform raising is to initial position；
11) electric automobile rolls parking platform away from, completes battery altering.
It is 10. according to claim 9 to change method for electrically based on what chassis type changed electric machine people, it is characterised in that：Step 1) tool
Body is comprised the following steps：
1.1) front-wheel jacking：Start the vehicle body elevating mechanism of front-wheel pedestal, the roll wheel assembly of front-wheel pedestal is lifted into before and after two
Between individual voussoir；
1.2) electric automobile enters position：Electric automobile is sailed into by trailing wheel pedestal, and the front-wheel of electric automobile crosses successively trailing wheel pedestal
After gathering sill, roll wheel assembly and transition bench, it is parked on the roll wheel assembly of front-wheel pedestal, now the trailing wheel of electric automobile is parked in trailing wheel
On the roll wheel assembly of pedestal；
1.3) front-wheel centering positioning：Start the centering body of front-wheel pedestal, electric automobile front-wheel is laterally rolled on roll wheel assembly
It is dynamic, complete the center ofthe positioning of front-wheel；
Trailing wheel centering is positioned：Start the centering body of trailing wheel pedestal, electric automobile trailing wheel is laterally rolled on roll wheel assembly, it is complete
Center ofthe into trailing wheel is positioned；
1.4) front-wheel declines：Start the vehicle body elevating mechanism of front-wheel pedestal, the roll wheel assembly for making front-wheel pedestal declines, electric automobile
Drop down onto under front-wheel between two voussoirs；
1.5) vehicle body jacking：Start the vehicle body elevating mechanism on the outside of two transition bench, by vehicle body jacking to preset height, complete electricity
Electrical automobile is positioned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611247501.5A CN106627514A (en) | 2016-12-29 | 2016-12-29 | Chassis type battery replacing robot and battery replacing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611247501.5A CN106627514A (en) | 2016-12-29 | 2016-12-29 | Chassis type battery replacing robot and battery replacing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106627514A true CN106627514A (en) | 2017-05-10 |
Family
ID=58837041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611247501.5A Pending CN106627514A (en) | 2016-12-29 | 2016-12-29 | Chassis type battery replacing robot and battery replacing method |
Country Status (1)
| Country | Link |
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| CN (1) | CN106627514A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107380137A (en) * | 2017-07-31 | 2017-11-24 | 杭州世楷自动化设备有限公司 | A kind of electric automobile changes the locating platform of battery |
| CN109229077A (en) * | 2018-12-03 | 2019-01-18 | 黄河科技学院 | The automatic change station of accumulator of electric car |
| CN109501770A (en) * | 2018-08-22 | 2019-03-22 | 蔚来汽车有限公司 | Wheel positioning device and electrical changing station |
| CN109532778A (en) * | 2018-09-04 | 2019-03-29 | 蔚来汽车有限公司 | Replacing vehicle level platform |
| CN110001604A (en) * | 2019-05-23 | 2019-07-12 | 河北工业大学 | A kind of pure electric automobile changes electric double acting end effector |
| CN110001599A (en) * | 2018-12-06 | 2019-07-12 | 蔚来汽车有限公司 | Change level platform, electricity changing robot and electric charging station |
| CN110293943A (en) * | 2019-06-27 | 2019-10-01 | 博众精工科技股份有限公司 | A kind of lifting type guidance positioning lane |
| CN110329217A (en) * | 2019-06-27 | 2019-10-15 | 博众精工科技股份有限公司 | A kind of circumferentially formula multilane electrical changing station |
| CN110329214A (en) * | 2019-06-27 | 2019-10-15 | 博众精工科技股份有限公司 | A kind of wheel alignment lifting device and electrical changing station |
| CN110386021A (en) * | 2019-06-27 | 2019-10-29 | 博众精工科技股份有限公司 | A kind of localization method guiding positioning lane based on lifting type |
| CN111688535A (en) * | 2020-07-10 | 2020-09-22 | 博众精工科技股份有限公司 | Vehicle battery replacing equipment and battery replacing method |
| CN111791746A (en) * | 2020-06-30 | 2020-10-20 | 中国第一汽车股份有限公司 | Flexible battery replacement system and method for vehicle, electronic device and storage medium |
| CN112208387A (en) * | 2020-10-13 | 2021-01-12 | 浙江康迪智能换电科技有限公司 | Battery replacing station for electric automobile |
| CN112455279A (en) * | 2020-11-25 | 2021-03-09 | 福州市长乐区古槐星际商务咨询服务部 | Battery replacing system for electric automobile in campus or park |
| CN113401838A (en) * | 2021-05-28 | 2021-09-17 | 蓝谷智慧(北京)能源科技有限公司 | Leveling equipment for electric automobile, battery replacement method of leveling equipment and battery replacement station |
| CN113665425A (en) * | 2021-10-25 | 2021-11-19 | 深圳市浩霸电池有限公司 | Automatic unlocking and replacing device for chassis battery of passenger vehicle |
| CN114379350A (en) * | 2021-12-30 | 2022-04-22 | 浙江康迪智能换电科技有限公司 | Battery compartment lifting device for electric automobile |
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| CN107380137A (en) * | 2017-07-31 | 2017-11-24 | 杭州世楷自动化设备有限公司 | A kind of electric automobile changes the locating platform of battery |
| CN109501770A (en) * | 2018-08-22 | 2019-03-22 | 蔚来汽车有限公司 | Wheel positioning device and electrical changing station |
| CN109532778A (en) * | 2018-09-04 | 2019-03-29 | 蔚来汽车有限公司 | Replacing vehicle level platform |
| CN109229077A (en) * | 2018-12-03 | 2019-01-18 | 黄河科技学院 | The automatic change station of accumulator of electric car |
| CN109229077B (en) * | 2018-12-03 | 2024-04-19 | 黄河科技学院 | Automatic replacement station for storage battery of electric automobile |
| CN110001599A (en) * | 2018-12-06 | 2019-07-12 | 蔚来汽车有限公司 | Change level platform, electricity changing robot and electric charging station |
| CN110001604A (en) * | 2019-05-23 | 2019-07-12 | 河北工业大学 | A kind of pure electric automobile changes electric double acting end effector |
| CN110001604B (en) * | 2019-05-23 | 2023-11-07 | 河北工业大学 | Electric vehicle battery-changing double-acting end effector |
| CN110293943A (en) * | 2019-06-27 | 2019-10-01 | 博众精工科技股份有限公司 | A kind of lifting type guidance positioning lane |
| CN110386021A (en) * | 2019-06-27 | 2019-10-29 | 博众精工科技股份有限公司 | A kind of localization method guiding positioning lane based on lifting type |
| CN110329214A (en) * | 2019-06-27 | 2019-10-15 | 博众精工科技股份有限公司 | A kind of wheel alignment lifting device and electrical changing station |
| CN110329217A (en) * | 2019-06-27 | 2019-10-15 | 博众精工科技股份有限公司 | A kind of circumferentially formula multilane electrical changing station |
| CN111791746A (en) * | 2020-06-30 | 2020-10-20 | 中国第一汽车股份有限公司 | Flexible battery replacement system and method for vehicle, electronic device and storage medium |
| CN111688535A (en) * | 2020-07-10 | 2020-09-22 | 博众精工科技股份有限公司 | Vehicle battery replacing equipment and battery replacing method |
| CN111688535B (en) * | 2020-07-10 | 2022-04-01 | 博众精工科技股份有限公司 | Vehicle battery replacing equipment and battery replacing method |
| CN112208387B (en) * | 2020-10-13 | 2023-06-30 | 浙江康迪智能换电科技有限公司 | Electric automobile battery replacement station |
| CN112208387A (en) * | 2020-10-13 | 2021-01-12 | 浙江康迪智能换电科技有限公司 | Battery replacing station for electric automobile |
| CN112455279A (en) * | 2020-11-25 | 2021-03-09 | 福州市长乐区古槐星际商务咨询服务部 | Battery replacing system for electric automobile in campus or park |
| CN113401838A (en) * | 2021-05-28 | 2021-09-17 | 蓝谷智慧(北京)能源科技有限公司 | Leveling equipment for electric automobile, battery replacement method of leveling equipment and battery replacement station |
| CN113665425A (en) * | 2021-10-25 | 2021-11-19 | 深圳市浩霸电池有限公司 | Automatic unlocking and replacing device for chassis battery of passenger vehicle |
| CN114379350A (en) * | 2021-12-30 | 2022-04-22 | 浙江康迪智能换电科技有限公司 | Battery compartment lifting device for electric automobile |
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Application publication date: 20170510 |
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