CN110023156A - Electric control lock catch device, transport vehicle and its move battery system and method certainly - Google Patents
Electric control lock catch device, transport vehicle and its move battery system and method certainly Download PDFInfo
- Publication number
- CN110023156A CN110023156A CN201880003641.9A CN201880003641A CN110023156A CN 110023156 A CN110023156 A CN 110023156A CN 201880003641 A CN201880003641 A CN 201880003641A CN 110023156 A CN110023156 A CN 110023156A
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- Prior art keywords
- transport vehicle
- battery
- lock catch
- electric control
- control lock
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 37
- 230000005611 electricity Effects 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 15
- 238000013016 damping Methods 0.000 description 11
- 230000005855 radiation Effects 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 238000011017 operating method Methods 0.000 description 2
- 229920000297 Rayon Polymers 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000010408 sweeping 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
- B60L53/80—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
-
- 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
Abstract
A kind of Electric control lock catch device, transport vehicle and its move battery system and method certainly, the transport vehicle includes transport vehicle (110), charging unit (100) and manipulator (120) from battery system is moved, charging unit (120) is used for after transport vehicle (110) is interfaced, is charged to transport vehicle (110)；Transport vehicle (110) includes battery (20) and Electric control lock catch device (10), and Electric control lock catch device (10) is for locking or unclamping battery；Manipulator (120) is used to take out the battery (20) of transport vehicle when charging unit (100) charges to transport vehicle (110) and be put into new battery (20)；Electric control lock catch device (10) is at least for after transport vehicle (110) is docked with charging unit (100), it unclamps battery (20), and after manipulator (120) is put into new battery (20), new battery (20) are locked.By using Electric control lock catch device, charging unit to replace the battery on transport vehicle to transport vehicle power supply and manipulator on transport vehicle, so that transport vehicle replaces battery in the state of not powering off, improves transport vehicle and change the efficiency of battery and avoid the complication of manipulator.
Description
Technical field
This application involves transport field, more particularly to a kind of Electric control lock catch device, transport vehicle and its move battery system certainly
System and method.
Background technique
Existing electrical equipment, such as sweeping robot or motor dolly, they are only with to the electricity entrained by itself
Pond is charged, or manually replaces battery in the power-off state, or replace battery using sufficiently complex mechanical hand, greatly
The working time of electrical equipment is occupied, also manipulator is complicated, cost needed for increasing automatic exchange battery.
Summary of the invention
The application provides a kind of Electric control lock catch device, transport vehicle and its moves battery system and method certainly, is able to solve fortune
The problem of defeated vehicle is complicated from the low efficiency and manipulator for moving battery.
In order to solve the above technical problems, the technical solution that the application uses is: providing a kind of transport vehicle from moving electricity
Cell system.The transport vehicle includes transport vehicle, charging unit and manipulator from battery system is moved, and charging unit is used in transport vehicle
After interfaced, charge to transport vehicle；Transport vehicle includes battery and Electric control lock catch device, and Electric control lock catch device is for locking
Or unclamp battery；Manipulator is used to take out the battery of transport vehicle when charging unit charges to transport vehicle and be put into new battery；
Electric control lock catch device is at least used for after transport vehicle is docked with charging unit, unclamps battery, and new electricity is put into manipulator
Chi Hou locks new battery.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of transport vehicle and change battery
Method.This method comprises: control transport vehicle is to filling when detecting that the battery capacity of transport vehicle is equal to or less than a given threshold
It moves at electric installation and is docked with charging unit；Detect that transport vehicle is docked with charging unit completion, control Electric control lock catch unclamps
Battery；It controls manipulator and takes out battery, and be put into new battery.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of Electric control lock catch device.
The Electric control lock catch device includes sliding rail, sliding block, pin member, oscillating guidebar mechanism and motor, and sliding block is slidably supported on sliding rail, is inserted
Pin member is fixedly connected with a slide block, and the shaft of motor is connected with oscillating guidebar mechanism, passes through driving oscillating guidebar mechanism band movable slider
With pin member along sliding rail reciprocally swinging, to realize the latching function of pin member.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of transport vehicle.The transport
Vehicle includes above-mentioned Electric control lock catch device.
The beneficial effect of the application is: being in contrast to the prior art, transport vehicle disclosed in the present application moves battery certainly
System using Electric control lock catch device lock or unclamp transport vehicle on battery, Electric control lock catch device be at least used for transport vehicle with fill
After electric installation docking, battery is unclamped, and after being put into new battery in manipulator, the new battery is locked, so that transport vehicle exists
The replacement that battery is completed in the case where not powering off is used to transport vehicle charging or under transport vehicle power blackout situation mechanical relative to only
Hand replaces battery, and the application powers to transport vehicle using charging unit, and then transport vehicle provided by the present application is in the replacement battery phase
Between can actively lock or unclamp battery, for manipulator save locking or unclamp battery operating procedure, strengthen transport vehicle
Interactivity between manipulator, lower compared to power-off to replace battery, the application at least saves switch this process of transport vehicle,
Reduce transport vehicle from battery is changed to required duration can be worked normally, thus technical solution provided by the present application not only improves
The efficiency that transport vehicle changes battery also avoids the complication of manipulator.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, in which:
Fig. 1 is the structural schematic diagram of one embodiment of transport vehicle provided by the present application；
Fig. 2 is the structural schematic diagram of Electric control lock catch device in Fig. 1 transport vehicle；
Fig. 3 is the enlarged structure schematic diagram in I region of Fig. 2 Electric control lock catch device；
Fig. 4 is the structural schematic diagram of pin member in Fig. 2 Electric control lock catch device；
Fig. 5 is the structural schematic diagram of battery in Fig. 1 transport vehicle；
Fig. 6 is the configuration schematic diagram of the battery shell component of Fig. 5 battery；
Fig. 7 is the structural schematic diagram of hub motor and damping device in Fig. 1 transport vehicle；
Fig. 8 is the cross section structure schematic diagram of Fig. 1 transport vehicle；
Fig. 9 is the structural schematic diagram that transport vehicle provided by the present application moves one embodiment of battery system certainly；
Figure 10 is the status diagram that transport vehicle is docked with charging unit in Fig. 9；
Figure 11 is the status diagram that Fig. 9 manipulator loads battery to transport vehicle；
Figure 12 is the flow diagram for one embodiment of method that transport vehicle provided by the present application changes battery.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other when not making creative work
Embodiment belongs to the range of the application protection.
Refering to fig. 1, the structural schematic diagram of one embodiment of transport vehicle provided by the present application.
The transport vehicle includes Electric control lock catch device 10, and Electric control lock catch device 10 is for locking or unclamping the battery on transport vehicle
20, battery 20 is used to provide power to transport vehicle.Wherein, Electric control lock catch device 10 meet impose a condition under, automatically lock or
Unclamp battery 20.
Specifically, which further includes electric quantity detection apparatus 31 and control device 30, and electric quantity detection apparatus 31 is for examining
The electricity of battery 20 is surveyed, electric quantity detection apparatus 31, Electric control lock catch device 10 are connect with 30 signal of control device.
Wherein, when electric quantity detection apparatus 31 detects that 20 electricity of battery is equal to or less than a certain given threshold, control device
30 control transport vehicles are docked with charging unit.For example, electric quantity detection apparatus 31 detects battery capacity lower than its total electricity
10%, then the first signal is issued to control device 30.Control device 30 issues the first instruction according to the first signal, first instruction
Transport vehicle automatic cruising is controlled at charging unit, and docks charging with charging unit.
When electric quantity detection apparatus 31 detects that transport vehicle is docked with charging unit completion, control device 30 controls Electric control lock catch
Device 10 unclamps battery 20.After electric quantity detection apparatus 31 detects that charging unit starts power supply to transport vehicle, control device 30 is given
Issue second signal.Control device 30 issues the second instruction according to second signal, the second instruction control Electric control lock catch device 10
Unclamp battery 20 so that battery 20 be in can landing state.
Battery 20 for example unloads transport vehicle by manipulator, and the new battery 20 that manipulator will be filled with electricity is packed into transport vehicle,
New battery 20 starts to be powered transport vehicle.When electric quantity detection apparatus 31 detects that new battery 20 is loaded into transport vehicle,
Control device 30 controls Electric control lock catch device 10 and locks new battery 20.I.e. electric quantity detection apparatus 31 detects that new battery 20 is opened
Beginning is when being powered transport vehicle, or detect new battery 20 to transport vehicle be in can power supply state when, give control device 30
Issue third signal.Control device 30 issues third instruction, third instruction control Electric control lock catch device 10 according to third signal
New battery 20 is locked, and transport vehicle is being made to be transposed to operating mode later, transport vehicle starts execution task.
In turn, transport vehicle provided herein can complete the replacement of battery 20, be conducive to transport under the situation not powered off
It is in operating mode in the defeated vehicle time as much as possible, and can charge the battery at the idling mode.
Optionally, electric quantity detection apparatus 31 e.g. detects the sensor or sensing of voltage, electric current at multiple nodes etc.
The set of device, the application specifically select which kind of element or sensor to reach above-mentioned control process with no restriction it.Control device
30 be, for example, PC (PC), integral control circuit etc., and this is not restricted.
Specifically, referring to Fig.2, the Electric control lock catch device 10 includes sliding rail 11, sliding block 12, pin member 13, pendulum guide rod machine
Structure 14 and motor 15.Sliding block 12 is slidably supported on sliding rail 11, and pin member 13 is fixedly connected with sliding block 12, and the shaft of motor 15 connects
Be connected to oscillating guidebar mechanism 14, by driving oscillating guidebar mechanism 14 with movable slider 12 and pin member 13 along sliding rail 11 toward physical pendulum
It is dynamic, to realize the latching function of pin member 13.
Electric control lock catch device 10 is installed on the vehicle frame 40 on transport vehicle.In the present embodiment, sliding rail 11 and vehicle frame 40 are fixed
Connection, motor 15 is set on vehicle frame 40 by connector, such as motor 15 is set to the side of vehicle frame 40.Motor 15 is, for example,
Servo motor can be driven by control.
In conjunction with refering to Fig. 2, Fig. 3, oscillating guidebar mechanism 14 includes swing rod 141 and guide block 142, and guide block 142 and sliding block 12 are solid
Fixed connection, swing rod 141 are slidably connected with guide block 142, and motor 15 drives swing rod 141 to swing, to pass through guide block 142 with movable slider 12
Along 11 reciprocally swinging of sliding rail.
In the present embodiment, guide block 142 is equipped with guide groove 143, and the first end of swing rod 141 is connect with the shaft of motor 15,
The second end of swing rod 141 is arranged to move along guide groove 143, and motor 15 drives swing rod 141 to swing, so that second end is being led
It is moved into slot 143, band movable slider 12 is along 11 reciprocally swinging of sliding rail.For example, guide groove 143 can be groove type hole, the of swing rod 141
Two ends are equipped with idler wheel, and idler wheel can roll in the inner sidewall of guide groove 143, and then when the driving swing rod 141 of motor 15, swing rod 141 with
It is swung centered on first end, second end generates extruding force to guide groove 143, and driving sliding block 12 is moved along sliding rail 11.
In another embodiment, groove type hole can be set on swing rod 141, and guide block 142 is equipped with idler wheel, idler wheel and groove type hole are rolled
Dynamic connection.
Length direction on sliding block 12 along sliding rail 11 is arranged at intervals with multiple pin members 13, one of pin member 13 with lead
Block 142 is wholely set.Optionally, a pin member 13 can be also only set on sliding block 12, and pin member 13 can also be with guide block 142 each other
It is provided independently from sliding block 12.Specifically, pin member 13 there are two being set on sliding block 12, wherein close to the pin member 13 of motor 15
It is arranged to integral structure with guide block, is easily installed.
Refering to Fig. 4, pin member 13 includes the pinboard 131 and connecting plate 132 of integral structure, pinboard 131 and connecting plate
132 are vertically arranged, and connecting plate 132 is fixedly connected with sliding block 12.Wherein, the one end of pinboard 131 on 11 axis direction of sliding rail
Equipped with guiding surface 133.Sliding block 12 drives pin member 13 to move under the driving of motor 15, pinboard 131 and 20 grafting of battery
Or separation, to lock or unclamp battery 20, and then realize the latching function of pin member 13.The Electric control lock catch device 10 is not limited to answer
In the fields such as transport vehicle.
Refering to Fig. 5, Fig. 6, battery 20 includes battery shell component 21 and power supply 22, and battery shell component 21 is equipped with electric power connecting
Device 211, power supply 22 are set in battery shell component 21 and are electrically connected with power pluging connection 211, transported by 211 Duis of power pluging connection
Defeated vehicle is powered.
Specifically, battery shell component 21 includes plugboard 212 and picks up seat 213, and plugboard 212 with pin member 13 for matching
Connection is closed, seat 213 is picked up and is arranged for the fastener structure for cooperating external manipulator to pick up.For example, battery shell component 21 also wraps
First shell 214, second shell 215 are included, the top and bottom of battery shell component 21 are by first shell 214, second shell 215
Composition.First shell 214, second shell 215 are equipped with the first clamping portion, and first shell 214 and second shell 215 pass through first
Clamping portion links into an integrated entity.The front/rear end of battery shell component 21, which is respectively equipped with, picks up seat 213 and plugboard 212, picks up seat 213
It is fixedly connected with top surface, the first shell 214 of bottom surface and second shell 215 is located at.Grafting there are two being set on battery shell component 21
Plate 212, one of plugboard 212 are fixedly connected with two first shells 214 for being located at top surface, bottom surface, another plugboard 212
It is fixedly connected with two second shells 215 for being located at top surface, bottom surface, and then plugboard 212 and pickup seat 213 ensure that battery case group
The integrally-built stability of part 21.It is equipped with third shell 216 in the two sides of battery shell component 21, is set on third shell 216
There is the second clamping portion with first shell 214, the contraposition clamping of second shell 215, and connects by the way that the modes such as viscose glue or screw are fixed
It connects.One of third shell 216 is equipped with power pluging connection 211.
One end ipsilateral with seat 213 is picked up is equipped with barrier plate 217, barrier plate in first shell 214, second shell 215
217 for preventing the machinery hand-power when loading of battery 20 from spending the connector for making to cooperate on transport vehicle with power pluging connection 211 greatly
Damage.The side of barrier plate 217 towards transport vehicle is additionally provided with cushion 218.
In addition, first shell 214, second shell 215 and third shell 216 are all made of engraved structure, battery case is alleviated
The weight of component.It picks up and is additionally provided with alignment grooves 219 in the middle part of fastener structure on seat 213, for being aligned with external manipulator.
With continued reference to Fig. 1, charge port 50 is additionally provided on transport vehicle, charge port 50 is set on transport vehicle phase each other with battery 20
Pair both ends, to be conveniently replaceable battery 20 when transport vehicle charges.Certainly, battery 20 can also be set to transport with respect to charge port 50
Other orientation on vehicle.
Transport vehicle further includes Crashworthy plate 51, and charge port 50 is set on Crashworthy plate 51, and 51 both ends of Crashworthy plate are equipped with guide part
511, guide part 511 when transport vehicle is docked with charging unit for being oriented to.For example, setting on Crashworthy plate 51, there are two fill
Power port 50, charging unit can be powered transport vehicle by charge port 50 or charge to battery 20.Guide part 511 is in circle
Arcuation, the spacing between the outboard end of two guide parts 511 are greater than the width of transport vehicle, and then deviate in transport vehicle and fill with charging
When setting contraposition, guide part 511 can assistant conveyance vehicle aligned with charging unit.
It further include radar sensor 52 on transport vehicle, radar sensor 52 is located at one that transport vehicle is equipped with Crashworthy plate 51
End, for detecting the spatial information in 51 front of Crashworthy plate.
On transport vehicle, the top of radar sensor 52 be additionally provided with vision inspection apparatus 53, vision inspection apparatus 53 is at least used
In when transport vehicle needs are docked with charging unit, the position of charging unit is detected.
Radar sensor 52, vision inspection apparatus 53 are connect with 30 signal of control device, and control device 30 is according to radar
The spatial information of sensor detection, plans the travel path of transport vehicle, avoiding barrier；Control device 30 is filled according to vision-based detection
The image for setting 53 acquisitions identifies information of object, such as identification charging unit etc..
In conjunction with refering to fig. 1, Fig. 7, transport vehicle further includes hub motor 60 and damping device 70, and hub motor 60 passes through damping
Device 70 is set in the rack 40 of transport vehicle.Damping device 70 is, for example, spring vibration damper, pneumatic bumper or oil pressure
Damping device etc..
Damping device 70 include oblique swing arm 71 and dynamic mount 72, the both ends of oblique swing arm 71 respectively with transport vehicle, hub motor
60 is hinged, and dynamic mount 72 is fixedly connected with hub motor 60, and the other end of dynamic mount 72 is flexibly connected with transport vehicle.Specifically,
Integral independent component is arranged in damping device 70 and hub motor 60, in order to assemble with vehicle frame 40.For example, damping device 70
It further include mounting plate 73, oblique swing arm 71 is hinged with mounting plate 73, and dynamic mount 72 is flexibly connected with mounting plate 73, and mounting plate 73 is fixed
It is connected on vehicle frame 40.In other embodiments, dynamic mount 72 and oblique swing arm 71 can be also directly arranged on vehicle frame 40.
Specifically, dynamic mount 72 includes connection frame 721, damping spring 723 and connecting rod 724, connection frame 721 and hub motor
60 are fixedly connected, and 724 one end of connecting rod is fixedly connected with connection frame 721, and the other end is slidably connected with transport vehicle, damping spring 723
It is sheathed on connecting rod 724 and between connection frame 721 and transport vehicle.In the present embodiment, i.e. the other end of connecting rod 724 and installation
Plate 73 is slidably connected, and damping spring 723 is sheathed on connecting rod 724 and compresses and is connected between connection frame 721 and mounting plate 73.
In turn, two hub motors 60 are set along the width direction interval of transport vehicle at the middle part of transport vehicle, in transport vehicle
Multiple groups driven wheel is arranged in length direction, and driven wheel is, for example, universal wheel, and every group of driven wheel is set along the width direction interval of transport vehicle
Set so that transport vehicle run smoothly.Control device 30 using include control two hub motors 60 carry out differential rotation by the way of,
Adjust the direction of travel of transport vehicle.
In conjunction with refering to fig. 1, Fig. 8, transport vehicle further includes radiating subassembly 80, and radiating subassembly 80 includes heat radiation supported 81 and heat dissipation
Frame 82, control device 30 are set on transport vehicle by heat radiation supported 81, and heat radiation rack 82 is set on control device 30 away from scattered
One end of hot support 81.
Heat radiation supported 81 is equipped with hollow channel 811, and one end of 81 connection transportation vehicle of heat radiation supported is equipped with blow vent 812, leads to
Port 812 is communicated with hollow channel 811, and then can reinforce the heat-sinking capability to control device 30.Blow vent 812, which can be, to be set
In the port, notch or their combination of heat radiation supported 81.Heat radiation rack 82 is, for example, thermally conductive aluminum profile, in addition to as auxiliary heat radiation
Assistant piece is alternatively arranged as the mounting fixing parts of the printed circuit board (PCB) in control device 30.The printed circuit board is set to middle control
It is fixedly connected in device 30 and with heat radiation rack 82, further enhances heat radiation rack 82 to its capacity of heat transmission.
In addition, being additionally provided with emergency stop key 91 on transport vehicle, which connect with 30 signal of control device.It is transporting
It is used for the top surface side of bearing goods on vehicle, is additionally provided with touch sensor 92, whether transport vehicle holds touch sensor 92 for identification
It is loaded with cargo, touch sensor 92 is connect with 30 signal of control device.For example, tactile passes when cargo to be loaded on transport vehicle
Sensor 92 senses that cargo, such as cargo have pressure to touch sensor 92, and touch sensor 92 issues one to control device 30
Signal, control device 30 control transport vehicle and transport cargo to target position.
Refering to Fig. 9, transport vehicle provided by the present application moves the structural schematic diagram of one embodiment of battery system certainly.
It is each in the present embodiment in order to understand please in combination with the title and label of each component of transport vehicle in above-described embodiment
The title and label of component.
The transport vehicle includes charging unit 100, manipulator 120 and transport vehicle 110 as described above from battery system is moved.
Wherein, charging unit 100 is used for after transport vehicle 110 is interfaced, is charged to transport vehicle 110；Transport vehicle
110 include battery 20 and Electric control lock catch device 10, and Electric control lock catch device 10 is for locking or unclamping battery 20；Manipulator 120 is used
In when charging unit 100 charges to transport vehicle 110, takes out the battery 20 of transport vehicle 110 and be put into new battery 20.
Electric control lock catch device 10 is at least used for after transport vehicle 110 is docked with charging unit 100, unclamps battery 20, and
After being put into new battery 20 in manipulator 120, new battery 20 is locked.
Under another application scene, Electric control lock catch device 10 can also it is not limited and unclamp or locking battery 20.For example,
Electric control lock catch device 10 arrives the signal of control device 30 according only to the feedback of electric quantity detection apparatus 31, executes and unclamps or lock battery
Instruction.Further, when electric quantity detection apparatus 31 detects that the electricity of battery 20 reaches the release threshold value of a certain setting, electricity
Detection device 31 issues signal to control device 30, and control device 30, which receives signal and then controls Electric control lock catch device 10, to be unclamped
Battery 20；When electric quantity detection apparatus 31 detects that the electricity of battery 20 reaches the locking threshold value of a certain setting, electric power detection dress
It sets 31 and issues another signal to control device 30, control device 30 receives signal and then controls Electric control lock catch device 10 and locks
Battery 20.Another embodiment is additionally provided with reserve battery on transport vehicle 110, and then is equal to or less than certain in the electricity of battery 20
When one given threshold, it can not be docked with charging unit 110 and control Electric control lock catch device 10 and unclamp battery 20.
0, Figure 10 docks the situation to charge with charging unit 100 for transport vehicle 110 refering to fig. 1.Electric quantity detection apparatus
31 detect 20 electricity of battery be equal to or less than a certain given threshold when, to control device 30 issue the first signal, control device
30, which receive the first signal, controls transport vehicle 110 to traveling at charging unit 100, and the space acquired according to radar sensor 52
Information, the travel path of planning transport vehicle 110, avoids colliding with barrier, the detection identification charging of vision inspection apparatus 53
Identification code on device 100, to identify position and the information of charging unit 100, the guide part 511 on transport vehicle 110 can be auxiliary
The charge port 50 helped on adjustment transport vehicle 110 is docked with charging unit completion, is charged.
Referring again to Fig. 9, Fig. 9 be battery 20 be in can landing state when, manipulator 120 prepares feelings when unloading battery
Shape.When electric quantity detection apparatus 31 detects that transport vehicle is docked with the completion of charging unit 110, that is, detect 100 pairs of charging unit fortune
After defeated vehicle 110 starts power supply, second signal is issued to control device 30, control device 30 receives second signal and controls Electric control lock catch
Device 10 unclamp battery 20 so that battery 20 be in can landing state.
Refering to fig. 11, after battery 20 unloads transport vehicle 110 by manipulator 120, manipulator 120 will be filled with the new electricity of electricity
Pond 20 is packed into transport vehicle 110, and new battery 20 starts to be powered transport vehicle 110.Electric quantity detection apparatus 31 detects new
After battery 20 is loaded into transport vehicle 110, i.e., after new battery 20 starts power supply to transport vehicle 110, control device 30 controls automatically controlled
Locker 10 locks new battery 20.Later, control device 30 controls transport vehicle 110 and sails out of charging unit 100, starts work
Make.
Refering to fig. 12, transport vehicle provided by the present application changes the flow diagram of one embodiment of method of battery.
Step 11: when detecting that the battery capacity of transport vehicle is equal to or less than a given threshold, controlling transport vehicle to charging
It moves at device and is docked with charging unit.
Specifically, transport vehicle is equipped with electric quantity detection apparatus and control device, and electric quantity detection apparatus is at least used to detect fortune
The electricity of battery on defeated vehicle is sent out when the battery capacity for detecting transport vehicle is equal to or less than a given threshold to control device
First signal out, control device receives the first signal and controls transport vehicle to be moved at charging unit, and is completed pair with charging unit
It connects, to charge.
Step 12: detecting that transport vehicle is docked with charging unit completion, control Electric control lock catch device unclamps battery.
Detect that transport vehicle is docked with charging unit completion, i.e., electric quantity detection apparatus detects that charging unit opens transport vehicle
Beginning to issue second signal to control device after charging, control device receives second signal control Electric control lock catch device and unclamps battery,
So that battery be in can landing state.
Step 13: control manipulator takes out battery, and is put into new battery.
Battery unloads transport vehicle by manipulator, and the new battery that manipulator will be filled with electricity is packed into transport vehicle, new battery
Start to be powered transport vehicle.
Later, after electric quantity detection apparatus detects that new battery is put into transport vehicle, that is, detect that new battery starts pair
After transport vehicle is powered, third signal is issued to control device, control device receives third signal control Electric control lock catch device lock
Tight new battery, and transport vehicle is driven to leave charging unit.
It is in contrast to the prior art, transport vehicle disclosed in the present application is from battery system is moved using Electric control lock catch device
Battery in locking or release transport vehicle, Electric control lock catch device are at least used for after transport vehicle is docked with charging unit, unclamp electricity
Pond, and after being put into new battery in manipulator, the new battery is locked, so that transport vehicle completes electricity in case of constant power
The replacement in pond, relative to only charging to transport vehicle or replacing battery using manipulator under transport vehicle power blackout situation, the application is sharp
It is powered with charging unit to transport vehicle, and then transport vehicle provided by the present application actively can be locked or be unclamped during replacing battery
Battery saves locking for manipulator or unclamps the operating procedure of battery, strengthens the interactivity between transport vehicle and manipulator,
Lower compared to power-off to replace battery, the application at least saves switch this process of transport vehicle, reduces transport vehicle from changing battery
To can work normally required duration, thus technical solution provided by the present application not only increases the efficiency that transport vehicle changes battery
Also avoid the complication of manipulator.
Above is only an example of the present application, it is not intended to limit the scope of the patents of the application, it is all to utilize this Shen
Please equivalent structure or equivalent flow shift made by specification and accompanying drawing content, be applied directly or indirectly in other relevant skills
Art field similarly includes in the scope of patent protection of the application.
Claims (20)
1. a kind of transport vehicle moves battery system certainly, which is characterized in that the system comprises transport vehicle, charging unit and machinery
Hand；
Wherein, the charging unit is used for after the transport vehicle is interfaced, is charged to the transport vehicle；The transport
Vehicle includes battery and Electric control lock catch device, and the Electric control lock catch device is for locking or unclamping the battery；The manipulator is used
In when the charging unit charges to the transport vehicle, takes out the battery of the transport vehicle and be put into new battery；
The Electric control lock catch device is at least used for after the transport vehicle is docked with the charging unit, unclamps the battery, with
And after being put into new battery in the manipulator, the new battery is locked.
2. system according to claim 1, which is characterized in that the Electric control lock catch device includes:
Sliding rail；
Sliding block is slidably supported on the sliding rail；
Pin member is fixedly connected with the sliding block；
The shaft of motor, the motor is connected with oscillating guidebar mechanism, by driving the oscillating guidebar mechanism to drive the cunning
Block and the pin member are along the sliding rail reciprocally swinging, to realize the latching function of the pin member.
3. system according to claim 2, which is characterized in that the oscillating guidebar mechanism includes swing rod and guide block, described
Guide block is fixedly connected with the sliding block, and the swing rod is slidably connected with the guide block, and swing rod described in the motor driven is swung, with
Drive the sliding block along the sliding rail reciprocally swinging by the guide block.
4. system according to claim 3, which is characterized in that the guide block be equipped with guide groove, the first of the swing rod
End is connect with the shaft of the motor, and the second end of the swing rod is arranged to move along the guide groove, and the motor drives
It moves the swing rod to swing, so that the second end moves in the guide groove, drives the sliding block along the sliding rail toward physical pendulum
It is dynamic.
5. system according to claim 4, which is characterized in that the length direction interval on the sliding block along the sliding rail is set
Multiple pin members are equipped with, one of them described pin member is wholely set with the guide block.
6. system according to claim 5, which is characterized in that the pin member includes pinboard and the connection of integral structure
Plate, the pinboard are vertically arranged with the connecting plate, and the connecting plate is fixedly connected with the sliding block.
7. system according to claim 6, which is characterized in that the one end of the pinboard on the sliding rail axis direction
Equipped with guiding surface.
8. system according to claim 1, which is characterized in that the transport vehicle further includes electric quantity detection apparatus and middle control dress
It sets, the electric quantity detection apparatus is used to detect the electricity of the battery, and the electric quantity detection apparatus, the Electric control lock catch device are equal
It is connect with the control device signal；
Wherein, when the electric quantity detection apparatus detects that the battery capacity is equal to or less than a certain given threshold, the middle control
Device controls the transport vehicle and docks with the charging unit；The electric quantity detection apparatus detects that the transport vehicle is filled with described
When electric installation completes docking, the control device controls the Electric control lock catch device and unclamps the battery；The electric power detection dress
It sets when detecting that new battery is loaded into the transport vehicle, it is described new that the control device controls the Electric control lock catch device locking
Battery.
9. a kind of method that transport vehicle changes battery characterized by comprising
When detecting that the battery capacity of transport vehicle is equal to or less than a given threshold, the transport vehicle is controlled to fortune at charging unit
It moves and is docked with the charging unit；
Detect that the transport vehicle is docked with charging unit completion, control Electric control lock catch unclamps the battery；
It controls manipulator and takes out the battery, and be put into new battery.
10. according to the method described in claim 9, it is characterized in that, the control manipulator replace the battery the step of it
Afterwards, further includes:
After detecting that the new battery is put into the transport vehicle, control Electric control lock catch locks the new battery and drives institute
It states transport vehicle and leaves the charging unit.
11. a kind of Electric control lock catch device characterized by comprising
Sliding rail；
Sliding block is slidably supported on the sliding rail；
Pin member is fixedly connected with the sliding block；
The shaft of motor, the motor is connected with oscillating guidebar mechanism, by driving the oscillating guidebar mechanism to drive the cunning
Block and the pin member are along the sliding rail reciprocally swinging, to realize the latching function of the pin member.
12. Electric control lock catch device according to claim 11, which is characterized in that the oscillating guidebar mechanism include swing rod and
Guide block, the guide block are fixedly connected with the sliding block, and the swing rod is slidably connected with the guide block, are put described in the motor driven
Bar is swung, to drive the sliding block along the sliding rail reciprocally swinging by the guide block.
13. Electric control lock catch device according to claim 12, which is characterized in that the guide block is equipped with guide groove, described
The first end of swing rod is connect with the shaft of the motor, and the second end of the swing rod is arranged to move along the guide groove,
Swing rod described in the motor driven is swung, so that the second end is slided in the guide groove, drives the sliding block described in
Sliding rail reciprocally swinging.
14. Electric control lock catch device according to claim 13, which is characterized in that along the length of the sliding rail on the sliding block
Direction is arranged at intervals with multiple pin members, one of them described pin member is wholely set with the guide block.
15. Electric control lock catch device according to claim 14, which is characterized in that the pin member includes inserting for integral structure
Pin plate and connecting plate, the pinboard are vertically arranged with the connecting plate, and the connecting plate is fixedly connected with the sliding block.
16. Electric control lock catch device according to claim 15, which is characterized in that the pinboard is along the sliding rail axis side
Upward one end is equipped with guiding surface.
17. a kind of transport vehicle, which is characterized in that the transport vehicle includes such as the described in any item electric control locks of claim 11-16
Buckle device, the Electric control lock catch device is for locking or unclamping the battery on the transport vehicle.
18. transport vehicle according to claim 17, which is characterized in that the transport vehicle further includes electric quantity detection apparatus in
Device is controlled, the electric quantity detection apparatus is used to detect the electricity of the battery, the electric quantity detection apparatus, the electric control lock spiral-lock
It sets and equal is connect with the control device signal；
Wherein, when the electric quantity detection apparatus detects that the battery capacity is equal to or less than a certain given threshold, the middle control
Device controls the transport vehicle and docks with charging unit；The electric quantity detection apparatus detects that the transport vehicle and charging unit are complete
When at docking, the control device controls the Electric control lock catch device and unclamps the battery；The electric quantity detection apparatus detects
When new battery is loaded into the transport vehicle, the control device controls the Electric control lock catch device and locks the new battery.
19. transport vehicle according to claim 18, which is characterized in that charge port is additionally provided on the transport vehicle, it is described to fill
Power port and the battery are set to both ends relative to each other on the transport vehicle.
20. transport vehicle according to claim 19, which is characterized in that the transport vehicle further includes Crashworthy plate, the charging
Mouth is set on Crashworthy plate, and the anticollision board ends are equipped with guide part, and the guide part is used in the transport vehicle and charging dress
It is oriented to when setting docking.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/088662 WO2019227277A1 (en) | 2018-05-28 | 2018-05-28 | Electronically controlled locking device, carrier vehicle, and automatic battery replacement system and method therefor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110023156A true CN110023156A (en) | 2019-07-16 |
Family
ID=67188841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880003641.9A Pending CN110023156A (en) | 2018-05-28 | 2018-05-28 | Electric control lock catch device, transport vehicle and its move battery system and method certainly |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110023156A (en) |
| WO (1) | WO2019227277A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459873A (en) * | 2021-06-21 | 2021-10-01 | 上汽通用五菱汽车股份有限公司 | Logistics vehicle automatic power changing method, network platform and readable storage medium |
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Also Published As
| Publication number | Publication date |
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| WO2019227277A1 (en) | 2019-12-05 |
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