CN111823932A - Intelligent positioning system for battery replacement of electric cars of different models - Google Patents
Intelligent positioning system for battery replacement of electric cars of different models Download PDFInfo
- Publication number
- CN111823932A CN111823932A CN201910250461.7A CN201910250461A CN111823932A CN 111823932 A CN111823932 A CN 111823932A CN 201910250461 A CN201910250461 A CN 201910250461A CN 111823932 A CN111823932 A CN 111823932A
- Authority
- CN
- China
- Prior art keywords
- positioning
- conical
- taper
- electric
- taper pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 35
- 238000000034 method Methods 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 16
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000012360 testing method Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000011295 pitch Substances 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- 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)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
An intelligent positioning system for replacing batteries of electric coaches of different vehicle types comprises: the positioning unit comprises one or more groups of telescopic taper pins, and the one or more groups of taper pins are respectively arranged on the holder according to the positions of one or more corresponding tapered positioning sleeves at the bottom of the electric motor coach; the cradle head is used for enabling the positioning unit to move on a plane formed in the X direction and the Y direction within a preset movement range, and meanwhile, the cradle head can move up and down in the Z direction, so that the positioning unit and the conical positioning sleeve at the bottom of the electric motor coach reach a preset joint position, and positioning before the electric motor coach is replaced is completed. The invention solves the problems that the positioning of various electric motor coaches with different wheel tracks and different wheel base can be ensured, the structure is relatively simple, and the requirement on the power exchange environment is not high, which is needed to be solved at present.
Description
Technical Field
The invention relates to the field of battery replacement of power batteries of small electric buses, in particular to an intelligent positioning system for replacing batteries of small electric buses of different vehicle types.
Background
With the shortage of global energy, the problem of environmental pollution is becoming more serious, and under the large trend of environmental protection and clean energy concept, the electric passenger car has a very wide development prospect because the influence on the environment is smaller than that of the traditional car. The electric motor coach is a coach which takes a vehicle-mounted power supply as power and drives wheels to run by a motor, and meets various requirements of road traffic and safety regulations. The power battery is the core of the electric motor coach, but the insufficient cruising ability of the power battery is the bottleneck troubling the development of the electric motor coach.
The operation mode that the power battery is not required to be charged and only the electric vehicle is reloaded with the power battery full of electric power appears now, so that the time for a user to wait for charging the power battery is shortened, the time is basically the same as the time for refueling the traditional automobile, and the habit of the user for using the automobile does not need to be changed. A quick-change mode: the small electric motor coach running into the battery replacement station directly replaces the charged power battery through the battery replacement equipment in the battery replacement station, so that the small electric motor coach with the power battery of the small electric motor coach with insufficient electric quantity is convenient and quick, but the battery replacement technology is not mature.
In the battery replacement mode, the power battery is arranged on the body of the electric motor coach, the size of the power battery is large (the length and the width are several meters generally) and the weight of the power battery is large (several hundred kilograms), and the safety requirement on the battery replacement mode is high; and the wheelbase and the wheel base of the electric motor coach of different models are different, even the size of the power battery is different, the current power exchange device in the power exchange mode is mainly suitable for the electric motor coach of a single model, the power battery of the electric motor coach of other models with different wheelbase/different wheel base can not be replaced, and under the concept of global new energy vehicle construction, the power battery of the electric motor coach of a single model can only be replaced, which is a great waste of resources.
In the current power replacement scheme, the positioning between the power replacement system and the vehicle to be replaced is a key element for realizing the power battery replacement scheme, and the success rate and the accuracy of the positioning directly influence the success rate of power replacement and the reliability and the service life of the power battery. In the current scheme, positioning is carried out by combining images with machinery, so that the requirement on the environment is high, and positioning is difficult if the conditions of poor light such as rain, snow and fog and large temperature and humidity change are met; therefore, the existing power conversion system has the technical defects of complex structure, complex flow, higher cost and overhigh requirement on positioning environment.
Therefore, a new technical scheme of a power change positioning structure is needed at present, which can ensure that various electric cars with different wheel bases and different wheel bases can be positioned, has a relatively simple structure, has low requirements on power change environments, and is a problem to be solved at present.
Disclosure of Invention
The invention aims to provide an intelligent positioning system for replacing batteries of small electric buses of different vehicle types, so as to solve the problems of capability of positioning various small electric buses with different wheel bases and different wheel bases, relatively simple structure and low requirement on power replacement environment.
In order to solve the above problems, the present invention provides an intelligent positioning system for replacing batteries of electric cars of different models, comprising: a positioning unit and a head, wherein,
the positioning unit comprises one or more groups of telescopic taper pins, and the one or more groups of taper pins are respectively arranged on the holder according to the positions of one or more corresponding tapered positioning sleeves at the bottom of the electric motor coach; the number of the conical pins is the same as that of the conical positioning sleeves, the conical pins comprise positioning conical pins, conical cusps of the positioning conical pins are upward, and the angle of a conical angle of the conical cusps of the positioning conical pins is matched with the opening angle of the conical positioning sleeves;
the holder is used for enabling the positioning unit to move on a plane formed in the X direction and the Y direction in a preset movement range and simultaneously move up and down in the Z direction; after the electric passenger car drives into the battery replacement station to complete vehicle positioning, the cradle head moves upwards along the Z direction and freely moves on a plane formed in the X direction and the Y direction, so that the positioning unit is inserted into a conical positioning sleeve at the bottom of the electric passenger car and then is driven to move in a conical automatic centering mode, and after a position error generated in the process of replacing a power battery is compensated, the positioning unit and the conical positioning sleeve at the bottom of the electric passenger car reach a preset joint position, and positioning before battery replacement of the electric passenger car is completed; the X direction is an axial direction opposite to a direction in which the vehicle keeps running straight on a horizontal ground, the Y direction is an axial direction perpendicular to the X direction on a vehicle chassis plane, and the Z direction is an axial direction perpendicular to a plane formed by the X direction and the Y direction.
Compared with the prior art, the intelligent positioning system can ensure that the locking mechanism needs to be accurately positioned before the small electric passenger car is disassembled from the insufficient-power battery and installed with the full-power battery. In the lifting and descending processes of the unlocking device of the battery replacing robot, the intelligent positioning system realizes automatic positioning, and is efficient and accurate through a mechanical positioning mode that a positioning taper pin in a positioning unit is inserted into a tapered positioning sleeve at the bottom of the electric passenger car; through practical test, the intelligent positioning system of this application makes the electronic minibus change the time control of a power battery within 3 minutes, and job stabilization is reliable, trades the electric efficiency height, accords with the demand that trades the power station high frequency and stabilize and trade the electricity, and requires lowly to the location environment, adapts to the environment of various trades electricity, has reduced the equipment cost who trades the power station simultaneously, is convenient for electronic minibus's extensive commercial popularization.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent positioning system for exchanging power of an electric car of different vehicle types (i.e., electric cars of different vehicle types with different wheel track/different wheel base) according to the present invention;
FIG. 2 is a schematic structural diagram of an unlocking device to which the present invention is applied;
FIG. 3 is a schematic view of the positioning unit according to the present invention;
FIG. 4 is a schematic structural view (unlocked state) of a return device of the present invention;
FIG. 5 is a schematic diagram of the present invention illustrating the positioning of the electric switching robot by the intelligent positioning system;
FIG. 6 is a schematic structural diagram of a locking mechanism for replacing batteries of electric cars of different models in the invention;
fig. 7 is a schematic structural diagram of a power battery 20 to which the present invention is applied;
fig. 8 is a schematic structural diagram of the battery locking and positioning unit T of the locking mechanism of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Note: in the present application, the X direction means an axial direction that is a direction opposite to a direction in which the vehicle keeps traveling straight on a horizontal ground surface, the Y direction means an axial direction perpendicular to the X direction on a vehicle chassis plane, and the Z direction means an axial direction perpendicular to a plane formed by the X direction and the Y direction.
The electric motor coach is a small-sized light passenger-carrying electric vehicle with less than 9 passengers, and the electric motor drives wheels to run by using a vehicle-mounted power supply as power. The electric motor coach is different from special electric vehicles (such as garbage transport vehicles powered by vehicle-mounted power supplies, urban goods transport vehicles powered by vehicle-mounted power supplies, public transport vehicles powered by vehicle-mounted power supplies and the like)
The utility model provides an intelligent positioning system that is used for the [ electric ] motor coach of different motorcycle types (can be applicable to the [ electric ] motor coach of the different motorcycle types of different wheel bases/different wheel bases) to trade electric, intelligent positioning system makes trade the electric robot can high-efficient accurately accomplish with the location of the locking mechanism of [ electric ] motor coach bottom installation, is convenient for trade the follow-up power battery of carrying out change smoothly of electric robot. Wherein, intelligent positioning system includes: positioning unit 100, pan/tilt head 200 and return means 300.
The positioning unit 100 includes one or more sets of retractable taper pins, the one or more sets of taper pins are respectively arranged on the cradle head 200 according to the position of one or more corresponding tapered positioning sleeves at the bottom of the electric motor coach, and the number of the taper pins is the same as that of the tapered positioning sleeves.
As shown in fig. 1 and 2, the positioning unit 100 may include 2 sets of retractable taper pins, which are respectively fixedly disposed on an unlocking device 600 of the swapping robot; the conical tip of the positioning taper pin 1001 faces upwards and corresponds to a conical positioning sleeve in the corresponding 2 battery locking and positioning units 100 on the locking mechanism of the electric motor coach, and the angle of the conical tip of the positioning taper pin 1001 is matched with the opening angle of the conical positioning sleeve; the number of the taper pins is not less than 2 groups, which is determined according to the number of the conical positioning sleeves 17 respectively arranged on the cross beams 11 at the two sides of the main body frame 1, and the application does not limit the number; the two points of positioning are performed, that is, a conical positioning sleeve 17 is respectively arranged on the two side beams 11 of the main body frame 1, and certainly, the positioning can be performed even if the two points exceed two points, because the positioning taper pin 1001 and the conical positioning sleeve 17 are in physical contact with each other, if a plurality of conical positioning sleeves 17 are respectively arranged on the two side beams 11 of the main body frame 1, the number of the positioning taper pins 1001 is correspondingly increased, so that the complexity of the intelligent positioning system is high, and the cost is high, therefore, aiming at the conical positioning sleeves 17 respectively arranged on the two side beams 11, 2 groups of telescopic taper pins are adopted according to the positions of 2 conical positioning sleeves 17 at the bottom of the electric car, and are respectively fixedly arranged on the unlocking device 600 of the electric swapping robot, and the best implementation mode of the application is provided.
As shown in fig. 3, the taper pin may include a positioning taper pin 1001, an intermediate sleeve 1002, a positioning taper pin base 1003, and a return spring 1004, wherein a taper point of the positioning taper pin 1001 faces upward, and an angle of a taper angle of the taper point of the positioning taper pin 1001 is adapted to an opening angle of the tapered positioning sleeve; wherein, the positioning taper pin 1001 can perform vertical reciprocating linear movement in the positioning pin base; the taper pin is arranged into a three-stage telescopic taper pin; the middle sleeve comprises a plurality of cylinders, the cylinders are uniformly arranged around the positioning taper pin 1001 and are arranged on the positioning taper pin base through return springs, the positioning taper pin 1001 is arranged on the positioning taper pin base, and the number of the cylinders of the middle sleeve is the same as that of the return springs; the middle sleeve is used for guiding the taper pin, after the positioning taper pin 1001 is inserted into the tapered positioning sleeve at the bottom of the electric motor coach, the end face of the middle sleeve is contacted with the main body frame, and the positioning taper pin 1001 is determined to reach a preset positioning position through the compression degree of the return spring.
The middle sleeve can comprise 2 cylinders, 3 cylinders (the middle sleeve comprises 3 cylinders) or 4 cylinders and the like, the cylinders are uniformly arranged around the positioning taper pin 1001, when the positioning taper pin 1001 is inserted into the conical positioning sleeve at the bottom of the electric passenger car and the end surfaces of the middle sleeves are contacted with the main body frame, the pressure generated by the contact of the end surfaces of the middle sleeves and the main body frame is generated by compressing the return spring, so that the position of inserting the positioning taper pin 1001 into the conical positioning sleeve is more accurate, the precision of entering a locking mechanism by a shifting fork group of the unlocking device is ensured, and the stability is improved; the cylinders are uniformly arranged around the positioning taper pin 1001, so that when the return spring is compressed, the end face of each middle sleeve is enabled to be in contact with the main body frame to generate relatively balanced pressure, and in an actual test, 3 or 4 cylinders are arranged to be the best implementation mode of the application).
The one or more conical positioning sleeves are arranged in one or more corresponding battery locking and positioning units T on the locking mechanism of the electric motor coach; the locking mechanism is used for being coupled with a power battery and comprises a main body frame 11 with a rectangular structure, and the main body frame 11 is used for fixedly mounting the main body frame at the bottom of each electric passenger car of different types at corresponding mounting positions set at the bottom of each electric passenger car according to the bottom structure of the electric passenger car with different wheel tracks/different wheel bases; the battery locking and positioning unit T of the locking mechanism is used for positioning operation in the butt joint process with the positioning unit 100, and the opening angle of the conical positioning sleeve 17 is more than or equal to 35 degrees and less than or equal to 90 degrees; the range of the conical angle of the conical tip of the positioning taper pin 1001 is greater than 35 degrees and smaller than 90 degrees, and the angle of the conical tip of the positioning taper pin 1001 is smaller than the opening angle of the conical positioning sleeve 17. Through practical test, the opening angle A of the conical positioning sleeve 17 and the angle of the conical tip of the positioning taper pin 1001 are set, so that the conical tip of the positioning taper pin 1001 can be inserted into the conical positioning sleeve 17, high adaptability is achieved, the conical tip of the positioning taper pin 1001 can be smoothly inserted into the conical positioning sleeve 17 within a tolerance range of 20 mm, and the success rate of positioning is improved.
As shown in fig. 1 and 2, the pan/tilt head 200 is fixedly installed on a bracket 4001 of a lift 400 of the robot, and the pan/tilt head 200 is moved up and down in the Z direction by the lift 400. The positioning unit 100 is arranged on an unlocking device 600 of the battery replacing robot, the positioning unit 100 is fixedly arranged on the unlocking device 600 through a positioning taper pin base, and the unlocking device 600 is fixedly arranged on the holder 200; the lifting machine 400 and the cradle head 200 move synchronously, that is, the lifting machine 400 drives the cradle head 200 and the unlocking device 600 to move upwards along the Z direction, and meanwhile, the cradle head 200 moves freely on a plane formed in the X direction and the Y direction, so that the positioning unit 100 is inserted into a conical positioning sleeve at the bottom of the electric car. The cradle head 200 can support the unlocking device 600, has horizontal freedom in all directions within a preset movement range, and can enable the unlocking device 600 and the positioning unit 100 to move freely in all directions (namely, the plane formed by the X direction and the Y direction moves freely)
The pan/tilt head 200 is used for moving the positioning unit 100 in a plane formed by the X direction and the Y direction within a preset movement range, and simultaneously moving up and down in the Z direction; after the electric motor coach drives into the battery replacing station to complete vehicle positioning (namely after the electric motor coach drives into the vehicle positioning platform of the battery replacing station, the vehicle positioning platform positions the electric motor coach on the vehicle positioning platform), the cradle head 200 moves upwards along the Z direction and freely moves on a plane formed in the X direction and the Y direction, so that the positioning unit 100 is inserted into the conical positioning sleeve at the bottom of the electric motor coach, the positioning unit 100 is driven to move in a conical automatic centering mode, and after position errors generated in the process of replacing a power battery are compensated, the positioning unit and the conical positioning sleeve at the bottom of the electric motor coach reach a preset joint position, and positioning before battery replacement of the electric motor coach is completed. (the intelligent positioning system of this application adopts the location taper pin 1001 to insert the mechanical positioning mode of the toper position sleeve of [ electric ] motor coach bottom in the positioning unit 100, through practical test, the time control that makes [ electric ] motor coach change primary power battery is within 3 minutes, the job stabilization is reliable, it is efficient to trade the electricity, accord with the demand that trades the power of trading the station high frequency stability, and low to the environmental requirement of location, adapt to the various environment of trading the electricity, the equipment cost who trades the power station has been reduced simultaneously, the large-scale commercial popularization of [ electric ] motor coach of being convenient for)
As shown in fig. 2, the holder 200 comprises an upper top plate 2001, a lower bottom plate 2002, a universal bearing 2003, a pre-stressed cylindrical spring 2004 and a holder stop collar 2005, wherein the upper top plate and the lower bottom plate are connected through the pre-stressed cylindrical spring, and the universal bearing is fixedly arranged on the lower bottom plate; the cloud platform stop collar is fixed to be set up at the roof, and the cloud platform stop collar is used for restricting the motion range of cloud platform 200 in predetermineeing motion range. As shown in fig. 1, the swapping robot lifts the unlocking device 600 to insert the positioning unit 100 fixed on the unlocking device 600 into the conical positioning sleeve in the battery locking and positioning unit 100 of the locking mechanism, and drives the unlocking device 600 to move in a conical automatic centering manner, so as to complete the compensation of position errors in the battery replacement process, thereby realizing the accurate positioning of the swapping robot before the swapping of the electric motor coach.
The returning device 300 is used for returning the unlocking device 600 to an initial set position after the unlocking device 600 is subjected to position deviation in the battery replacement process, wherein as shown in fig. 4, the returning device 300 comprises 2 groups of three-stage telescopic returning taper pins 3001 and 2 corresponding returning taper holes 3002, the returning taper pins are fixedly arranged on a mobile platform 500 of the battery replacement robot, the conical heads of the returning taper pins face upwards, the returning taper holes are fixedly arranged at the bottom of the cradle head 200, and the taper holes of the taper holes face downwards. When the unlocking device 600 falls back to the preset height, the return taper pin is inserted into the return taper hole to drive the unlocking device 600 to return to the initial setting state through the automatic cone positioning center mode.
The angle of the conical head of the return taper pin is matched with the opening angle of the return taper hole, and the opening angle of the return taper hole is more than or equal to 35 degrees and less than or equal to 90 degrees; the range of the cone angle of the cone head of the return taper pin is larger than 35 degrees and smaller than 90 degrees, and the angle of the cone head of the return taper pin is smaller than the opening angle of the return taper hole.
Through practical tests, the set opening angle of the return taper hole and the set angle of the taper head of the return taper pin ensure that the taper head of the return taper pin can be inserted into the return taper hole, the adaptability is high, the taper head of the return taper pin can be smoothly inserted into the return taper hole within the tolerance range of 20 mm, and the success rate of returning the unlocking device 600 to the initial set position is improved.
The cloud platform 200 upwards moves along the Z direction to the plane that forms in X direction and Y direction carries out the free movement, makes positioning unit 100 insert the toper position sleeve of [ electric ] motor coach bottom after, drives positioning unit 100 through the automatic centering mode of circular cone and removes, after compensating the operation to the position error that changes the power battery in-process and produce, makes positioning unit and the toper position sleeve of [ electric ] motor coach bottom reach and predetermine the hookup location, accomplishes and trades the location before the electricity to [ electric ] motor coach, specifically means:
the cradle head 200 moves upwards along the Z direction, so that the top end of the conical tip of the positioning taper pin 1001 is in contact with the edge of the conical positioning sleeve firstly, the conical tip of the positioning taper pin 1001 is pushed to enter the conical positioning sleeve through slow rising, the positioning unit 100 is driven to move in a conical automatic centering mode, after position errors generated in the power battery replacing process are compensated, the positioning unit and the conical positioning sleeve at the bottom of the electric passenger car reach a preset joint position, and positioning before power replacement of the electric passenger car is completed.
As shown in fig. 5, the specific process of applying the intelligent positioning system of the present application is as follows:
510, lifting an unlocking device 600 by an electricity-exchanging robot J positioned right below an electric coach KC;
step 520, as shown in fig. 1, the taper pin on the unlocking device 600 is gradually inserted into the tapered locating sleeve of the battery locking and locating unit T on the locking mechanism as the unlocking device 600 rises, the position state of the unlocking device 600 is gradually adjusted by a taper automatic centering manner, when the unlocking device 600 rises to a certain height, the taper pin completely enters the tapered locating sleeve of the battery locking and locating unit T, and at this time, the unlocking device 600 completes the location before the battery replacement and keeps the alignment state with the locking mechanism;
step 530, the unlocking device 600 continues to rise, the taper pin is always kept in an accurate positioning state, at the moment, a return spring in the taper pin is compressed, and a shifting fork group of the unlocking device 600 enters a locking mechanism;
and 540, taking down the insufficient-voltage battery and then falling back by the unlocking device 600, and separating the taper pin from the taper positioning sleeve. After the unlocking device 600 falls back to a certain height, the unlocking device gradually returns to the initial position under the action of the returning device 300;
and 550, replacing the insufficient battery with a full battery by the battery replacement robot J, and installing the full battery on the KC after repeating the intelligent mechanical positioning to complete the battery replacement operation.
As shown in fig. 6, the locking mechanism for replacing the battery of the electric motor car for different vehicle types (i.e. the electric motor car applicable to different vehicle types with different wheel tracks and different wheel bases) of the present invention includes:
the locking mechanism comprises a main body frame 1; the side surface of the front part of the main body frame is provided with a socket unit C which is used for being coupled with a plug of a power battery; two groups of connecting rod locking devices 2 are symmetrically arranged on the inner walls of the cross beams 11 on the two sides of the main body frame 1; the connecting rod locking device 2 can comprise a plurality of locking assemblies 3 and a battery locking and positioning unit T (the battery locking and positioning unit T comprises a conical positioning sleeve 17 respectively arranged on the cross beams 11 at the two sides of the main body frame 1); the locking combination comprises a locking block 31 fixed on the inner wall of the beam, a rack plate, a connecting rod 4, a toggle plate 5, a connecting rod resetting unit F, a connecting rod safety unit B and a locking sector gear 32 matched with the locking block 31.
The number of the locking assemblies 3 arranged on each group of connecting rod locking devices 2 is at least 2, and if the number of the locking assemblies 3 arranged on each group of connecting rod locking devices 2 is large, the stability of the locking mechanism is better when the locking mechanism is coupled with a power battery, but the production cost is higher; if the number of the locking combination bodies 3 arranged on each group of connecting rod locking devices 2 is 1, the stability is poor when the locking mechanism is coupled with a power battery; through practical use tests, when each group of connecting rod locking devices comprises 3 locking assemblies, good stability when the locking mechanism is coupled with a power battery can be ensured, and the production cost is controlled better, so that the locking mechanism is a preferred embodiment.
The main body frame 1 of the locking mechanism is a rectangular structure frame, and the main body frame 1 is used for fixedly mounting the main body frame 1 at the bottoms of the electric coaches of different vehicle types at corresponding mounting positions set at the bottoms of the electric coaches according to the bottom structures of the electric coaches of different wheel pitches/different wheel pitches.
The size of the main body frame 1 can be suitable for the bottoms of the electric motor coaches of different vehicle types (namely the bottoms of the electric motor coaches of different vehicle types with different wheel bases/different wheel bases), namely, the corresponding mounting positions can be set at the bottoms of the electric motor coaches according to different vehicle types (namely the electric motor coaches of different vehicle types with different wheel bases/different wheel bases), and the main body frame 1 is fixedly mounted at the bottoms of the electric motor coaches of different vehicle types. The size of main body frame 1 is not injectd to this application, as long as main body frame 1's size can all be installed in the bottom of the [ electric ] motor coach of different motorcycle types, and can install the power battery of different models in the bottom of the [ electric ] motor coach who corresponds through main body frame 1, and the bottom that all is applicable to the [ electric ] motor coach of different motorcycle types all is this application and uses. Need not change main body frame 1's structure like this, through installing main body frame 1 in the [ electric ] motor coach bottom, just can be applicable to not unidimensional power battery and can be safe, convenient quick completion change, formed locking mechanism's standardization, can use same kind of locking mechanism at the [ electric ] motor coach of multiple motorcycle type for locking mechanism has reduced the cost in manufacturing, and the large-scale commercial popularization and application of [ electric ] motor coach of being convenient for.
The power battery is fixedly installed on the chassis of the electric motor coach by the locking mechanism, the electric motor coach drives into the battery replacing station, and the power battery can be reliably replaced in a short time under the matching of the locking mechanism and a battery replacing system (with lifting and translation functions) in the battery replacing station.
The main body frame 1 has two side beams 11 installed at the bottom of the electric motor car, and the axis direction of the beams is the same as the axis direction of the electric motor car body (wherein, the axis direction of the electric motor car body is set as the direction in which the electric motor car can keep running straight on a horizontal ground).
As shown in fig. 7, the power battery 20 is a plate-shaped cube (where the power battery 20 may be a flat plate-shaped cube, and a plate-shaped cube provided with a convex or concave structure is also applicable to the present application, and is not limited to this application), and a plurality of positioning pins P of the power battery are provided on end faces of left and right sides of the plate-shaped cube, and the positioning pins P are in a shape of a cylinder. The locking block in the locking assembly is of a non-closed hollow structure, the shape of the hollow structure of the locking block is matched with the shape of the cylinder of the positioning pin, and the positioning pin P is locked in the locking block when the locking mechanism and the power battery are in a joint state (the positioning pin P corresponds to the locking block in the locking assembly of the main body frame, so that the power battery is locked and fixed on the vehicle body just through the tight coupling of the positioning pin P and the locking block, and the power battery is separated from the bottom of the vehicle through the separation of the positioning pin P and the locking block, so that the replacement of the power battery is completed). The plug of the power battery is in plug-in fit with the socket unit C in the locking mechanism, and the power energy and battery information of the power battery are provided for the electric motor coach, so that the normal running of the normal electric motor coach and the safety of personnel on the vehicle are ensured.
As shown in fig. 8, a battery locking and positioning unit T of the present application is used for positioning an electrical switching robot and a locking mechanism in a docking process in an electrical switching station, wherein one or more tapered positioning sleeves 17 are respectively disposed on two lateral beams 11 of a main body frame 1 (as shown in fig. 8, one tapered positioning sleeve 17 is respectively disposed on two lateral beams 11 of the main body frame 1, wherein a plurality of tapered positioning sleeves 17 are respectively disposed on two lateral beams 11 of the main body frame 1, and as the tapered positioning sleeves 17 are respectively disposed on two lateral beams 11, a power battery and the locking mechanism can be positioned through two-point positioning, and certainly, more than two points can be positioned, normal wear can be generated due to physical contact between a positioning taper pin 1001 and the tapered positioning sleeves 17, and a plurality of tapered positioning sleeves 17 are respectively disposed on two lateral beams 11 of the main body frame 1, the corresponding battery replacement robot also increases the number of the positioning taper pins 1001 correspondingly, so that the system is high in complexity and high in cost, and therefore, the taper positioning sleeves 17 are respectively arranged on the cross beams 11 on the two sides; the opening angle a of the conical positioning sleeve 17 is greater than 35 degrees and smaller than 90 degrees (namely, a conical angle a formed by extension lines of generatrices of a cone of the conical positioning sleeve 17 in fig. 8 is shown by dotted lines in fig. 8), the set opening angle ensures that the conical positioning taper pin 1001 can be inserted into the conical positioning sleeve 17, and the conical positioning taper pin 1001 can be smoothly inserted into the conical positioning sleeve 17 within a tolerance range of 20 mm, so that the success rate of positioning is improved.
The specific working process is as follows: the butt joint of the battery replacing robot and the locking mechanism in the battery replacing station is realized through mechanical positioning, and the cross beams 11 on two sides of the main body frame 1 of the locking mechanism are respectively provided with a conical positioning sleeve 17. The upper part of the battery replacement robot is provided with a positioning taper pin 1001 which is correspondingly matched with the conical positioning sleeve 17 in shape, the top end of the positioning taper pin 1001 is firstly contacted with the edge of the conical positioning sleeve 17 through the ascending of the battery replacement robot, then the positioning taper pin 1001 is pushed to enter the conical positioning sleeve 17 through the slow ascending, and the positioning is automatically completed through the automatic conical surface guide characteristic.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. An intelligent positioning system for changing batteries of electric cars of different models is characterized in that,
the method comprises the following steps: a positioning unit and a head, wherein,
the positioning unit comprises one or more groups of telescopic taper pins, and the one or more groups of taper pins are respectively arranged on the holder according to the positions of one or more corresponding tapered positioning sleeves at the bottom of the electric motor coach; the number of the conical pins is the same as that of the conical positioning sleeves, the conical pins comprise positioning conical pins, conical cusps of the positioning conical pins are upward, and the angle of a conical angle of the conical cusps of the positioning conical pins is matched with the opening angle of the conical positioning sleeves;
the holder is used for enabling the positioning unit to move on a plane formed in the X direction and the Y direction in a preset movement range and simultaneously move up and down in the Z direction; after the electric passenger car drives into the battery replacement station to complete vehicle positioning, the cradle head moves upwards along the Z direction and freely moves on a plane formed in the X direction and the Y direction, so that the positioning unit is inserted into a conical positioning sleeve at the bottom of the electric passenger car and then is driven to move in a conical automatic centering mode, and after a position error generated in the process of replacing a power battery is compensated, the positioning unit and the conical positioning sleeve at the bottom of the electric passenger car reach a preset joint position, and positioning before battery replacement of the electric passenger car is completed; the X direction is an axial direction opposite to a direction in which the vehicle keeps running straight on a horizontal ground, the Y direction is an axial direction perpendicular to the X direction on a vehicle chassis plane, and the Z direction is an axial direction perpendicular to a plane formed by the X direction and the Y direction.
2. The system of claim 1,
further comprising: the one or more conical positioning sleeves are arranged in one or more corresponding battery locking and positioning units on the locking mechanism of the electric motor coach; the locking mechanism is used for being coupled with a power battery and comprises a main body frame with a rectangular structure, and the main body frame is used for fixedly mounting the main body frame at the bottoms of the electric coaches of different vehicle types at corresponding mounting positions set at the bottoms of the electric coaches according to the bottom structures of the electric coaches with different wheel tracks and different wheel bases; the battery locking and positioning unit of the locking mechanism is used for positioning operation in the butt joint process with the positioning unit, and the opening angle of the conical positioning sleeve is more than or equal to 35 degrees and less than or equal to 90 degrees; the range of the conical angle of the conical pointed end of the positioning taper pin is more than 35 degrees and less than 90 degrees, and the angle of the conical pointed end of the positioning taper pin is less than the opening angle of the conical positioning sleeve.
3. The system of claim 2,
further comprising: each group of taper pins further comprises a middle sleeve, a positioning taper pin base and a return spring, wherein the positioning taper pins can vertically reciprocate in the positioning pin bases in a linear mode; the taper pin is arranged into a three-stage telescopic taper pin; the middle sleeve comprises a plurality of cylinders which are uniformly arranged around the positioning taper pin, the cylinders are arranged on the positioning taper pin base through return springs, the positioning taper pin is arranged on the positioning taper pin base, and the number of the cylinders of the middle sleeve is the same as that of the return springs; the middle sleeve is used for guiding the taper pin, after the positioning taper pin is inserted into the tapered positioning sleeve at the bottom of the electric motor coach, the end face of the middle sleeve is contacted with the main body frame, and the preset joint position of the positioning taper pin and the tapered positioning sleeve at the bottom of the electric motor coach is determined by the compression degree of the return spring.
4. The system of claim 3,
further comprising: the cradle head is fixedly arranged on a bracket of a lifting machine of the battery changing robot, and the cradle head moves up and down in the Z direction through the lifting machine.
5. The system of claim 4,
further comprising: the positioning unit is arranged on an unlocking device of the battery replacing robot, the positioning unit is fixedly arranged on the unlocking device through a positioning taper pin base, and the unlocking device is fixedly arranged on the holder; the lifting machine and the cradle head move synchronously, namely the lifting machine drives the cradle head and the unlocking device to move upwards along the Z direction, and meanwhile, the cradle head moves freely on a plane formed in the X direction and the Y direction, so that the positioning unit is inserted into the conical positioning sleeve at the bottom of the electric passenger car.
6. The system of claim 5,
the holder comprises an upper top plate, a lower bottom plate, a universal bearing, a prestressed cylindrical spring and a holder limit sleeve, wherein the upper top plate and the lower bottom plate are connected through the prestressed cylindrical spring, and the universal bearing is fixedly arranged on the lower bottom plate; the cloud platform stop collar is fixed to be set up at the roof, and the cloud platform stop collar is used for the motion restriction of cloud platform at preset motion range.
7. The system of claim 6,
the unlocking device is returned to an initial set position after the unlocking device is subjected to position deviation in the battery replacement process, wherein the returning device comprises 2 groups of three-level telescopic returning taper pins and 2 corresponding returning taper holes, the returning taper pins are fixedly arranged on a moving platform of the battery replacement robot, the conical heads of the returning taper pins are upward, the returning taper holes are fixedly arranged at the bottom of the holder, and the taper holes of the conical holes are downward; when the unlocking device falls back to the preset height, the return taper pin is inserted into the return taper hole to drive the unlocking device to return to the initial set state in a taper cone automatic positioning center mode.
8. The system of claim 7,
further comprising: the angle of the conical head of the return taper pin is matched with the opening angle of the return taper hole, and the opening angle of the return taper hole is more than or equal to 35 degrees and less than or equal to 90 degrees; the range of the cone angle of the cone head of the return taper pin is larger than 35 degrees and smaller than 90 degrees, and the angle of the cone head of the return taper pin is smaller than the opening angle of the return taper hole.
9. The system of claim 8,
the cloud platform is along Z direction rebound to carry out free movement in the plane that X direction and Y direction formed, make positioning unit insert the toper position sleeve of [ electric ] motor coach bottom after, drive positioning unit through circular cone automatic centering mode and remove, carry out compensation operation to the position error that changes power battery in-process and produce after, make positioning unit and the toper position sleeve of [ electric ] motor coach bottom reach and predetermine the hookup location, accomplish the location before trading the electric [ electric ] motor coach, specifically mean:
the cloud platform upwards moves along the Z direction, so that the top end of a conical tip of the positioning taper pin is in contact with the edge of the conical positioning sleeve firstly, the conical tip of the positioning taper pin is pushed to enter the conical positioning sleeve through slow rising, the positioning unit is driven to move in a conical automatic centering mode, after position errors generated in the power battery replacing process are compensated, the positioning unit and the conical positioning sleeve at the bottom of the electric motor coach reach a preset joint position, and positioning before power replacement of the electric motor coach is completed.
10. The system of claim 9,
the electric passenger car drives into the battery replacement station to complete vehicle positioning, and specifically comprises the following steps:
after the small electric passenger car drives into the vehicle positioning platform of the power exchanging station, the vehicle positioning platform positions the small electric passenger car on the vehicle positioning platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910250461.7A CN111823932A (en) | 2019-03-29 | 2019-03-29 | Intelligent positioning system for battery replacement of electric cars of different models |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910250461.7A CN111823932A (en) | 2019-03-29 | 2019-03-29 | Intelligent positioning system for battery replacement of electric cars of different models |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111823932A true CN111823932A (en) | 2020-10-27 |
Family
ID=72915225
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910250461.7A Pending CN111823932A (en) | 2019-03-29 | 2019-03-29 | Intelligent positioning system for battery replacement of electric cars of different models |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111823932A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058688A (en) * | 2017-11-07 | 2018-05-22 | 博众精工科技股份有限公司 | The automatic electrical changing station of Vehicular accumulator cell of floating type contraposition |
| WO2018121746A1 (en) * | 2016-12-30 | 2018-07-05 | 上海电巴新能源科技有限公司 | Movable platform for replacing battery and quick replacing system |
| CN207594923U (en) * | 2017-11-02 | 2018-07-10 | 蔚来汽车有限公司 | Electric installation is changed for the resetting-mechanism for changing electric installation that floats, floating |
| CN108638819A (en) * | 2018-05-16 | 2018-10-12 | 中联达通广（镇江）新能源科技有限公司 | Multi-vehicle-type electric passenger vehicle power battery quick-change locks control method |
| CN210174828U (en) * | 2019-03-29 | 2020-03-24 | 中立元(镇江)电动汽车加电科技有限公司 | Intelligent positioning device for battery replacement of electric coaches of different vehicle types |
-
2019
- 2019-03-29 CN CN201910250461.7A patent/CN111823932A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018121746A1 (en) * | 2016-12-30 | 2018-07-05 | 上海电巴新能源科技有限公司 | Movable platform for replacing battery and quick replacing system |
| CN207594923U (en) * | 2017-11-02 | 2018-07-10 | 蔚来汽车有限公司 | Electric installation is changed for the resetting-mechanism for changing electric installation that floats, floating |
| CN108058688A (en) * | 2017-11-07 | 2018-05-22 | 博众精工科技股份有限公司 | The automatic electrical changing station of Vehicular accumulator cell of floating type contraposition |
| CN108638819A (en) * | 2018-05-16 | 2018-10-12 | 中联达通广（镇江）新能源科技有限公司 | Multi-vehicle-type electric passenger vehicle power battery quick-change locks control method |
| CN210174828U (en) * | 2019-03-29 | 2020-03-24 | 中立元(镇江)电动汽车加电科技有限公司 | Intelligent positioning device for battery replacement of electric coaches of different vehicle types |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210174824U (en) | A trade electric robot that is used for [ electric ] motor coach intelligence of different motorcycle types to trade electric | |
| CN210174830U (en) | Multi-vehicle type electric passenger car's sharing intelligence trades power station of trading electricity fast | |
| CN210174825U (en) | Battery replacement positioning platform for sharing intelligent battery replacement of multi-vehicle type electric passenger car | |
| CN111823939A (en) | Double-station battery replacement control method for sharing intelligent quick change of multi-vehicle type electric passenger car | |
| CN110001374A (en) | A kind of battery quick-change device for electric automobile, electric car and quick change method | |
| CN111823936A (en) | Battery replacement station for sharing intelligent quick battery replacement of electric cars of different battery replacement types | |
| CN213354227U (en) | New energy automobile modularization battery quick change device | |
| CN210174828U (en) | Intelligent positioning device for battery replacement of electric coaches of different vehicle types | |
| CN111823940A (en) | Intelligent battery replacement positioning platform suitable for sharing battery replacement of electric coaches of different vehicle types | |
| CN111907367A (en) | Battery replacing platform and battery replacing system | |
| CN111326938A (en) | Charging plug-in assembly and stereo garage with same | |
| CN111745657A (en) | Intelligent battery replacement robot for electric cars of different models | |
| CN111823931A (en) | Intelligent battery replacement control method for electric cars of different models | |
| CN111823941A (en) | Double-station battery replacement station for sharing intelligent quick battery replacement of multi-vehicle type electric buses | |
| CN111823932A (en) | Intelligent positioning system for battery replacement of electric cars of different models | |
| CN111746343A (en) | Self-adaptive positioning control method for battery replacement of electric buses of different vehicle types | |
| CN211280967U (en) | Intelligent power battery pre-storing device for battery replacement of electric cars of different types | |
| CN111823938B (en) | Sharing intelligent rapid power-changing control method for electric buses with different power-changing buses | |
| CN210174827U (en) | Self-adaptive vehicle passing device of electric passenger car based on different battery replacing types | |
| CN216969421U (en) | New forms of energy car trades electric test device | |
| CN110142538A (en) | A kind of wireless accurate manifold type bilayer warehouse compartment circulatory system | |
| CN210174671U (en) | A locking device that is used for on-vehicle battery intelligence quick detach fast-assembling of different battery types of trading | |
| CN212635604U (en) | Positioning and assembling tool for range extender | |
| CN111746341B (en) | Locking mechanism for intelligent quick change of vehicle-mounted batteries of different battery changing vehicle types | |
| CN211280677U (en) | Battery intelligent storage charging device for sharing battery replacement of different types of electric cars |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |