CN107225955A - The control method of battery altering robot, battery change system and battery altering robot - Google Patents
The control method of battery altering robot, battery change system and battery altering robot Download PDFInfo
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- CN107225955A CN107225955A CN201710419024.4A CN201710419024A CN107225955A CN 107225955 A CN107225955 A CN 107225955A CN 201710419024 A CN201710419024 A CN 201710419024A CN 107225955 A CN107225955 A CN 107225955A
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- battery
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- snap
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- 238000000034 method Methods 0.000 title claims description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 250
- 238000003780 insertion Methods 0.000 claims abstract description 55
- 230000037431 insertion Effects 0.000 claims abstract description 55
- 230000005611 electricity Effects 0.000 claims description 31
- 238000000605 extraction Methods 0.000 claims description 15
- 239000000284 extract Substances 0.000 claims description 10
- 230000033228 biological regulation Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 39
- 230000003028 elevating effect Effects 0.000 description 27
- 230000005540 biological transmission Effects 0.000 description 19
- 210000000078 claw Anatomy 0.000 description 16
- 238000012360 testing method Methods 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 240000002853 Nelumbo nucifera Species 0.000 description 5
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- 238000004080 punching Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- 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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
- H01M50/204—Racks, modules or packs for multiple batteries or multiple cells
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
- H01M50/249—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
- H01M50/262—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders with fastening means, e.g. locks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
- B60K2001/0438—Arrangement under the floor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0455—Removal or replacement of the energy storages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0455—Removal or replacement of the energy storages
- B60K2001/0461—Removal or replacement of the energy storages from the side
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0455—Removal or replacement of the energy storages
- B60K2001/0494—Removal or replacement of the energy storages with arrangements for sliding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
- B60Y2200/143—Busses
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M2220/00—Batteries for particular applications
- H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Power Engineering (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
Even if providing a kind of setting by being acted the insertion force in battery insertion battery container portion and locking the locking mechanism of battery, its battery altering robot damaged can be also prevented.When entering to be about to insert action that battery is inserted to battery container portion, carrying out locking mechanism locking battery, and before the connecting moves at least any one party for being connected battery side-connector with resettlement section side-connector starts, control unit controls motor by the first control, in first controls, when the load of motor exceedes defined first reference value, stop motor, when connecting moves starts, control unit controls motor by the second control, in second controls, even if the load of motor exceedes second a reference value smaller than first reference value, also in the state of the load of motor is more than the second a reference value, make motor driving until have passed through defined fiducial time, and when in the load of motor more than the second a reference value in the state of have passed through fiducial time when, stop motor.
Description
Present patent application is that international application no is PCT/JP2014/074531, and international filing date is September 17 in 2014
Day, into the Application No. 201480051709.2 of National Phase in China, entitled " battery altering robot, battery altering system
The divisional application of the application for a patent for invention of the control method of system and battery altering robot ".
Technical field
The present invention relates to for changing the battery altering robot for the battery for being installed in vehicle and with the battery altering
The battery change system of robot.Also, the present invention relates to the control method of the battery altering robot.
Background technology
In the past, this patent applicant proposed with for change be installed in bus battery battery altering robot
Battery change system (for example, referring to patent document 1~3).In the battery change system that patent document 1~3 is recorded, house
The battery container portion of battery is installed on bus.The connector for battery to be electrically connected with bus is installed in battery container portion.
The connector being connected with the connector in battery container portion is installed at the back side of battery.
Also, patent document 1~3 record battery change system in, battery altering robot have carry out battery from
The battery plug mechanism of the extraction in battery container portion and battery towards the insertion in battery container portion.Battery plug mechanism has：
Mounting batteries mechanism, it has the mounting batteries portion that battery is installed in the extraction of battery and when inserting；And battery movement
Mechanism, it has in the extraction of battery and merged when inserting with Battery Card makes battery mobile battery card in mounting batteries portion
Conjunction portion.
Also, patent document 1~3 record battery change system in, mounting batteries mechanism except mounting batteries portion it
Outside, also with installing department travel mechanism, the installing department travel mechanism make mounting batteries portion towards close to bus direction and
Move in direction away from bus.Battery travel mechanism is in addition to battery snap-in portion, also with holding section travel mechanism, the card
He Bu travel mechanisms make battery snap-in portion be moved towards the direction close to bus and the direction away from bus.Battery snap-in portion has
Have：With being installed on the engaging claw that the handle portion of battery engages；The cylinder for moving up and down engaging claw；And cylinder is installed
Base portion.
In the battery change system that patent document 1~3 is recorded, when carrying out extracting battery from bus, first, in battery
Installing department is moved towards the direction close to bus, and battery snap-in portion engages claw towards after the movement of the direction of bus
Decline and engage with the handle portion of battery.Then, battery snap-in portion is directed away from the direction movement of bus.Also, work as Battery Card
Conjunction portion moves ormal weight, mounting batteries when mounting batteries portion, mounting batteries portion and battery snap-in portion synchronously be directed away from bus
Direction movement.Also, when carrying out inserting battery to bus, first, it is equiped with mounting batteries portion and the battery snap-in of battery
Move in the synchronous direction towards close to bus in portion.Then, the battery snap-in portion engaged with the handle portion of battery is towards close to bus
Direction movement, carry out to bus insert battery.
Citation
Patent document
Patent document 1：International Publication No. 2012/105528
Patent document 2：International Publication No. 2012/105529
Patent document 3：International Publication No. 2012/105530
The content of the invention
Invent problem to be solved
In the battery change system that patent document 1~3 is recorded, for the battery by battery container portion is contained in reliably
Battery container portion is fixed on, the locking mechanism of battery is preferably arranged at battery container portion.Therefore, it have studied by Battery Card
The insertion force that battery is inserted to battery container portion is acted and lock the mechanical locking mechanism of battery by conjunction portion is arranged at battery
The scheme of resettlement section.Also, in the battery change system that patent document 1~3 is recorded, it is arranged at connector and the setting of battery
Connector in battery container portion is connected the insertion force that battery is inserted to battery container portion by battery snap-in portion.
In the battery change system that patent document 1~3 is recorded, in the insertion force by battery is inserted by battery snap-in portion
Act and lock battery mechanical locking mechanism be arranged at battery container portion in the case of, for example, passing through locking mechanism
, can be to lock if battery occurs position skew relative to locking mechanism and causes locking mechanism to be interfered with battery when locking battery
Determine mechanism or battery snap-in portion etc. and apply excess load, there is battery container portion, battery and battery altering droid damage
Worry.Also, in the battery change system that patent document 1~3 is recorded, it is arranged at the connector of battery and is arranged at battery receipts
The insertion force that the connector in appearance portion is inserted battery to battery container portion by battery snap-in portion is connected, thus by connector that
During this connection, if connector occurs position skew and interfered each other, it can apply super negative to connector or battery snap-in portion etc.
Lotus, the worry that there is battery container portion, battery and battery altering droid damage.
Therefore, the first problem of the invention is to provide a kind of battery altering robot, battery change system and battery more
The control method of robot is changed, it acts even in the insertion force by the way that battery is inserted to battery container portion and locks battery
Mechanical locking mechanism is arranged at battery container portion, and by insertion force from battery to battery container portion that insert by battery side
Connector be connected with the connector of battery container portion side in the case of, can also prevent battery container portion, battery and battery
Change the damage of robot.
Therefore, the second problem of the invention is to provide a kind of battery altering robot, battery change system and battery more
The control method of robot is changed, it by the insertion force for inserting battery to battery container portion even in will act and lock battery
Mechanical locking mechanism be arranged at battery container portion, and by insertion force from battery to battery container portion that insert by battery
In the case that the connector of side is connected with the connector of battery container portion side, battery container portion, battery and electricity can be also prevented
The damage of robot is changed in pond, and battery can be locked by locking mechanism, by the connector of battery side and the company of resettlement section side
Connect device connection.
Scheme for solving problem
In order to solve above-mentioned first problem, battery altering robot of the invention be it is a kind of be used to change be installed in vehicle
The battery altering robot of battery, including：Battery plug mechanism, it is from being installed on vehicle and housed the battery container portion of battery
Extract battery and insert battery to battery container portion；And control unit, it controls battery plug mechanism, and battery, which has, to be used to incite somebody to action
The battery side-connector that vehicle is electrically connected with battery, battery container portion has：Locking mechanism, it locks the battery being received；With
And resettlement section side-connector, it is connected with battery side-connector, and battery plug mechanism has：Mounting batteries portion, it installs battery；
Battery snap-in portion, it merges with Battery Card moves battery；And motor, it is used to drive battery snap-in portion, and locking mechanism is
The insertion force that battery is inserted to battery container portion is acted by battery snap-in portion and the mechanical locking mechanism of battery is locked,
The insertion force that battery is inserted to battery container portion is connected by battery side-connector with resettlement section side-connector by battery snap-in portion,
When entering to be about to insert action that battery is inserted to battery container portion, control unit controls motor by position control, and
When carrying out insert action, if during progress locking mechanism locking battery and battery side-connector are connected with resettlement section side-connector
The connecting moves of at least any one party start, then control unit is also controlled in addition to the control of position by over-load control
Motor, in the over-load control, even if the load of motor exceedes defined a reference value, also exceedes benchmark in the load of motor
In the state of value, make motor driving until have passed through defined fiducial time, and when the load in motor exceedes a reference value
When have passed through fiducial time under state, stop motor.
Also, in order to solve above-mentioned first problem, in the control method of battery altering robot of the invention, battery altering
Robot has a battery plug mechanism, and the battery plug mechanism is pulled out from being installed on vehicle and housed the battery container portion of battery
Go out battery and insert battery to battery container portion, battery has the battery side-connector for being used for electrically connecting vehicle with battery,
Battery container portion has：Locking mechanism, it locks the battery being received；And resettlement section side-connector, it is connected with battery side
Device is connected, and battery plug mechanism has：Mounting batteries portion, it installs battery；Battery snap-in portion, it merges with Battery Card makes battery
It is mobile；And motor, it is used to driving battery snap-in portion, and locking mechanism is to battery container portion by battery snap-in portion by battery
The insertion force of insertion acts and locks the mechanical locking mechanism of battery, and battery side-connector passes through with resettlement section side-connector
Battery snap-in portion connects the insertion force that battery is inserted to battery container portion, is entering to be about to battery to inserting that battery container portion is inserted
When entering to act, motor is controlled by position control, and when carrying out insert action, if progress locking mechanism locking battery,
And battery side-connector be connected with resettlement section side-connector in the connecting moves of at least any one party start, then except position
Outside control, motor is also controlled by over-load control, in the over-load control, even if the load of motor exceedes regulation
A reference value, also motor load exceed a reference value in the state of, make motor driving until have passed through defined fiducial time,
And when have passed through fiducial time in the state of exceeding a reference value in the load of motor, stop motor.
In order to solve above-mentioned first problem, in the battery altering robot of the present invention, received to battery entering to be about to battery
During the insert action of appearance portion insertion, if carrying out locking mechanism locking battery and battery side-connector and resettlement section side-connector
The connecting moves of at least any one party in connection starts, then control unit also passes through over-load control in addition to the control of position
To control motor, in the over-load control, even if the load of motor exceedes defined a reference value, also surpass in the load of motor
Crossing in the state of a reference value, making motor driving until have passed through defined fiducial time, and when the load in motor exceedes base
When have passed through fiducial time in the state of quasi- value, stop motor.Also, the controlling party of the battery altering robot in the present invention
In method, when entering to be about to insert action that battery is inserted to battery container portion, if carrying out locking mechanism locking battery and battery
The connecting moves of at least any one party during side-connector is connected with resettlement section side-connector starts, then except position controls it
Outside, motor is also controlled by over-load control, in the over-load control, even if the load of motor exceedes defined benchmark
Value, also in the state of the load of motor exceedes a reference value, makes motor driving until have passed through defined fiducial time, and work as
When the load of motor in the state of a reference value more than have passed through fiducial time, stop motor.
In order to solve above-mentioned first problem, in the present invention, due in the over-load control after connecting moves starts, when
When have passed through defined fiducial time in the state of a reference value as defined in exceeding in the load of motor, stop motor, therefore
Battery is offset relative to locking mechanism generation position when locking battery by locking mechanism causes locking mechanism to be interfered with battery, will
When the excess load that battery altering robot etc. can produce the degree of damage puts on motor, or by battery side-connector with receive
Connector occurs position skew and causes interference, battery altering robot etc. can be produced into damage each other during the side-connector connection of appearance portion
When the excess load of the degree of wound puts on motor, motor can be stopped.Therefore, in the present invention, even in will be by by electricity
The insertion force that pond is inserted to battery container portion, which acts and locks the mechanical locking mechanism of battery, is arranged at battery container portion, and
The connector of battery side is connected with the connector of battery container portion side by the insertion force for inserting battery to battery container portion
In the case of, it can also prevent the damage in battery container portion, battery and battery altering robot.
Also, in order to solve above-mentioned first problem, in the present invention, due in over-load control, even if motor is negative
Lotus exceed a reference value, also motor load exceed a reference value in the state of, make motor driving until have passed through fiducial time, because
This by locking mechanism when locking battery or when battery side-connector is connected with resettlement section side-connector, even if by electricity
The excess load that pond replacing robot etc. will not produce the short time of the degree of damage puts on motor, can also pass through locking mechanism
Lock battery, be connected battery side-connector with resettlement section side-connector.I.e., in the present invention, can prevent battery container portion,
The damage of battery and battery altering robot, and can be by locking mechanism locking battery, by battery side-connector with housing
Portion's side-connector connection.
Also, in order to solve above-mentioned first problem, in the present invention, when action is attached, also motor is entered
Line position puts control, therefore, it is possible to detect locking and battery side-connector of the locking mechanism to battery according to the rotation amount of motor
Whether the connection with resettlement section side-connector reliably terminates.
In order to solve above-mentioned first problem, in the present invention, over-load control is, for example, current control, in the current control
In, even if the current value of motor exceedes the reference current value as a reference value, also exceed reference current value in the current value of motor
In the state of, make motor driving until have passed through fiducial time, and when the current value in motor exceedes the shape of reference current value
When have passed through fiducial time under state, stop motor.
Also, in order to solve above-mentioned first problem, in the present invention, for example, when battery snap-in portion is moved to locking mechanism
The locking starting position and battery side-connector for starting locking battery connect with the connector that resettlement section side-connector starts to be connected
When connecing at least any one party in starting position, start connecting moves.
In order to solve above-mentioned first problem, in the present invention, it is preferred to which when connecting moves starts, control unit starts measurement and connected
The driving time of the motor after action starts is connect, if being moved to locking of the locking mechanism to battery, Yi Ji electricity in battery snap-in portion
During the connecting moves end position that the connection of pond side-connector and resettlement section side-connector terminates, connecting moves start after horse
The driving time reached have passed through the stipulated time, then control unit makes battery snap-in portion keep out of the way to the extraction direction of battery.It is dynamic in connection
The driving time for making the motor after starting have passed through the stipulated time, but battery snap-in portion is not moved to connecting moves stop bits
In the case of putting, suspect and there occurs locking mechanism and battery interference, battery side-connector and the interference of resettlement section side-connector etc.,
These mechanisms are applied with the situation of excess load.Therefore, if constituting like this, it can eliminate and put on the super of locking mechanism etc.
Load, can prevent the damage in battery container portion, battery and battery altering robot.In addition, after connecting moves starts
When the driving time of motor have passed through the stipulated time, additionally it is possible to stop motor and stop battery snap-in portion, even if but electric
Pond holding section stops, and can not eliminate the excess load for putting on locking mechanism etc., thus exist battery container portion, battery and
The worry of battery altering droid damage.
In order to solve above-mentioned first problem, battery altering robot of the invention can be used in the electricity with battery container portion
Change system in pond.In the battery change system, even in will be acted by the insertion force for inserting battery to battery container portion
And lock the mechanical locking mechanism of battery and be arranged at battery container portion, and by by battery to inserting that battery container portion is inserted
Enter in the case that the connector of battery side is connected by power with the connector of battery container portion side, can also prevent battery container portion,
The damage of battery and battery altering robot.Also, in the battery change system, battery is being locked by locking mechanism
When or when battery side-connector is connected with resettlement section side-connector, even if battery altering robot etc. will not be produced into damage
The excess load of the short time of the degree of wound puts on motor, also can lock battery by locking mechanism or connect battery side
Device is connect to be connected with resettlement section side-connector.Also, in the battery change system, lock of the locking mechanism to battery can be detected
Whether the connection of fixed and battery side-connector and resettlement section side-connector reliably terminates.
In order to solve above-mentioned second problem, battery altering robot of the invention is the battery that vehicle is installed in for changing
Battery altering robot, including：Battery plug mechanism, its from be installed on vehicle and housed battery battery container portion extract
Battery and to battery container portion insert battery；And control unit, it controls battery plug mechanism, and battery, which has, to be used for vehicle
The battery side-connector electrically connected with battery, battery container portion has：Locking mechanism, it is by the battery lock being received；And
Resettlement section side-connector, it is connected with battery side-connector, and battery plug mechanism has：Mounting batteries portion, it installs battery；Electricity
Pond holding section, it merges with Battery Card moves battery；And motor, it is used to drive battery snap-in portion, and locking mechanism is logical
Cross battery snap-in portion to act the insertion force that battery is inserted to battery container portion and lock the mechanical locking mechanism of battery, electricity
The insertion force that battery is inserted to battery container portion is connected by pond side-connector with resettlement section side-connector by battery snap-in portion,
When entering to be about to the insert action that battery is inserted to battery container portion, carrying out locking mechanism locking battery and connecting battery side
Connect at least any one party that device is connected with resettlement section side-connector connecting moves start before, control unit pass through first control control
Motor, in described first controls, when the load of motor exceedes defined first reference value, stops motor, dynamic in connection
Work is when starting, and control unit controls motor by the second control, in described second controls, even if the load of motor exceedes than the
The second small a reference value of one a reference value, also in the state of the load of motor is more than the second a reference value, makes motor driving until warp
Spent defined fiducial time, and when in the load of motor more than the second a reference value in the state of have passed through fiducial time when,
Stop motor.
Also, in order to solve above-mentioned second problem, in the control method of battery altering robot of the invention, battery altering
Robot has a battery plug mechanism, and the battery plug mechanism is pulled out from being installed on vehicle and housed the battery container portion of battery
Go out battery and insert battery to battery container portion, battery has the battery side-connector for being used for electrically connecting vehicle with battery,
Battery container portion has：Locking mechanism, it locks the battery being received；And resettlement section side-connector, it is connected with battery side
Device is connected, and battery plug mechanism has：Mounting batteries portion, it installs battery；Battery snap-in portion, it merges with Battery Card makes battery
It is mobile；And motor, it is used to driving battery snap-in portion, and locking mechanism is to battery container portion by battery snap-in portion by battery
The insertion force of insertion acts and locks the mechanical locking mechanism of battery, and battery side-connector passes through with resettlement section side-connector
Battery snap-in portion connects the insertion force that battery is inserted to battery container portion, is entering to be about to battery to inserting that battery container portion is inserted
When entering to act, in carrying out locking mechanism locking battery and being connected battery side-connector with resettlement section side-connector extremely
Before the connecting moves of few any one party starts, when the load of motor exceedes defined first reference value, stop motor, when even
When connecing action beginning, even if the load of motor exceedes second a reference value smaller than first reference value, also exceed in the load of motor
In the state of second a reference value, make motor driving until have passed through defined fiducial time, and when the load in motor exceedes
When have passed through fiducial time in the state of the second a reference value, stop motor.
In order to solve above-mentioned second problem, in the battery altering robot of the present invention, received to battery entering to be about to battery
During the insert action of appearance portion insertion, carrying out locking mechanism locking battery and be connected battery side-connector with resettlement section side
Before the connecting moves of at least any one party in device connection starts, control unit controls motor by the first control, described the
In one control, when the load of motor exceedes defined first reference value, stop motor, when connecting moves starts, control
Portion controls motor by the second control, in described second controls, even if the load of motor is more than smaller than first reference value
Second a reference value, also in the state of the load of motor is more than the second a reference value, makes motor driving until have passed through defined base
Between punctual, and when in the load of motor more than the second a reference value in the state of have passed through fiducial time when, stop motor.And
And, in order to solve above-mentioned second problem, in the control method of the battery altering robot of the present invention, entering to be about to battery to electricity
During the insert action of pond resettlement section insertion, locking mechanism locking battery is being carried out and by battery side-connector and resettlement section side
Before the connecting moves of at least any one party in connector connection starts, when the load of motor exceedes defined first reference value
When, stop motor, when connecting moves starts, even if the load of motor exceedes second a reference value smaller than first reference value,
Also in the state of the load of motor is more than the second a reference value, motor driving is made until have passed through defined fiducial time, and
When in the load of motor more than the second a reference value in the state of have passed through fiducial time when, stop motor.
In order to solve above-mentioned second problem, in the present invention, due to after connecting moves starts, when the load in motor surpasses
Cross in the state of the second small a reference value of the first reference value before starting than connecting moves when have passed through fiducial time, stop motor
Only, thus by locking mechanism lock battery when battery relative to locking mechanism occur position skew cause locking mechanism with electricity
When pond interference, the excess load for the degree that battery altering robot etc. can be produced to damage put on motor, or by battery side
Connector occurs position skew and interfered, by meetings such as battery altering robots each other when connector is connected with resettlement section side-connector
When the excess load for producing the degree of damage puts on motor, motor can be stopped.
Also, in order to solve above-mentioned second problem, in the present invention, due to when connecting moves starts, even if motor
Load is more than the second a reference value, also in the state of the load of motor is more than the second a reference value, makes motor driving until have passed through
Defined fiducial time, therefore be connected when locking battery by locking mechanism or by battery side-connector with resettlement section side
When device is connected, even if the excess load that battery altering robot etc. will not be produced to the short time of the degree of damage puts on motor,
Also battery can be locked by locking mechanism, be connected battery side-connector with resettlement section side-connector.
Therefore, in order to solve above-mentioned second problem, in the present invention, even in will be by the way that battery be inserted to battery container portion
The insertion force action entered the and mechanical locking mechanism of locking battery is arranged at battery container portion, and by by battery to battery
In the case that the connector of battery side is connected by the insertion force of resettlement section insertion with the connector of battery container portion side, it can also prevent
The only damage in battery container portion, battery and battery altering robot, and battery can be locked by locking mechanism, by battery
Side-connector is connected with resettlement section side-connector.
Also, in order to solve above-mentioned second problem, in the present invention, before connecting moves starts, as long as the load of motor
The first reference value bigger than the second a reference value is not above, just stops motor, therefore, it is possible to increase the acceleration-deceleration of motor.
Therefore, it is possible to shorten the battery for proceeding by the insert action for inserting battery to battery container portion untill connecting moves starts
Traveling time.
In order to solve above-mentioned second problem, in the present invention, for example, the first control is current control, in the current control
In, when the current value of motor exceedes the first reference current value as first reference value, stop motor, the second control is electricity
Flow control, in the current control, even if the current value of motor exceedes the second reference current value as the second a reference value, also exists
In the state of the current value of motor is more than the second reference current value, make motor driving until have passed through fiducial time, and work as
When the current value of motor in the state of the second reference current value more than have passed through fiducial time, stop motor.
Also, in order to solve above-mentioned second problem, in the present invention, for example, when battery snap-in portion is moved to locking mechanism
The locking starting position and battery side-connector for starting locking battery connect with the connector that resettlement section side-connector starts to be connected
When connecing at least any one party in starting position, connecting moves starts.
In order to solve above-mentioned second problem, in the present invention, it is preferred to connecting moves start before motor rotary speed ratio
Connecting moves start after motor rotary speed it is fast.If constituting like this, the battery snap-in before starting due to connecting moves
The translational speed in portion is fast, and the insert action for inserting battery to battery container portion is proceeded by connecting moves therefore, it is possible to shorten
The traveling time of battery untill beginning.If also, constituting like this, the rotation speed of the motor after starting due to connecting moves
Degree is slow, thus when locking battery by locking mechanism battery relative to locking mechanism occur position skew cause locking mechanism with
When battery interference, the excess load for the degree that battery altering robot etc. can be produced to damage put on motor, or by battery side
Connector occurs position skew and interfered, by meetings such as battery altering robots each other when connector is connected with resettlement section side-connector
When the excess load for producing the degree of damage puts on motor, it can stop motor in a short time.Therefore, it is possible to effectively prevent
The only damage in battery container portion, battery and battery altering robot.
In order to solve above-mentioned second problem, in the present invention, it is preferred to which control unit is when connecting moves starts, starts measurement and connect
The driving time of the motor after action starts is connect, locking and battery of the locking mechanism to battery are moved in battery snap-in portion
During the connecting moves end position that the connection of side-connector and resettlement section side-connector terminates, if connecting moves start after horse
The driving time reached have passed through the stipulated time, then battery snap-in portion is kept out of the way to the extraction direction of battery.Start in connecting moves
The driving time of motor afterwards have passed through the stipulated time, but battery snap-in portion is not moved to the feelings of connecting moves end position
Under condition, suspect and there occurs that locking mechanism is interfered or battery side-connector and the interference of resettlement section side-connector etc. with battery, it is right
These structures are applied with the situation of excess load.Therefore, if constituting like this, it can eliminate and put on the super negative of locking mechanism etc.
Lotus, can prevent the damage in battery container portion, battery and battery altering robot.In addition, the horse after connecting moves starts
When the driving time reached have passed through the stipulated time, motor can also stopped and stops battery snap-in portion, even if but battery
Holding section stops, and can not eliminate the excess load for putting on locking mechanism etc., therefore there is battery container portion, battery and electricity
Change the worry of droid damage in pond.
In order to solve above-mentioned second problem, battery altering robot of the invention can be used in the electricity with battery container portion
Change system in pond.In the battery change system, even in will be acted by the insertion force for inserting battery to battery container portion
And lock the mechanical locking mechanism of battery and be arranged at battery container portion, and by by battery to inserting that battery container portion is inserted
Enter in the case that the connector of battery side is connected by power with the connector of battery container portion side, can also prevent battery container portion,
The damage of battery and battery altering robot, and can be by locking mechanism locking battery, by battery side-connector with housing
Portion's side-connector connection.Also, in the battery change system, it can shorten from entering to be about to what battery was inserted to battery container portion
The traveling time of battery of the insert action untill connecting moves starts.
Invention effect
As previously discussed, in order to solve above-mentioned first problem, battery altering robot, battery change system in the present invention
And in the control method of battery altering robot, even in will be acted by the insertion force for inserting battery to battery container portion
And lock the mechanical locking mechanism of battery and be arranged at battery container portion, and by by battery to inserting that battery container portion is inserted
Enter in the case that the connector of battery side is connected by power with the connector of battery container portion side, can also prevent battery container portion,
The damage of battery and battery altering robot.
As previously discussed, in order to solve above-mentioned second problem, battery altering robot, battery change system in the present invention
And in the control method of battery altering robot, even in will be acted by the insertion force for inserting battery to battery container portion
And lock the mechanical locking mechanism of battery and be arranged at battery container portion, and by by battery to inserting that battery container portion is inserted
Enter in the case that the connector of battery side is connected by power with the connector of battery container portion side, can also prevent battery container portion,
The damage of battery and battery altering robot, and battery, connector and receipts by battery side can be locked by locking mechanism
The connector connection of appearance portion side.
Brief description of the drawings
Fig. 1 is the stereogram of the battery change system involved by embodiments of the present invention.
Fig. 2 is the stereogram in the E portions that Fig. 1 is represented from other angles.
Fig. 3 is the enlarged drawing in Fig. 2 F portions.
Fig. 4 is the schematic diagram for illustrating the battery shown in Fig. 1 and the structure in battery container portion.
Fig. 5 is to represent the battery plug mechanism shown in Fig. 2 and the figure of elevating mechanism from front.
Fig. 6 is the figure that battery plug mechanism and elevating mechanism are represented from Fig. 5 H-H directions.
Fig. 7 is for the figure from the mounting batteries mechanism shown in the explanation Fig. 5 of front.
Fig. 8 is the figure for mounting batteries mechanism from the description above shown in Fig. 5.
Fig. 9 is for the figure from the battery travel mechanism shown in side illustration Fig. 5.
Figure 10 is the state for being directed away from from the battery snap-in portion shown in side illustration Fig. 9 when the direction of bus is moved
Figure.
Figure 11 is the figure for battery travel mechanism from the description above shown in Fig. 5.
Figure 12 is for illustrating the flow chart that the battery altering of the battery altering robot shown in Fig. 2 is acted.
Figure 13 is the action for illustrating by the battery altering robot shown in Fig. 2 extract battery from bus
Figure.
Figure 14 is for illustrating to enter to be about to the action that battery is inserted to bus by the battery altering robot shown in Fig. 2
Figure.
The flow of control when Figure 15 is the insert action for illustrating the battery altering robot progress battery shown in Fig. 2
Figure.
Over-load control when Figure 16 is for illustrating that the battery altering robot shown in Fig. 2 carries out the insert action of battery
Flow chart.
Embodiment
Hereinafter, embodiments of the present invention are illustrated referring to the drawings.
In addition, in the following description, explanation solves the battery change system and battery altering of above-mentioned first problem together
Robot and the battery change system and battery altering robot for solving above-mentioned second problem, and use identical symbol.
(schematic configuration of battery change system)
Fig. 1 is the stereogram of the battery change system 1 involved by embodiments of the present invention.Fig. 2 is from other angle tables
The stereogram in the E portions of diagram 1.In the following description, three mutually orthogonal directions are set to X-direction, Y-direction and Z
Direction.In the present embodiment, Z-direction is consistent with above-below direction (vertical).Also, in the following description, by X-direction
Fore-and-aft direction is set to, Y-direction is set to left and right directions.
The battery change system 1 of present embodiment is the system for changing the battery 3 for being installed in vehicle 2.This embodiment party
The vehicle 2 of formula is electronic bus.Therefore, it regard vehicle 2 as " bus 2 " below.The multiple batteries 3 of collecting are installed in bus 2
Battery container portion 4.The cover that battery container portion 4 is configured to work as the side 2a that will be installed on bus 2 (saves sketch map
Show) expose in side 2a when pulling down.Also, battery container portion 4 is configured at the downside at the seat of bus 2.When changing battery 3,
Bus 2 is stopped in the substantially uniform mode of its direct of travel and left and right directions.
Battery change system 1 have be used for change be contained in battery container portion 4 battery 3 battery altering robot 5 (with
Under, be referred to as " robot 5 ").Robot 5 battery 3 in battery container portion 4 is contained in that can change in the way of in the longitudinal direction
Side 2a with bus 2 is opposite.The battery 3 for being contained in battery container portion 4 is extracted by the robot 5 omits the slow of diagram to move into
Station is rushed, and the battery 3 for charging electricity for being contained in buffer station is taken out of from buffer station to insert battery container portion 4.
In addition, forming or being fixed with the detection plate 13 of the position for detecting bus 2 in the side 2a of bus 2.Inspection
Survey plate 13 is formed as tabular, and is formed as the substantially rectangular shape of width constant in the vertical direction.The detection is used
Plate 13 is configured at the front side in the battery container portion 4 on such as direct of travel of bus 2.In the cover by side 2a is installed on
When (omitting diagram) pulls down, detection plate 13 exposes in side 2a.
(structure in battery and battery container portion)
Fig. 3 is the enlarged drawing in Fig. 2 F portions.Fig. 4 is for illustrating the battery 3 shown in Fig. 1 and the knot in battery container portion 4
The schematic diagram of structure.
Battery container portion 4 includes：Install the battery mounting table 6 of battery 3；And the side wall 7 of left and right, by battery mounting table 6
With the receiving space of side wall formation battery 3.The receiving space of multiple batteries 3 is formed with battery container portion 4, can be housed multiple
Battery 3.For example, four batteries 3 can be installed in bus 2, battery container portion 4 has four electricity for installing four batteries 3 respectively
Pond mounting table 6.
The detection mark detected indirectly for the position to battery 3 is formed with the preceding surface of battery mounting table 6
Note 8.Detection mark 8 is respectively formed in two sides of the left and right directions of battery mounting table 6.The detection mark 8 be formed as with
The general triangular become narrow gradually towards the width of upside left and right directions.
Also, as shown in figure 4, battery container portion 4 has：Lock the locking mechanism 9 for the battery 3 being received；And conduct
For the connector 10 for the resettlement section side-connector for electrically connecting bus 2 with battery 3.Locking mechanism 9 has the He of locking member 11
Force application part 12.Connector 10 is configured at the inboard in battery container portion 4.
Locking member 11 is for example held in side wall 7 in the way of it can move in the lateral direction.The locking member 11 is saved
The inner side force of the force application part that sketch map shows in the lateral direction, the inner side from side wall 7 to battery container portion 4 is prominent.Also, locking
Part 11 has for example formed as substantially triangular prism shape：Incline relative to the ZX planes being made up of fore-and-aft direction and above-below direction
End face 11b parallel with the YZ planes constituted with by left and right directions and above-below direction oblique inclined plane 11a.End face 11b constitutes lock
Determine the inboard end face of part 11.Outer expandables of the inclined plane 11a with the front side towards battery container portion 4 in the lateral direction
Ground is tilted.In addition, locking member 11 can also be held in battery mounting table 6 in the way of it can be moved towards above-below direction.
In this case, tilt to outer expandables of the inclined plane 11a with the front side towards battery container portion 4 vertically.
Force application part 12 is, for example, compression helical spring.The force application part 12 is functioned as follows：To be formed at battery 3
The end face 15b of engaging protrusion 15 described later with the end face 11b of locking member 11 in the way of defined contact is contacted, by electricity
The front side in pond 3 towards battery container portion 4 exerts a force.
The handle portion 14 for extracting battery 3 from battery container portion 4 is formed with the preceding surface of battery 3.In this embodiment party
In formula, handle portion 14 is respectively formed with two sides of the left and right directions on the preceding surface of battery 3.Also, as shown in figure 4, battery 3
Have：The engaging protrusion 15 engaged with locking member 11；And it is used as the connection for the battery side-connector being connected with connector 10
Device 16.Connector 16 is arranged on the inner end (back side) for the battery 3 for being contained in battery container portion 4.
Engaging protrusion 15 is for example fixed on the side of the left and right of battery 3, and from the side of the left and right of battery 3 towards right and left
To it is protruding outside.The engaging protrusion 15 has for example formed as substantially triangular prism shape：Relative to the inclination of ZX planar tilts
Face 15a；And the end face 15b parallel with YZ planes.End face 15b constitutes the end face of the front side of engaging protrusion 15.Inclined plane 15a with
The mode of outer expandable with the front side towards battery container portion 4 in the lateral direction is tilted.Also, inclined plane 11a is relative
It is roughly equal relative to the angle of inclination of ZX planes in the angle of inclination of ZX planes and inclined plane 15a.
In the present embodiment, when battery 3 is contained in into battery container portion 4, as battery 3 is by battery container portion 4
Insertion, the inclined plane 15a of engaging protrusion 15 is just contacted with the inclined plane 11a of locking member 11 soon.In this condition, if battery
3 are further inserted to battery container portion 4, then as shown in Fig. 4 (B), resist the active force of force application part, locking member 11 is to the left
The outside movement of right direction.If battery 3 is further inserted into, until engaging protrusion 15 has passed through locking member 11, then sticking department
Medial movement of the part 11 by the active force of force application part in the lateral direction.Also, if battery 3 is further inserted into, until
Engaging protrusion 15 has passed through locking member 11, then force application part 12 is contacted with the inner end of battery 3, and battery 3 is received towards battery
The front side force in appearance portion 4.
Consequently, it is possible to as shown in Fig. 4 (C), be formed at the end face 15b and locking member 11 of the engaging protrusion 15 of battery 3
End face 11b is contacted with defined contact, and the battery 3 for being contained in battery container portion 4 is locked.In this way, present embodiment
Locking mechanism 9 is the mechanical locking that battery 3 is acted and locked by the insertion force for inserting battery 3 to battery container portion 4
Mechanism.Specifically, the locking mechanism 9 of present embodiment is by constituting the battery snap-in portion 24 described later of robot 5 by electricity
The insertion force that pond 3 is inserted to battery container portion 4 acts and locks the mechanical locking mechanism of battery 3.Also, in this embodiment party
In formula, by the insertion force for inserting battery 3 to battery container portion 4, connector 10 is connected with connector 16.Specifically, lead to
The insertion force that battery snap-in portion 24 described later inserts battery 3 to battery container portion 4 is crossed, connector 10 is connected with connector 16.
In addition, in the present embodiment, locking mechanism 9 is constituted as follows：When from the state shown in Fig. 4 (C) (i.e.,
The state locked from battery 3 by locking mechanism 9) when further battery 3 is pressed slightly towards battery container portion 4 inboard, locking
Part 11 is kept out of the way, and end face 15b and end face 11b contact condition are released from.Therefore, when the shape locked from battery 3 by locking mechanism 9
When state further presses battery 3 slightly towards the inboard in battery container portion 4, the locking shape of the battery 3 formed by locking mechanism 9
State is released from, and can extract battery 3 from battery container portion 4.
(schematic configuration of battery altering robot)
As shown in Fig. 2 robot 5 has：Carry out extracting four batteries 3 and respectively to electricity from battery container portion 4 respectively
The battery plug mechanism 17 of four batteries 3 is inserted in pond resettlement section 4；The elevating mechanism 18 for lifting battery plug mechanism 17；More than
Lower direction is used as the rotating mechanism 19 for axially rotating battery plug mechanism 17 and elevating mechanism 18；And make battery plug machine
The horizontal mobile mechanism 20 that structure 17, elevating mechanism 18 and rotating mechanism 19 are moved in the lateral direction.Also, robot 5 has
Testing agency 21 for detection mark 8 and detection plate 13.Battery plug mechanism 17, elevating mechanism 18, rotation
Mechanism 19 and horizontal mobile mechanism 20 are connected with the control unit 27 (reference picture 2) of control machine people 5, and these structures are by control unit
27 controls.
Also, testing agency 21 is also connected with control unit 27.
Battery plug mechanism 17 includes：The mounting batteries installed during with extraction in battery 3 and during insertion for battery 3
The mounting batteries mechanism 23 in portion 22；And engage with battery 3 during with extraction in battery 3 and during insertion and battery 3 is existed
The battery travel mechanism 25 in the battery snap-in portion 24 (reference picture 5) moved in mounting batteries portion 22.Mounting batteries portion 22 and electricity
Pond holding section 24 can be moved towards the direction close to bus 2 and the direction away from bus 2.Also, battery plug mechanism 17
It is held in holding member 26.The holding member 26 is formed as the two of the moving direction in mounting batteries portion 22 and battery snap-in portion 24
Substantially four square tube shapes of end opening.
(structure of mounting batteries mechanism)
Fig. 5 is to represent the battery plug mechanism 17 shown in Fig. 2 and the figure of elevating mechanism 18 from front.Fig. 6 is from Fig. 5
H-H directions represent the figure of battery plug mechanism 17 and elevating mechanism 18.Fig. 7 is for illustrating the battery shown in Fig. 5 from front
The figure of mechanism for mounting 23.Fig. 8 is the figure for mounting batteries mechanism 23 from the description above shown in Fig. 5.
Mounting batteries mechanism 23 is in addition to above-mentioned mounting batteries portion 22, also with making mounting batteries portion 22 towards close
The installing department travel mechanism 30 that the direction of bus 2 and the direction of remote bus 2 are moved.
Mounting batteries portion 22 is formed as flat bulk flat in the vertical direction.On the upper surface in mounting batteries portion 22
The multiple rollers 31,32 abutted with the lower surface of battery 3 are installed in the way of it can rotate.As shown in figure 8, multiple rollers 31
Interval configuration as defined in being separated on the moving direction in mounting batteries portion 22, multiple rollers 32 are also same with roller 31, in battery
Interval configuration as defined in being separated on the moving direction of installing department 22.
In installing department travel mechanism 30, as the structure for moving mounting batteries portion 22, have：Motor 33；Rolling
The screw components such as ballscrew 34；And the nut part 35 screwed togather with screw component 34.Also, in installing department travel mechanism 30
In, as the structure for being guided to mounting batteries portion 22, including：Be formed as linear guide rail 36；And and guide rail
36 engagings and the guide pad 37 that can be relatively moved along guide rail 36.
Motor 33 is fixed on the upper surface side of the rearward end in mounting batteries portion 22.The motor 33 is connected with control unit 27.And
And, motor 33 has the encoder (omitting diagram) for being used for detecting its rotary speed and rotation amount.Screw component 34 can revolve
It is held in the lower face side in mounting batteries portion 22 with turning.Motor 33 is connected with screw component 34 by belt wheel, transmission belt etc..Nut
Part 35 is fixed on holding member 26.Also, guide rail 36 is fixed on the lower face side in mounting batteries portion 22, guide pad 37 is fixed on
Holding member 26.Therefore, in the present embodiment, when motor 33 rotates, mounting batteries portion 22 is by guide rail 36 and guide pad
37 guide and are point-blank moved relative to holding member 26.
(structure of battery travel mechanism)
Fig. 9 is for the figure from the battery travel mechanism 25 shown in side illustration Fig. 5.Figure 10 is used for from side illustration figure
The figure of state when the direction that battery snap-in portion 24 shown in 9 is directed away from bus 2 is moved.Figure 11 is to be used to scheme from the description above
The figure of battery travel mechanism 25 shown in 5.
Battery travel mechanism 25 in addition to above-mentioned battery snap-in portion 24, in addition to：Make battery snap-in portion 24 towards close
The holding section travel mechanism 39 that the direction of bus 2 and the direction of remote bus 2 are moved；And remain battery snap-in portion 24
It can move and be held in the way of it can move the mobile holding member 40 of holding member 26.
Battery snap-in portion 24 includes：The engaging claw 41 engaged with the handle portion 14 of battery 3；Make to move down on engaging claw 41
Dynamic cylinder 42；And the base portion 43 of cylinder 42 is installed.Engaging claw 41 is fixed on the drawer at movable side of cylinder 42, and cylinder 42 is consolidated
Determine the terminal surface that base portion 43 is fixed in side.In the present embodiment, two handle portions to engage claw 41 Yu be formed at battery 3
14 modes engaged respectively, two engaging claws 41 and two cylinders 42 are configured in the state of being spaced as defined in separating
The terminal surface of base portion 43.
Mobile holding member 40 is formed as strip elongated on the moving direction in battery snap-in portion 24.Also, it is mobile
Shape when holding member 40 is from the moving direction in battery snap-in portion 24 is in generally H shape.
In holding section travel mechanism 39, the knot for moving battery snap-in portion 24 and mobile holding member 40 is used as
Structure, including：Motor 44；The screw components such as ball-screw 45；The nut part 46 screwed togather with screw component 45；Belt wheel 47,48；With
And it is set up in the transmission belt 49 of belt wheel 47,48.Also, in holding section travel mechanism 39, as battery snap-in portion 24
And the structure that mobile holding member 40 is guided, including：Be formed as linear guide rail 50；Engage with guide rail 50 and energy edge
The guide pad 51 that guide rail 50 is relatively moved, as the structure for being guided to battery snap-in portion 24, including：Be formed as straight line
The guide rail 52 of shape；And the guide pad 53 that engages with guide rail 52 and can be relatively moved along guide rail 52.
Motor 44 is fixed on the rearward end of holding member 26.The motor 44 is connected with control unit 27.Also, motor 44 has
Encoder (omitting diagram) for detecting its rotary speed and rotation amount.Screw component 45 is kept in the way of it can rotate
In the upper surface part of holding member 26.Motor 44 is connected with screw component 45 by belt wheel, transmission belt etc..Nut part 46 is fixed
In the rearward end of mobile holding member 40.Belt wheel 47 is held in the rearward end of mobile holding member 40 in the way of it can rotate,
Belt wheel 48 is held in the leading section of mobile holding member 40 in the way of it can rotate.
Transmission belt 49 is fixed on the base portion 43 in battery snap-in portion 24 by transmission belt fixed component 54, and passes through transmission belt
Fixed component 55 and the upper surface part for being fixed on holding member 26.Specifically, transmission belt 49 by transmission belt fixed component 54,
55 and be fixed on base portion 43 and holding member 26, to cause：Protruded when moving holding member 40 from holding member 26, transmission belt
Fixed component 55 be configured at belt wheel 47 it is neighbouring when, transmission belt fixed component 54 is configured at the vicinity of belt wheel 48, and as mobile guarantor
Part 40 is held to be contained in holding member 26, transmission belt fixed component 55 be configured at belt wheel 48 it is neighbouring when, transmission belt fixed part
Part 54 is configured at the vicinity of belt wheel 47.
Guide rail 50 is fixed on the upper surface part of holding member 26, and guide pad 51 is fixed on the upper table of mobile holding member 40
Face.Guide rail 52 is fixed on the lower surface of mobile holding member 40, and guide pad 53 is fixed on the upper of the base portion 43 in battery snap-in portion 24
Side.
In the present embodiment, when motor 44 rotates, using screw component 45 and nut part 46, make to move maintaining part
Part 40 is guided by guide rail 50 and guide pad 51 together with battery snap-in portion 24 and point-blank moved relative to holding member 26.And
And, when motor 44 rotates, using belt wheel 47,48 and transmission belt 49, make battery snap-in portion 24 by guide rail 52 and guide pad 53
Guide and point-blank relatively moved relative to mobile holding member 40.
(structure of elevating mechanism, the first bindiny mechanism and the second bindiny mechanism)
As shown in Fig. 2, Fig. 5, elevating mechanism 18 includes being respectively arranged at and mounting batteries portion 22 and battery snap-in portion 24
Moving direction (this direction will be referred to as below " first direction ") and the orthogonal direction of above-below direction (this direction will be referred to as below
" second direction ") two sides the first elevating mechanism 59 and the second elevating mechanism 60.First elevating mechanism 59 utilizes first
Bindiny mechanism 61 is connected with a side of the second direction of holding member 26.Second elevating mechanism 60 utilizes the second bindiny mechanism 62
It is connected with the another side of the second direction of holding member 26.In order that holding member 26 can relative to horizontal direction inclination
Individually drive the first elevating mechanism 59 and the second elevating mechanism 60.Also, holding member 26 is with can be relative to level side
It is connected to inclined mode with the first elevating mechanism 59 and the second elevating mechanism 60.
First elevating mechanism 59 and the second elevating mechanism 60 include：The Lift Part 63 that can vertically move；
Lift Part 63 is remained to the columnar part 64 that can be lifted；And the lift drive mechanism 65 for lifting Lift Part 63.
Columnar part 64 is formed as column elongated in the vertical direction.As shown in figure 5, constituting the columnar part of the first elevating mechanism 59
The upper end of columnar part 64 of 64 upper end with constituting the second elevating mechanism 60 is connected by connection member 66, by two columnar parts
Part 64 constitutes the framework of gate with connection member 66.
As shown in fig. 6, in lift drive mechanism 65, as the structure for lifting Lift Part 63, including：Motor
67；The screw components such as ball-screw 68；And the nut part 69 screwed togather with screw component 68.Also, as shown in figure 5, rising
Drop in drive mechanism 65, as the structure for being guided to Lift Part 63, including：Be formed as linear guide rail 70；
And the guide pad 71 that engages with guide rail 70 and can be relatively moved along guide rail 70.
Motor 67 is fixed on the upper end side of columnar part 64.The motor 67 is connected with control unit 27.Screw component 68 is with energy
The mode enough rotated is held in columnar part 64.Motor 67 is connected with screw component 68 by shaft coupling 72.Nut part 69 is consolidated
Due to Lift Part 63.Guide rail 70 is fixed on the side of columnar part 64.Guide pad 71 is fixed on Lift Part 63.Therefore, exist
In present embodiment, when motor 67 rotates, Lift Part 63 is guided by guide rail 70 and guide pad 71 and relative to columnar part
Part 64 is moved up and down.
First bindiny mechanism 61 relative relative to the Lift Part 63 of the first elevating mechanism 59 can be turned with holding member 26
Holding member 26 is connected by dynamic mode with Lift Part 63.Also, the second bindiny mechanism 62 can be relative with holding member 26
In the mode that the Lift Part 63 of the second elevating mechanism 60 is relatively rotated and is relatively moved towards second direction by holding member 26
It is connected with Lift Part 63.
(structure of rotating mechanism and horizontal mobile mechanism)
As shown in Fig. 2 rotating mechanism 19 includes：It is equiped with battery plug mechanism 17 and elevating mechanism 18 and can rotates
Rotatable parts 85；And the rotating drive mechanism 86 for rotating rotatable parts 85.As shown in Fig. 2 horizontal mobile mechanism 20 is wrapped
Include：It is equiped with battery plug mechanism 17, elevating mechanism 18 and rotating mechanism 19 and the sliding part that can be moved in the lateral direction
Part 87；And the horizontal drive mechanism 88 for moving slide unit 87.
Rotatable parts 85 are shaped generally as discoideus.The rotatable parts 85 are configured at the upside of slide unit 87.Also, turn
Dynamic component 85 can be rotated centered on its center of curvature.Two columnar parts 64 are fixed with the upper surface of rotatable parts 85
Lower end.In rotating drive mechanism 86, the structure for rotating rotatable parts 85, including motor, belt wheel and transmission are used as
Band etc..Also, in rotating drive mechanism 86, as the structure for being guided towards rotation direction rotatable parts 85, including：
Guide rail；And merge the multiple guide pads that can be relatively moved along guide rail with guide rail card.In the band for the output shaft for being fixed on motor
Outer peripheral face of wheel and rotatable parts 85 etc., which is set up, transmission belt, and when the motor is rotated, rotatable parts 85 are by guide rail and guiding
Block is guided and rotated relative to slide unit 87.
Slide unit 87 is formed as the generally rectangular tabular by long side direction of left and right directions.In horizontal drive mechanism
In 88, the structure for moving slide unit 87, including motor, belt wheel and transmission belt etc. are used as.Also, in horizontal drive mechanism
In 88, as the structure for slide unit 87 to be guided in the lateral direction, including：Be formed as linear guide rail；And with
Guide rail card merges the multiple guide pads that can be relatively moved along guide rail.The left end side of guide rail is fixed in one end of transmission belt, transmission
The other end of band is fixed on the right-hand member side of guide rail.Also, transmission belt is erected at belt wheel for the output shaft for being fixed on motor etc., works as horse
Up to during rotation, slide unit 87 is guided and point-blank moved in the lateral direction by guide rail and guide pad.
(method for detecting position of the structure of testing agency, the method for detecting position of bus and battery)
Testing agency 21 is to include the laser sensor of illuminating part and light accepting part, wherein the illuminating part projects laser, institute
The reverberations such as side 2a, the preceding surface of battery mounting table 6 of the light accepting part receiving from illuminating part injection and in bus 2 are stated to be reflected
Laser.As shown in figure 8, the testing agency 21 is installed on the upper surface of the front in mounting batteries portion 22.In present embodiment
In, in a pair of corresponding modes of (two) detection mark 8 with being respectively formed in four battery mounting tables 6, by two detections
Mechanism 21 is installed on mounting batteries portion 22.When the reverberation that the laser to being projected from illuminating part is reflected is in defined measure
In the range of when, testing agency 21 in an ON state, when the reverberation reflected laser is not in measurement range, inspection
Mechanism 21 is surveyed to be off.Further, it is possible to which testing agency 21 is detected and anti-by the testing agency 21 for being used in on-state
Penetrate the distance between thing.
When extracting battery 3 from bus 2, first, the position of bus 2 is detected with plate 13 by testing agency 21 and detection.
Specifically, the position of the upper end of detection plate 13 and the two ends of left and right is detected by testing agency 21 and calculates detection plate
13 position, thus detects the position of bus 2.Also, after the position of bus 2 is detected by testing agency 21, pass through
Testing agency 21 and detection mark 8 detect the position of battery 3.
Specifically, the laser of the illuminating part of Autonomous test mechanism 21 is crosscutting in the lateral direction since detects with mark 8
Mode, makes mounting batteries portion 22 move in the lateral direction, detects the two ends of the left and right directions of detection mark 8, thus calculates
The position of the detection gone out on left and right directions mark 8.Also, pass through the two ends for the left and right directions for detecting detection mark 8, meter
Calculate the width of the part crosscutting by laser of detection mark 8.Detection mark 8 is formed as with towards upside and right and left
To the width roughly triangular shape that becomes narrow gradually, therefore by calculating the part crosscutting by laser of detection mark 8
Width, can calculate the height of detection mark 8.Also, by calculating position of the detection on left and right directions with mark 8
And the detection height of mark 8, calculate the battery mounting table 6 for being formed with detection mark 8 left and right directions position with
And height, detect to position and be installed in position and the height of the left and right directions of the battery 3 of battery mounting table 6.Also, pass through
The distance between testing agency 21 and detection mark 8 are calculated, the battery mounting table 6 for being formed with detection mark 8 is calculated
Fore-and-aft direction position, so as to detect to position and be installed in the position of the fore-and-aft direction of the battery 3 of battery mounting table 6.
Also, according to the height and another detection mark 8 of a detection mark 8 of a pair of detections in mark 8
Height, calculate when from fore-and-aft direction from that battery mounting table 6 is relative to the inclination of left and right directions, detection is from fore-and-aft direction
When battery 3 relative to left and right directions inclination.Also, according to a pair of detections a detection mark 8 in mark 8 and detection
The distance between mechanism 21 and another detection the distance between mark 8 and testing agency 21, calculate from above-below direction
When battery mounting table 6 relative to the inclination of left and right directions, detect the inclining relative to left and right directions of battery 3 when from above-below direction
Tiltedly.
In addition, during when detecting position of the battery 3 on direction all around, the height of battery 3, from fore-and-aft direction
When battery 3 is relative to the inclination of left and right directions and from above-below direction battery 3 relative to left and right directions inclination when, pass through
Position to the left and right directions of battery plug mechanism 17 of elevating mechanism 18, rotating mechanism 19 and horizontal mobile mechanism 20, height
And inclination is adjusted, can suitably extract battery 3 from battery container portion 4.
(outline that battery altering action is carried out by battery altering robot)
Figure 12 is for illustrating that the battery altering robot 5 shown in Fig. 2 carries out the flow chart of the switching motion of battery 3.Figure
13 be the figure for illustrating the pull action for by the battery altering robot 5 shown in Fig. 2 extract battery 3 from bus 2.Figure
14 be the figure for illustrating the insert action for by the battery altering robot 5 shown in Fig. 2 insert battery 3 to bus 2.
In battery change system 1, when needing the bus 2 for changing battery 3 to stop in defined stop position, first,
As described above, the position (step S1) of detection bus 2.Then, carry out what is changed the need for being extracted from bus 2 in four batteries 3
The pull action (step S2) of battery 3.In step s 2, specifically, detection needs the position for the battery 3 changed as described above
Put (position for specifically, being formed at the detection mark 8 of the battery mounting table 6 for the battery 3 for installing replacing in need) (step
S21), then, battery 3 (step S22) is extracted from bus 2 by robot 5, then, the battery 3 being pulled out is contained in buffering work
Position (step S23).
In step S1, S2, first, positioned at the mounting batteries portion 22 of initial position and the (reference picture of battery snap-in portion 24
13 (A)) moved towards the direction close to bus 2.Specifically, as shown in Figure 13 (B), mounting batteries portion 22 is moved to can be by
Battery 3 is transferred to the position in mounting batteries portion 22 from battery mounting table 6, and battery snap-in portion 24 is moved to the engaging energy of claw 41
Enough positions engaged with the handle portion 14 of battery 3.In the present embodiment, in the mounting batteries portion 22 positioned at initial position and
Battery snap-in portion 24 is moved to before the position shown in Figure 13 (B), detects the position of battery 3.
Also, in step s 2, as shown in Figure 13 (C), engaging claw 4 declines and engaged with handle portion 14.As described above,
The battery 3 for being contained in battery container portion 4 is locked by locking mechanism 9.If also, as described above, being locked from battery 3 by locking mechanism 9
Inboard of the fixed state further by battery 3 slightly towards battery container portion 4 press, then by locking mechanism 9 formed to battery 3
Lock-out state is released from, and can extract battery 3 from battery container portion 4.Therefore, if engaging claw 41 engages with handle portion 14,
As shown in Figure 13 (C), battery snap-in portion 24 presses battery 3 (that is, towards close to bus 2 slightly towards the inboard of battery container portion 4
Direction somewhat move), release the lock-out state to battery 3 that is formed by locking mechanism 9.
Then, as shown in Figure 13 (D), battery snap-in portion 24 is directed away from the direction movement of bus 2, and battery 3 starts from electricity
Pond mounting table 6 is shifted to mounting batteries portion 22.Battery snap-in portion 24 moves ormal weight, shown in such as Figure 13 (E), when battery 3 is complete
It is installed in behind mounting batteries portion 22, such as shown in Figure 13 (F), mounting batteries portion 22 and battery snap-in portion 24 are synchronously directed away from bar
The direction movement of scholar 2, the release of battery 3 is extracted from bus 2.When extracting the release of battery 3 from bus 2, machine
People 5 rotates 180 °, and battery 3 is contained in into buffer station.
Then, enter to be about to the insertion bus 2 of battery 3, the part that battery 3 is pulled out insert action (step S3).In step
In rapid S3, specifically, the battery 3 (step S31) for charging electricity is taken out from buffer station by robot 5, then, by taking-up
The insertion bus 2 of battery 3 (step S32).
In step s3, when robot 5 takes out the battery 3 for punching electricity from buffer station, 180 °, such as Figure 14 (A) are rotated
It is shown, as with from bus 2 extract battery 3 pull action at the end of identical state.Then, as shown in Figure 14 (B), battery
Move in the synchronous direction towards close to bus 2 of installing department 22 and battery snap-in portion 24.When mounting batteries portion 22 is moved to can
When battery 3 is transferred into the position of battery mounting table 6 from mounting batteries portion 22, shown in such as Figure 14 (C), Figure 14 (D), battery snap-in
Portion 24 is moved to the direction close to bus 2, carries out inserting battery 3 to bus 2.When battery 3 is inserted into bus 2, then such as Figure 14
(E) shown in, engaging claw 41 rises, and shown in such as Figure 14 (F), mounting batteries portion 22 and battery snap-in portion 24 are directed away from bus
2 direction movement (specifically, being moved to initial position), the insertion of battery 3 to bus 2 terminates.
Action in step S2 and S3 is performed repeatedly until the replacing knot for the battery 3 for needing to change in the bus 2 of stopping
Beam (untill being changed into "Yes" in step s 4).Action in usual step S2 and S3 is performed repeatedly until the bus 2 of stopping
Untill all batteries 3 are replaced.At the end of the replacing for the battery 3 for needing to change, robot 5 returns to origin position (step
S5), the replacing release of the battery 3 carried out by robot 5.
In addition, in battery change system 1, in order that robot 5 suitably acts and suitably changed the battery 3 of bus 2,
Using the bus 2 for stopping at defined reference position, the teaching (teaching) of robot 5 is carried out in advance.Position of the robot 5 along teaching
(teaching position) action is put, the replacing action of battery 3 is carried out.
(control method when battery is inserted)
Figure 15 is for illustrating the control when insert action of battery 3 is carried out by the battery altering robot 5 shown in Fig. 2
Flow chart.It is super when Figure 16 is for illustrating to carry out the insert action of battery 3 by the battery altering robot 5 shown in Fig. 2
The flow chart of spatial load forecasting.
As described above, as battery 3 is inserted to battery container portion 4, inclined plane 15a and the locking member 11 of engaging protrusion 15
Inclined plane 11a start contact, locking mechanism 9 start lock battery 3.Also, as battery 3 inserts battery container portion 4, connection
Device 10 starts to engage with connector 16, and the connection of connector 10 and connector 16 starts.Hereinafter, it will be incited somebody to action by battery snap-in portion 24
Battery 3 to battery container portion 4 insert when and locking mechanism 9 start lock battery 3 when battery snap-in portion 24 position as lock
Starting position is determined, when battery 3 will be inserted into battery container portion 4 by battery snap-in portion 24 and connector 10 is opened with connector 16
The position in the battery snap-in portion 24 when beginning to connect connects starting position as connector.
In the present embodiment, when to enter to be about to insert action that battery 3 is inserted to battery container portion 4, locking mechanism 9
Start to lock mode configuration locking mechanism 9 that connecting moves of the action than connector 10 and connector 16 of battery 3 first carry out with
And in the case of connector 10,16, when battery snap-in portion 24 is moved to locking starting position, battery snap-in portion 24 starts battery
3 connecting moves.Also, when to enter to be about to insert action that battery 3 is inserted to battery container portion 4, connector 10 is with being connected
The connection of device 16 starts mode configuration locking mechanism 9 and the connection that action is first carried out than the action that locking mechanism 9 locks battery 3
In the case of device 10,16, when battery snap-in portion 24 is moved to connector connection starting position, battery snap-in portion 24 is proceeded by
The connecting moves of battery 3.Also, when to enter to be about to insert action that battery 3 is inserted to battery container portion 4, locking mechanism 9 is locked
The connecting moves of the action of battery 3 and connector 10 and connector 16 is determined while the mode configuration locking mechanism 9 that carries out and even
In the case of connecing device 10,16, when battery snap-in portion 24 is moved to locking starting position and connector connection starting position, electricity
Pond holding section 24 starts the connecting moves of battery 3.
I.e., in the present embodiment, when entering to be about to insert action that battery 3 is inserted to battery container portion 4, Battery Card is worked as
When conjunction portion 24 is moved at least any one party in locking starting position and connector connection starting position, pass through battery snap-in
Portion 24 starts the connecting moves of battery 3, in connecting moves, carries out the locking battery 3 of locking mechanism 9 and connector 10 with connecting
Connect at least any one party during device 16 is connected.Also, in the present embodiment, when locking mechanism 9 locks the action knot of battery 3
At the end of beam, and the connection of connector 10 and connector 16, pass through the connecting moves knot for the battery 3 that battery snap-in portion 24 is carried out
Beam.Also, when connecting moves terminates, and mounting batteries portion 22 and battery snap-in portion 24 are moved to initial position, by battery 3 to
The insert action in battery container portion 4 terminates.
The position in the battery snap-in portion 24 when battery snap-in portion 24 to be proceeded by the connecting moves of battery 3 is used as connection
When acting starting position, for example, the position in the battery snap-in portion 24 shown in Figure 14 (C) is connecting moves starting position.Also, work as
The position in the battery snap-in portion 24 when battery snap-in portion 24 to be terminated to the connecting moves of battery 3 is used as connecting moves end position
When, for example, the position in the battery snap-in portion 24 shown in Figure 14 (D) is connecting moves end position.In the present embodiment, in religion
When leading robot 5, connecting moves starting position and connecting moves end position are taught to robot 5.
In addition, when to enter to be about to insert action that battery 3 is inserted to battery container portion 4, locking mechanism 9 starts locking electricity
Mode configuration locking mechanism 9 that connection of the action in pond 3 than connector 10 and connector 16 is first carried out and connector 10,16
In the case of, it can also be moved in battery snap-in portion 24 further mobile to the inboard in battery container portion 4 behind locking starting position
After ormal weight, battery snap-in portion 24 starts the connecting moves of battery 3.Also, inserted to enter to be about to battery 3 to battery container portion 4
During the insert action entered, it is more advanced than the action that locking mechanism 9 locks battery 3 that the connection of connector 10 and connector 16 starts action
In the case of capable mode configuration locking mechanism 9 and connector 10,16, connector can also be moved in battery snap-in portion 24
Connect and further moved behind starting position to the inboard in battery container portion 4 after ormal weight, battery snap-in portion 24 starts the company of battery 3
Connect action.Also, when to enter to be about to insert action that battery 3 is inserted to battery container portion 4, the locking battery 3 of locking mechanism 9
Mode configuration locking mechanism 9 and the feelings of connector 10,16 that action and the connection of connector 10 and connector 16 are started simultaneously at
Under condition, it can also be moved in battery snap-in portion 24 behind locking starting position and connector connection starting position further to electricity
After the mobile ormal weight in inboard of pond resettlement section 4, battery snap-in portion 24 starts the connecting moves of battery 3.
Also, in the present embodiment, entering to be about to what battery 3 was inserted to battery container portion 4 by battery snap-in portion 24
During insert action, after starting before connecting moves starts with connecting moves, the controlling party of the motor 44 in driving battery snap-in portion 24
Method is different.
Before connecting moves starts, control unit 27 controls control machine people 5 by position, in being controlled in the position, with
Mode control machine people 5 of the robot 5 along the action of teaching position.That is, before connecting moves starts, control unit 27 passes through position
Control control motor 44, in being controlled in the position, motor 44 is controlled by controlling the rotation amount of motor 44.Also, even
Connect before action starts, when the load of motor 44 exceedes defined first reference value, control unit 27 stops motor 44.In this reality
Apply in mode, measure is as the current value of the motor 44 of the load of motor 44, and control unit 27 is before connecting moves starts by electricity
Flow control controls motor 44, in the current control, when the current value of motor 44 exceedes defined first reference current value
When, stop motor 44.In addition, in fact, be multiplied by when the current value of motor 44 as defined in value obtained by constant more than first
When reference current value is multiplied by the value obtained by identical constant, control unit 27 stops motor 44.
In addition, in the battery altering robot 5 for solving above-mentioned second problem, before connecting moves starts, control unit 27
Control machine people 5 is controlled by position, in being controlled in the position, controlled in the way of robot 5 is along the action of teaching position
Robot 5.That is, before connecting moves starts, control unit 27 controls motor 44 by position control, in position control
In, control motor 44 by controlling the rotation amount of motor 44.Also, before connecting moves starts, control unit 27 passes through first
Control to control motor 44, in described first controls, when the load of motor 44 exceedes defined first reference value, make motor
44 stop.In the present embodiment, measure is as the current value of the motor 44 of the load of motor 44, and control unit 27 is in connecting moves
Motor 44 is controlled by current control before starting, in the current control, exceed when the current value of motor 44 as defined in the
During one reference current value, stop motor 44.That is, the first control of present embodiment is current control.In addition, in fact, being
Value as defined in being multiplied by when the current value of motor 44 obtained by constant is multiplied by obtained by identical constant more than the first reference current value
During value, control unit 27 stops motor 44.
On the other hand, even if starting connecting moves, control unit 27 controls motor 44 also by position control, but when company
When connecing action beginning, control unit 27 controls motor 44 as shown in Figure 15 and Figure 16 flow chart.I.e., as shown in figure 15, when
Battery snap-in portion 24 proceeds by the insert action for inserting battery 3 to battery container portion 4, and battery snap-in portion 24 is moved to connection
Action starting position simultaneously starts during connecting moves (step S41), and control unit 27 starts over-load control (step S42).In addition,
In the battery altering robot 5 for solving above-mentioned second problem, as described below, the over-load control of present embodiment is electric current control
System.
Also, when connecting moves starts, when control unit 27 starts to measure the driving of the motor 44 after connecting moves starts
Between (step S43).Then, control unit 27 judges whether battery snap-in portion 24 is moved to connecting moves end position (step S44).
In step S44, in the case that battery snap-in portion 24 is moved to connecting moves end position, control unit 27 makes and battery 3
After the engaging claw 41 that handle portion 14 engages rises, mounting batteries portion 22 and battery snap-in portion 24 is set to be directed away from bus 2
(step S45) is kept out of the way in direction, the insert action knot for inserting battery 3 to battery container portion 4 carried out by battery snap-in portion 24
Beam.
On the other hand, in step S44, in the case that battery snap-in portion 24 is not moved to connecting moves end position,
Control unit 27 judge to start in step S43 measurement, whether the driving time of motor 44 after connecting moves starts have passed through
Defined fiducial time (step S47).In step S47, in the case that the driving time of motor 44 does not pass through fiducial time,
Return to step S44.
Also, in step S47, in the case that the driving time of motor 44 have passed through fiducial time, control unit 27 makes
After the engaging claw 41 engaged with the handle portion 14 of battery 3 rises, motor 44 is inverted, battery snap-in portion 24 is directed away from bar
Keep out of the way (step S48) in the direction of scholar 2.That is, during battery snap-in portion 24 is moved to connecting moves end position, when motor 44
When driving time have passed through fiducial time, control unit 27 makes battery snap-in portion 24 keep out of the way to the extraction direction of battery 3.In addition,
In present embodiment, in step S48, mounting batteries portion 22 does not keep out of the way to the extraction direction of battery 3, but can also be in step
In S48, mounting batteries portion 22 keeps out of the way to the extraction direction of battery 3.
Then, in the case that the over-load control started in step S42 is not over, control unit 27 makes over-load control
Terminate (step S49), the insert action for inserting battery 3 to battery container portion 4 carried out by battery snap-in portion 24 is tied extremely
Beam.In addition, at the end of over-load control, the threshold value of the current value of motor 44 switches from the second reference current value of following explanation
For the first reference current value.
Also, when starting over-load control in step S42, as shown in figure 16, control unit 27 is calculated equivalent to motor
Whether the current value (step S51) of the motor 44 of 44 load, judge the current value of motor 44 more than the second reference current value (step
Rapid S52).Second reference current value is the value smaller than the first reference current value.Also, start over-load control in step S42
When, the threshold value of the current value of motor 44 switches to the second reference current value from the first reference current value.In addition, in fact, in step
In rapid S51, it is that the current value of calculating motor 44 is multiplied by the value obtained by defined constant, is to judge motor 44 in step S52
Whether the value that current value is multiplied by obtained by the constant is multiplied by the value obtained by identical constant more than the second reference current value.
In step S52, in the case that the current value of motor 44 is not above the second reference current value, control unit 27 judges
Whether battery snap-in portion 24 is moved to connecting moves end position (step S53).In step S53, battery snap-in portion 24 does not have
In the case of being moved to connecting moves end position, return to step S51 is moved to connecting moves stop bits in battery snap-in portion 24
In the case of putting, control unit 27 terminates over-load control.When terminating over-load control, the threshold value of the current value of motor 44 is from the
Two reference current values switch to the first reference current value.
On the other hand, in step S52, in the case that the current value of motor 44 is more than the second reference current value, control unit
The duration (step S54) of state of the current value more than the second reference current value of 27 measurement motors 44, when judging that this continues
Between whether have passed through defined fiducial time (step S55).In step S55, the duration have passed through the feelings of fiducial time
Under condition, control unit 27 makes motor 44 stop (step S56), terminates over-load control.On the other hand, in step S55, this continues
In the case that time does not pass through fiducial time, into step S53.
In addition, entering step S53, S51, S52 from step S55, in step S52, the current value of motor 44 is not above
In the case of second reference current value, the duration of state of the current value more than the second reference current value of motor 44 is answered
Position.On the other hand, step S53, S51, S52 are entered from step S55, in step S52, the current value of motor 44 is more than the second base
In the case of quasi- current value, the duration of state of the current value more than the second reference current value of motor 44 is not reset,
In step S54, the duration of state of the current value more than the second reference current value of motor 44 is added.
Also, in the present embodiment, when entering to be about to insert action that battery 3 is inserted to battery container portion 4, connection is dynamic
Make start before motor 44 rotary speed (that is, the translational speed in battery snap-in portion 24) start than connecting moves after motor 44
Rotary speed it is fast.
(main efficacy results for solving the present embodiment of above-mentioned first problem)
It is as described above, in the present embodiment, when entering to be about to insert action that battery 3 is inserted to battery container portion 4,
When connecting moves starts, control unit 27 also controls motor 44 in addition to the control of position by over-load control.Also,
The over-load control is current control, in the over-load control, when the current value in motor 44 is more than the second reference current value
In the state of when have passed through defined fiducial time, stop motor 44.Therefore, in the present embodiment, by locking machine
Battery 3 occurs position skew relative to locking mechanism 9 and causes locking mechanism 9 and battery 3 to be interfered, by machine when structure 9 locks battery 3
When the excess load for the degree that the grade of device people 5 can produce damage puts on motor 44, or when that will connect device 10 and be connected with connector 16
Connector 10,16 occurs position skew and interfered each other, the excess load of degree that robot 5 etc. can be produced to damage puts on horse
It during up to 44, can stop motor 44.Therefore, in the present embodiment, even in will by by battery 3 to battery container portion 4
The insertion force of insertion, which acts and locks the mechanical locking mechanism 9 of battery 3, is arranged at battery container portion 4, and by by battery 3
In the case that connector 10 is connected by the insertion force inserted to battery container portion 4 with connector 16, battery container can be also prevented
The damage in portion 4, battery 3 and robot 5.
Also, in the over-load control of present embodiment, even if the current value of motor 44 is more than the second reference current value,
Also make motor 44 drive until in the current value of motor 44 more than the second reference current value in the state of have passed through fiducial time.Cause
This, when locking battery 3 by locking mechanism 9 or when connector 10 is being connected with connector 16, even if by robot 5
Excess load etc. the short time for the degree that will not produce damage puts on motor 44, also can lock battery by locking mechanism 9
3rd, connector 10 is connected with connector 16.I.e., in the present embodiment, battery container portion 4, battery 3 and machine can be prevented
The damage of device people 5, and battery 3 can be locked by locking mechanism 9, be connected connector 10 with connector 16.
Also, in the present embodiment, when connecting moves, position control also is carried out to motor 44, therefore, it is possible to
According to the rotation amount of motor 44, detection locking mechanism 9 is to the locking of battery 3 and the connection of connector 10 and connector 16
It is no reliably to terminate.
In the present embodiment, since the connecting moves after be moved to the connecting moves end position phase to battery snap-in portion 24
Between, when the driving time of the motor 44 after connecting moves starts have passed through fiducial time, control unit 27 makes battery snap-in portion 24
Keep out of the way to the extraction direction of battery 3.Therefore, in the present embodiment, battery container portion 4, battery 3 and robot can be prevented
5 damage.That is, the driving time of the motor 44 after connecting moves starts have passed through fiducial time, but battery snap-in portion 24
In the case of not being moved to connecting moves end position, suspect there occurs locking mechanism 9 and battery 3 interfere, connector 10
With the interference of connector 16 etc., these structures are applied with the situation of excess load, but in the present embodiment, in battery snap-in portion
During 24 are moved to connecting moves end position, the driving time of the motor 44 after connecting moves starts have passed through fiducial time
When, control unit 27 makes battery snap-in portion 24 keep out of the way to the extraction direction of battery 3, and the super of these structures is put on therefore, it is possible to eliminate
Load, can prevent the damage in battery container portion 4, battery 3 and robot 5.
(main efficacy results for solving the present embodiment of above-mentioned second problem)
It is as described above, in the present embodiment, when entering to be about to insert action that battery 3 is inserted to battery container portion 4,
When starting connecting moves, exceed small second of the first reference current value before starting than connecting moves in the current value of motor 44
When have passed through defined fiducial time in the state of reference current value, control unit 27 stops motor 44.Therefore, in this embodiment party
In formula, when locking battery 3 by locking mechanism 9, battery 3 occurs position skew relative to locking mechanism 9 and causes locking mechanism
When 9 interfere with battery 3, the excess load of degree that robot 5 etc. can be produced to damage puts on motor 44, or by connector
10 connectors 10,16 when being connected with connector 16 occur position skew and interfere, robot 5 etc. can be produced to the journey of damage each other
It when the excess load of degree puts on motor 44, can stop motor 44.
Also, in the present embodiment, when starting connecting moves, even if the current value of motor 44 is more than the second benchmark electricity
Flow valuve, also make motor 44 drive until in the current value of motor 44 more than the second reference current value in the state of pass through benchmark when
Between.Therefore, in the present embodiment, when battery 3 is locked by locking mechanism 9 or by connector 10 and connector
During 16 connection, the excess load that robot 5 etc. will not be produced to the short time of the degree of damage puts on motor 44, can also pass through
Locking mechanism 9 locks battery 3, is connected connector 10 with connector 16.
Therefore, in the present embodiment, even in will be acted by the insertion force for inserting battery 3 to battery container portion 4
And lock the mechanical locking mechanism 9 of battery 3 and be arranged at battery container portion 4, and by the way that battery 3 is inserted to battery container portion 4
In the case that connector 10 is connected by the insertion force entered with connector 16, battery container portion 4, battery 3 and machine can be also prevented
The damage of device people 5, and battery 3 can be locked by locking mechanism 9, be connected connector 10 with connector 16.
In the present embodiment, before connecting moves starts, as long as the current value of motor 44 is no more than than the second benchmark electricity
The first big reference current value of flow valuve, motor 44 does not just stop.Therefore, in the present embodiment, by increasing capacitance it is possible to increase connecting moves is opened
The acceleration-deceleration of motor 44 before beginning.Therefore, in the present embodiment, it can shorten from starting battery 3 to battery container portion 4
The traveling time of battery 3 of the insert action of insertion untill connecting moves starts.Also, in the present embodiment, due to even
Connect the motor 44 before action starts rotary speed start than connecting moves after motor 44 rotary speed it is fast, therefore, it is possible to enter
One step shortens the shifting of the battery 3 untill connecting moves since the insert action for starting to insert battery 3 to battery container portion 4
The dynamic time.
In the present embodiment, the rotary speed of the motor 44 after connecting moves starts start than connecting moves before motor
44 rotary speed is slow.Therefore, in the present embodiment, by locking mechanism 9 lock battery 3 when battery 3 relative to locking
Mechanism 9 occurs position skew and causes locking mechanism 9 and battery 3 to be interfered, robot 5 etc. can be produced damage degree it is super negative
When lotus puts on motor 44, or when connector 10 is connected with connector 16 connector 10 to occur position with connector 16 inclined
When the excess load for the degree that move and interfere, robot 5 etc. can be produced to damage puts on motor 44, horse can be made in a short time
Stop up to 44.Therefore, it is possible to effectively prevent the damage in battery container portion 4, battery 3 and robot 5.
In the present embodiment, after connecting moves starts, battery snap-in portion 24 is moved to the connecting moves end position phase
Between, connecting moves start after the driving time of motor 44 when have passed through fiducial time, control unit 27 makes court of battery snap-in portion 24
Keep out of the way to the extraction direction of battery 3.Therefore, in the present embodiment, battery container portion 4, battery 3 and robot can be prevented
5 damage.That is, the driving time of the motor 44 after connecting moves starts have passed through fiducial time, but battery snap-in portion 24
In the case of not being moved to connecting moves end position, suspect there occurs locking mechanism 9 and battery 3 interfere, connector 10
With the interference of connector 16 etc., these structures are applied with the situation of excess load, but in the present embodiment, when in battery snap-in
During portion 24 is moved to connecting moves end position, the driving time of motor 44 after connecting moves starts have passed through fiducial time
When, control unit 27 makes battery snap-in portion 24 keep out of the way to the extraction direction of battery 3, and the super of these structures is put on therefore, it is possible to eliminate
Load, can prevent the damage in battery container portion 4, battery 3 and robot 5.
(other embodiment)
Above-mentioned embodiment is an example of the preferred embodiment of the present invention, but the invention is not restricted to this, not
Various changes can be carried out in the range of the purport for departing from the present invention to implement.
In the above-described embodiment, in step S47, in the case that the driving time of motor 44 have passed through fiducial time,
Control unit 27 inverts motor 44, battery snap-in portion 24 is kept out of the way to the direction away from bus 2.In addition for example, in step
In S47, in the case that the driving time of motor 44 have passed through fiducial time, control unit 27 can also stop battery snap-in portion 24
Only.That is, in step S47, in the case that the driving time of motor 44 have passed through fiducial time, control unit 27 can also make motor
44 stop.
In the case where solving above-mentioned first problem, in the above-described embodiment, in over-load control, even if motor 44
Current value more than the second reference current value, control unit 27 also make motor 44 drive until the current value more than the second benchmark electricity
Defined fiducial time is have passed through in the state of flow valuve, and when state of the current value more than the second reference current value in motor 44
Under when have passed through fiducial time, stop motor 44.In addition for example, control unit 27 can also be determined as the negative of motor 44
The value of the load in addition to the current value of motor 44 of lotus, in over-load control, even if the load determined exceedes rule
Fixed a reference value, also drives motor 44 and have passed through defined fiducial time in the state of exceeding a reference value in the load,
And when have passed through fiducial time in the state of the load exceedes a reference value, stop motor 44.For example, control unit 27 can also
Use contact pressure of battery 3 of the measurement when entering to be about to insert action that battery 3 insert to battery container portion 4 with engaging claw 41
The pressure sensor of power, determines the load of motor 44, in over-load control, even if the detected value of pressure sensor exceedes regulation
A reference value, also make motor 44 drive until the detected value exceed a reference value in the state of have passed through defined fiducial time,
And when have passed through fiducial time in the state of the detected value exceedes a reference value, stop motor 44.
Also, in the case where solving above-mentioned second problem, in the above-described embodiment, in over-load control, even if
The current value of motor 44 more than the second reference current value, control unit 27 also make motor 44 drive until in the current value more than second
Defined fiducial time is have passed through in the state of reference current value, and motor 44 current value more than the second reference current value
In the state of when have passed through fiducial time, stop motor 44, but control unit 27 can also determine conduct in over-load control
The value of the load in addition to the current value of motor 44 of the load of motor 44, even if the load determined exceedes defined second
A reference value, also make motor 44 drive until in the load more than the second a reference value in the state of have passed through defined fiducial time,
And when have passed through fiducial time in the state of the load is more than the second a reference value, stop motor 44.For example, control unit 27
The load of above-mentioned determination of pressure sensor motor 44 can also be used in over-load control, even if the detection of pressure sensor
Value exceedes defined second a reference value, also make motor 44 drive until in the detected value more than the second a reference value in the state of pass through
Defined fiducial time, and when have passed through fiducial time in the state of the detected value is more than the second a reference value, make motor
44 stop.
Similarly, in the case where solving above-mentioned first problem, in the above-described embodiment, before connecting moves starts,
When the current value of motor 44 exceedes defined first reference current value, control unit 27 stops motor 44, but control unit 27
Defined a reference value can also be exceeded in the load of the motor 44 by above-mentioned determination of pressure sensor before connecting moves starts
When, stop motor 44.
In the case where solving above-mentioned second problem, in the above-described embodiment, before connecting moves starts, when motor 44
Current value when exceeding defined first reference current value, control unit 27 stops motor 44.In addition for example, control unit 27
Can also be before connecting moves start, measure is used as the load in addition to the current value of motor 44 of the load of motor 44
Value, when the load of measure exceedes defined first reference value, stops motor 44.For example, control unit 27 can also be used
Determine contact of the battery 3 when entering to be about to insert action that motor 3 is inserted to battery container portion 4 with engaging claw 41
The load of determination of pressure sensor motor 44, and before connecting moves starts, in the motor 44 by the determination of pressure sensor
Load when exceeding defined first reference value, stop motor 44.
In the above-described embodiment, robot 5 is the robot for changing the battery 3 for being installed in bus 2, but machine
People 5 can also be the robot that tractor, the battery 3 of vehicle from home vehicle etc. in addition to bus 2 are installed in for changing.
Description of reference numerals
1 battery change system
2 buses (vehicle)
3 batteries
4 battery container portions
5 robots (battery altering robot)
9 locking mechanisms
10 connectors (resettlement section side-connector)
16 connectors (battery side-connector)
17 battery plug mechanisms
22 mounting batteries portions
24 battery snap-in portions
27 control units
44 motors.
Claims (7)
1. a kind of battery altering robot, it is used to change the battery for being installed in vehicle, it is characterised in that including：
Battery plug mechanism, its from be installed on the vehicle and housed the battery battery container portion extract the battery with
And insert the battery to the battery container portion；And
Control unit, it controls the battery plug mechanism,
The battery has the battery side-connector for being used for electrically connecting the vehicle with the battery,
The battery container portion has：
Locking mechanism, it locks the battery being received；And
Resettlement section side-connector, it is connected with the battery side-connector,
The battery plug mechanism has：
Mounting batteries portion, it installs the battery；
Battery snap-in portion, it merges with the Battery Card moves the battery；And
Motor, it is used to drive the battery snap-in portion,
The locking mechanism is to be moved the insertion force that the battery is inserted to the battery container portion by the battery snap-in portion
Make and lock the mechanical locking mechanism of the battery,
The battery side-connector and the resettlement section side-connector are by the battery snap-in portion by the battery to the electricity
The insertion force connection of pond resettlement section insertion,
When entering to be about to insert action that the battery is inserted to the battery container portion, the locking mechanism locking institute is being carried out
State the connecting moves of battery and at least any one party for being connected the battery side-connector with the resettlement section side-connector
Before beginning, the control unit controls the motor by the first control, in described first controls, when the load of the motor surpasses
When crossing defined first reference value, stop the motor, when the connecting moves starts, the control unit passes through the second control
Make to control the motor, in described second controls, even if the load of the motor is more than smaller than the first reference value
Second a reference value, also in the state of the load of the motor exceedes second a reference value, makes motor driving until warp
Defined fiducial time has been spent, and when described more than have passed through in the state of second a reference value in the load of the motor
During fiducial time, stop the motor.
2. battery altering robot according to claim 1, it is characterised in that
First control is current control, in the current control, and described first is used as when the current value of the motor exceedes
During the first reference current value of a reference value, stop the motor,
Second control is current control, in the current control, even if the current value of the motor exceedes as described the
Second reference current value of two a reference values, also the motor current value exceed second reference current value in the state of,
Make the motor driving until have passed through the fiducial time, and when the current value in the motor exceedes second benchmark
When have passed through the fiducial time in the state of current value, stop the motor.
3. battery altering robot according to claim 1 or 2, it is characterised in that
Start to lock the locking starting position of the battery and described when the battery snap-in portion is moved to the locking mechanism
Battery side-connector and the resettlement section side-connector start at least any one party in the connector connection starting position that is connected
When, start the connecting moves.
4. battery altering robot according to any one of claim 1 to 3, it is characterised in that
The connecting moves start before the motor rotary speed start than the connecting moves after the motor rotation
Rotary speed is fast.
5. battery altering robot according to any one of claim 1 to 4, it is characterised in that
When the connecting moves starts, the control unit starts to measure the driving of the motor after the connecting moves starts
Time, if being moved to locking and battery side connection of the locking mechanism to the battery in the battery snap-in portion
During the connecting moves end position that the connection of device and the resettlement section side-connector terminates, the connecting moves start after institute
The driving time for stating motor have passed through the stipulated time, then the control unit makes the battery snap-in portion to the extraction side of the battery
To keeping out of the way.
6. a kind of battery change system, it is characterised in that including：
Battery altering robot any one of claim 1 to 5；And
The battery container portion.
7. a kind of control method of battery altering robot, it is characterised in that
The battery altering robot includes battery plug mechanism, and the battery plug mechanism is from being installed on vehicle and housed electricity
The battery container portion in pond extracts the battery and inserts the battery to the battery container portion,
The battery has the battery side-connector for being used for electrically connecting the vehicle with the battery,
The battery container portion has：
Locking mechanism, it locks the battery being received；And
Resettlement section side-connector, it is connected with the battery side-connector,
The battery plug mechanism has：
Mounting batteries portion, it installs the battery；
Battery snap-in portion, it merges with the Battery Card moves the battery；And
Motor, it is used to drive the battery snap-in portion,
The locking mechanism is to be moved the insertion force that the battery is inserted to the battery container portion by the battery snap-in portion
Make and lock the mechanical locking mechanism of the battery,
The battery side-connector and the resettlement section side-connector are by the battery snap-in portion by the battery to the electricity
The insertion force connection of pond resettlement section insertion,
When entering to be about to insert action that the battery is inserted to the battery container portion, the locking mechanism locking institute is being carried out
The connection of at least any one party in stating battery and being connected the battery side-connector with the resettlement section side-connector is moved
Before work starts, when the load of the motor exceedes defined first reference value, stop the motor,
When the connecting moves starts, even if the load of the motor exceedes second benchmark smaller than the first reference value
Value, also in the state of the load of the motor exceedes second a reference value, makes motor driving until have passed through regulation
Fiducial time, and when the motor load exceed second a reference value in the state of have passed through the fiducial time
When, stop the motor.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013200271A JP6317085B2 (en) | 2013-09-26 | 2013-09-26 | Battery exchange robot, battery exchange system, and battery exchange robot control method |
| JP2013-200271 | 2013-09-26 | ||
| JP2013-200272 | 2013-09-26 | ||
| JP2013200272A JP6181494B2 (en) | 2013-09-26 | 2013-09-26 | Battery exchange robot, battery exchange system, and battery exchange robot control method |
| CN201480051709.2A CN105555623B (en) | 2013-09-26 | 2014-09-17 | The control method of battery altering robot, battery change system and battery altering robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480051709.2A Division CN105555623B (en) | 2013-09-26 | 2014-09-17 | The control method of battery altering robot, battery change system and battery altering robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107225955A true CN107225955A (en) | 2017-10-03 |
| CN107225955B CN107225955B (en) | 2019-08-23 |
Family
ID=52743122
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480051709.2A Expired - Fee Related CN105555623B (en) | 2013-09-26 | 2014-09-17 | The control method of battery altering robot, battery change system and battery altering robot |
| CN201710419024.4A Expired - Fee Related CN107225955B (en) | 2013-09-26 | 2014-09-17 | The control method of battery altering robot, battery change system and battery altering robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480051709.2A Expired - Fee Related CN105555623B (en) | 2013-09-26 | 2014-09-17 | The control method of battery altering robot, battery change system and battery altering robot |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR20160061318A (en) |
| CN (2) | CN105555623B (en) |
| WO (1) | WO2015045981A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367437A (en) * | 2018-10-10 | 2019-02-22 | 杭州六创电动汽车科技有限公司 | Battery replacing method for electric automobile |
| CN111605392A (en) * | 2019-02-25 | 2020-09-01 | 浙江吉智新能源汽车科技有限公司 | Battery replacing device and automobile |
| US11844313B2 (en) | 2017-09-27 | 2023-12-19 | Positec Technology (China) Co., Ltd. | Self-moving device and automatic working system thereof |
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| SE536799C2 (en) * | 2013-06-25 | 2014-08-26 | Sten Corfitsen | Method and apparatus for replacing a battery in a vehicle |
| CN105253117B (en) * | 2015-09-30 | 2017-04-12 | 王建排 | Electric automobile built-in battery box rapid dismounting and mounting method |
| US11183726B2 (en) * | 2017-12-15 | 2021-11-23 | Tiveni Mergeco, Inc. | Clamping bar holder component for a battery module and method thereof |
| CN109987070B (en) * | 2017-12-29 | 2022-05-17 | 上海电巴新能源科技有限公司 | Battery box replacement tray mechanism and battery transfer device comprising same |
| IT201800001428A1 (en) * | 2018-01-19 | 2019-07-19 | S M R E S P A | METHOD, APPARATUS AND STATION, OF EXCHANGING ELECTRIC BATTERIES TO POWER VEHICLE DRIVERS |
| CN110023156A (en) * | 2018-05-28 | 2019-07-16 | 深圳蓝胖子机器人有限公司 | Electric control lock catch device, transport vehicle and its move battery system and method certainly |
| ES2735302B2 (en) | 2018-06-14 | 2020-07-28 | Remon Rodriguez Daniel | Vehicle energy storage system |
| DE102018210819A1 (en) * | 2018-07-02 | 2020-01-02 | Audi Ag | Method of manufacturing a vehicle traction battery |
| CN110884386B (en) * | 2018-09-10 | 2022-03-22 | 奥动新能源汽车科技有限公司 | Battery taking and placing method and system |
| CN109216617B (en) * | 2018-09-28 | 2020-09-08 | 绵阳鼎飞益电子科技有限公司 | Device for replacing secondary side equipment battery of power system |
| CN110901601B (en) * | 2019-12-02 | 2021-05-14 | 上海大族富创得科技有限公司 | AGV charging station |
| CN114771340A (en) * | 2020-04-03 | 2022-07-22 | 奥动新能源汽车科技有限公司 | Battery pack taking and placing method |
| CN111873847B (en) * | 2020-07-17 | 2023-01-17 | 蓝谷智慧(北京)能源科技有限公司 | Battery conversion assembly, method for replacing power battery and battery replacement station |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR20160061318A (en) | 2016-05-31 |
| CN107225955B (en) | 2019-08-23 |
| CN105555623A (en) | 2016-05-04 |
| CN105555623B (en) | 2017-11-07 |
| WO2015045981A1 (en) | 2015-04-02 |
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