CN111823939A - Double-station battery replacement control method for sharing intelligent quick change of multi-vehicle type electric passenger car - Google Patents

Double-station battery replacement control method for sharing intelligent quick change of multi-vehicle type electric passenger car Download PDF

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Publication number
CN111823939A
CN111823939A CN201910251907.8A CN201910251907A CN111823939A CN 111823939 A CN111823939 A CN 111823939A CN 201910251907 A CN201910251907 A CN 201910251907A CN 111823939 A CN111823939 A CN 111823939A
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China
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battery
positioning
power
electric
intelligent
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CN201910251907.8A
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Chinese (zh)
Inventor
谢子聪
赵振华
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Zhongliyuan Zhenjiang Electric Vehicle Technology Co ltd
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Zhongliyuan Zhenjiang Electric Vehicle Technology Co ltd
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Priority to CN201910251907.8A priority Critical patent/CN111823939A/en
Publication of CN111823939A publication Critical patent/CN111823939A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06Supplying batteries to, or removing batteries from, vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80Exchanging energy storage elements, e.g. removable batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

A multi-vehicle type electric motor coach sharing intelligent quick-change double-station battery replacement control method comprises the steps that after 2 electric motor coaches drive into a double-station battery replacement station, a control center obtains vehicle type parameter information; meanwhile, the intelligent scheduling system takes out the fully charged battery from the battery storage rack according to the information and conveys the fully charged battery to the battery pre-storage rack for placement; the full-charge battery is lifted to a preset height by the lifting mechanism; the intelligent battery replacement positioning platform positions the electric passenger car on the intelligent battery replacement positioning platform according to the information, after the electric passenger car completes vehicle positioning on the intelligent battery replacement positioning platform, the intelligent battery replacement robot unloads a power-shortage battery of a chassis of the electric passenger car and places the power-shortage battery on a battery prestoring frame, and the battery scheduling system takes away the power-shortage battery; after the full-charge battery is placed on the battery pre-storage rack by the lifting mechanism, the full-charge battery on the battery pre-storage rack is taken away by the battery replacing robot, and the full-charge battery is installed on the electric motor coach. The invention can be suitable for simultaneously changing the batteries of 2 electric cars of different types.

Description

Double-station battery replacement control method for sharing intelligent quick change of multi-vehicle type electric passenger car
Technical Field
The invention relates to the field of power battery replacement of electric coaches, in particular to a double-station power replacement control method for sharing intelligent quick replacement of a multi-vehicle type electric coach.
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 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. The problem that the power battery of the small electric motor coach with a single model can only be replaced is that the small electric motor coach is troubled by the bottleneck of the development of the small electric motor coach, so that the current small electric motor coach cannot be widely popularized and used. Meanwhile, if a large number of small electric coaches run into the battery replacing cup to replace the battery, the power battery of one small electric coach can be replaced at one time in the current battery replacing station, so that the waiting time of a user is too long, the use experience of the user is reduced, and the popularization of the small electric coaches is not facilitated.
Therefore, how to provide a technical scheme of new trade power station structure, if meet a large amount of [ electric ] motor coach and all drive into and trade the condition that the cup traded the electricity, present trade power station can only once change the power battery of [ electric ] motor coach, leads to user's latency overlength, has reduced the problem that user's use was experienced, should trade power station and can change the power battery of [ electric ] motor coach of different models simultaneously.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-model electric motor coach sharing intelligent quick-change double-station battery replacement control method, so as to solve the problems that if a large number of electric motor coaches are driven into a battery replacement cup to replace batteries, the power battery of one electric motor coach can be replaced at one time in the current battery replacement station, so that the waiting time of a user is too long, and the use experience of the user is reduced, and meanwhile, the battery replacement station can replace the power batteries of the electric motor coaches of different models.
In order to solve the problems, the invention provides a double-station battery replacement control method for sharing intelligent quick replacement of a multi-vehicle type electric passenger car, which comprises the following steps: 2 electric coaches of the same vehicle type/different vehicle types are driven into corresponding inlets of 2 power exchanging station rooms of the double-station power exchanging station; the power station changing rooms are arranged in a double-station symmetrical layout, and a structural mode of splicing a steel structure framework and a heat insulation wallboard and a semi-excavation reinforced concrete foundation are adopted;
the control center acquires vehicle type parameter information of an electric motor coach driving into the corresponding power change station room through vehicle identification devices of intelligent power change positioning platforms in 2 power change station rooms; meanwhile, each intelligent scheduling system in the 2 power change station rooms takes out the required full-electricity batteries from the only battery storage rack of the double-station power change station according to the vehicle type parameter information of the small electric passenger vehicle driving into the corresponding power change station room, and conveys the full-electricity batteries to each battery pre-storage rack of the 2 power change station rooms for placement; after the 2 grabbing mechanisms grasp full-charge batteries placed in battery pre-storage racks of the respective battery replacing station rooms, the 2 lifting mechanisms respectively lift the corresponding full-charge batteries to a preset height; the locking mechanism comprises a main body frame with a rectangular structure, the main body frame is fixedly arranged at the bottom of each electric passenger car according to the bottom structure of the electric passenger car with different wheel track/different wheel base, the main body frame is fixedly arranged at the bottom of the electric passenger car with different car types at the corresponding installation position set at the bottom of each electric passenger car, and two groups of connecting rod locking devices are symmetrically arranged on the inner walls of the cross beams at two sides of the main body frame; the connecting rod locking device comprises a plurality of locking assemblies, each locking assembly comprises a locking block fixed on the inner wall of the cross beam, a connecting rod, a poking plate, a connecting rod safety unit and a locking sector gear matched with the locking block, wherein the locking sector gear is embedded in the locking block and can rotate, the poking plate is arranged below the connecting rod in a T-shaped structure, the connecting rod is connected with the locking block, and the locking/unlocking operation of the locking mechanism and the power battery is completed through the movement of the connecting rod within a set range; the connecting rod safety unit comprises a support, a limiting piece, an elastic element and an elastic pin, the support is fixed on the inner wall of the cross beam, the elastic element is arranged in the elastic pin and inserted into the support, the elastic pin is abutted against the limiting piece through the elastic element, and the limiting piece locks the elastic pin through the elastic element and limits and locks the connecting rod;
any intelligent battery replacement positioning platform carries out vehicle positioning on the electric motor coach on the intelligent battery replacement positioning platform according to vehicle type parameter information of the corresponding electric motor coach, which is acquired by the vehicle identification device of the intelligent battery replacement positioning platform, wherein a translation bridge plate and a translation suspension bridge which are connected with the intelligent battery replacement positioning platform carry out corresponding movement according to the vehicle type parameter information of the electric motor coach, so that the electric motor coach can stably pass through;
after the vehicle positioning of any one electric passenger car is completed on the corresponding intelligent battery replacement positioning platform, the intelligent battery replacement robot in the corresponding battery replacement station room unloads the insufficient battery of the electric passenger car chassis and places the insufficient battery on the corresponding battery prestoring frame, and the corresponding battery scheduling system takes away the insufficient battery;
after the full-charge batteries of the respective battery replacing station rooms lifted to the preset height are placed back to the corresponding battery pre-storage rack by the 2 lifting mechanisms, the 2 battery replacing robots respectively take the full-charge batteries on the corresponding battery pre-storage racks away, and respectively install one full-charge battery on the corresponding electric passenger car;
after the 2 battery dispatching systems convey the corresponding insufficient batteries to the only battery storage rack of the double-station battery replacement station, the battery charging device on the battery storage rack automatically charges the 2 insufficient batteries.
Compared with the prior art, the double-station battery replacement station can meet the battery replacement requirements of different battery replacement working conditions, various vehicle types and various types of power batteries, has high intelligent degree and strong service capability, and adopts a parallel action battery replacement method in the battery replacement thought of the battery replacement station, thereby effectively shortening the battery replacement time, enhancing the operation capability of the battery replacement station and improving the use experience of users. The electric motor coach switching station can be suitable for switching the electric motor coaches of different vehicle types through vehicle type parameter information acquired by the control center, namely, the power batteries of different sizes can be safely, conveniently and quickly replaced, the switching station can be used for the electric motor coaches of various vehicle types, and the electric motor coaches of A0, A grade or B grade and the like can enter the intelligent switching positioning platform for quickly switching the electric motor coach; meanwhile, the charging control maintenance operation is intensively carried out on the power battery replaced by the electric motor coach, so that the power battery is prevented from being rapidly charged, and the problems of unstable and stable performance of the power battery caused by rapid charging and even safety caused by the unstable and stable performance of the power battery are solved; and can concentrate the power battery who gets off to the [ electric ] motor coach and change through at the power consumption valley period (when leisure evening) and charge, improve charge efficiency, reduce the electric power cost of charging, solve quick charging and lead to the problem that the electric wire netting load is too big even produces the electric wire netting accident, protected the environment.
Drawings
FIG. 1 is a schematic structural diagram of a multi-vehicle electric car sharing intelligent quick-change double-station battery replacement station applying the method of the invention;
FIG. 2 is a schematic structural diagram of the locking mechanism for quick release and quick assembly of the vehicle-mounted battery intelligent device for different battery replacement vehicle types according to the invention;
fig. 3 is a schematic structural diagram of a power battery 20 to which the present invention is applied;
fig. 4 is a schematic view (locked state) of the link lock apparatus 2 in the invention;
fig. 5 is a schematic view (unlocked state) of the link lock apparatus 2 in the present invention;
FIG. 6 is a schematic view of a locking assembly according to the present invention;
FIG. 7 is a schematic structural diagram of a battery locking and positioning unit T and a connecting rod securing unit B according to the present invention;
FIG. 8 is a schematic structural diagram of an intelligent battery replacement positioning platform suitable for sharing battery replacement of electric cars of different models;
fig. 9 is a schematic structural view of a translational bridge plate PB and a translational suspension bridge PD arranged on both sides of an intelligent battery replacement positioning platform for replacing batteries of electric cars of different models (i.e., electric cars of different models with different wheel tracks/different wheel base);
FIG. 10 is a schematic structural diagram of a power battery intelligent pre-storage system for battery replacement of electric cars of different models according to the present invention;
FIG. 11 is a schematic structural diagram of an intelligent battery replacement robot for replacing batteries of electric cars of different models according to the present invention;
fig. 12 is a schematic structural diagram of a cradle head 200 and an unlocking device 600 thereon in the intelligent battery replacement robot to which the present invention is applied;
FIG. 13 is a schematic structural diagram of an intelligent battery scheduling system for sharing battery replacement of electric cars of different models according to the present invention;
fig. 14 is a top view of the battery storage rack CC101 and the battery charging device CC102 of the present invention;
fig. 15 is a front view of the battery storage rack CC101 and the battery charging device CC102 according to the present invention.
Fig. 16 is a flowchart of a double-station battery replacement control method for sharing intelligent quick change of a multi-vehicle electric car.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments 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 model parameters of the electric motor coach can comprise information such as the length of the coach body, the width of the coach body, the height of the coach body, the front wheel track, the rear wheel track, the size of a tire, the weight of the coach body, the wheel base of the coach body, the size of a battery, the weight of the battery and the like.
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 electric special vehicles (such as garbage transport vehicles taking a vehicle-mounted power supply as power, urban goods transport vehicles taking the vehicle-mounted power supply as power, public transport vehicles taking the vehicle-mounted power supply as power, and the like); the small electric passenger car is provided with a battery replacement controller, the battery replacement controller is a control mechanism for replacing batteries of vehicles and is used for controlling unlocking and fastening of a locking mechanism in the whole battery replacement process, controlling contact and separation of a battery replacement connector, performing battery replacement information interaction with a vehicle main controller and performing information interaction with a control center of a battery replacement station.
According to the double-station battery replacement control method applicable to the sharing of the intelligent quick replacement of the multi-vehicle type electric coaches, the electric coaches of different vehicle types can be replaced according to vehicle type parameter information acquired by a vehicle identification device, namely, the power batteries of different sizes can be safely, conveniently and quickly replaced, the battery replacement station can be used for the electric coaches of various vehicle types, no matter the electric coaches of A0, A level or B level and the like can enter an intelligent battery replacement positioning platform for replacing the batteries, and the large-scale commercial popularization and application of the electric coaches are facilitated.
The power station changing room adopts a double-station symmetrical layout, double-station power changing can meet the requirements of the power station on different power changing working conditions, and meanwhile, the fault rate of the power station is effectively reduced; the double-station symmetrical layout enables double stations to share a power station control center, a battery storage rack, a vehicle-mounted battery replacement trolley and other corresponding supporting facilities, so that the occupied area is saved, and meanwhile, the shared battery storage rack space is larger than that of a single-station battery storage room, and the heat dissipation of batteries is facilitated; the power station changing house is integrally assembled by adopting an H-shaped steel structure framework-heat insulation wall plate, so that the power station changing house is convenient to install and build. In addition, the equipment foundation is of a half-digging type reinforced concrete structure, the depth of a foundation pit is 550mm, and the padding height of an electricity changing platform is 550 mm. The whole depth of the equipment foundation is 1100mm, and the construction difficulty and cost are reduced. The intelligent multi-vehicle battery replacing equipment has the advantages that two sets of equipment at the left station and the right station are in a symmetrical relation, so that the space arrangement of a battery replacing station room and the wiring of electrified cables are facilitated; the multi-vehicle intelligent battery replacement equipment is used for replacing batteries of electric coaches with batteries of various types; all battery replacing actions of the multi-vehicle type intelligent battery replacing equipment are controlled by the control center in a unified mode and are automatically completed, intelligence is high, efficiency is high, and service capacity is high.
The electricity changing mode of the double-station electricity changing station adopts a 'parallel' electricity changing idea, an electric passenger car is close to the electricity changing station, relevant information including car types, battery models, battery residual electric quantity and the like is acquired by an identification facility of the electricity changing station through identification license plates, indication is carried out through a background server, electricity changing preparation work is carried out simultaneously by an electricity changing positioning platform, an automobile passing device, an electricity changing robot and a battery dispatching machine, one electricity changing action is orderly and intelligently executed, and the electricity changing robot and the battery dispatching machine are also carried out simultaneously when respective lifting and driving actions are carried out, so that the electricity changing time is effectively shortened, the service capacity is enhanced, the operation cost is reduced, and the economic benefit is improved.
As shown in fig. 1, the structural schematic diagram of the double-station battery replacement station includes a control center and 2 battery replacement station rooms (2 inlets: R1 and R2, that is, including 2 battery replacement station rooms), each of the 2 battery replacement station rooms is provided with a same multi-vehicle type intelligent battery replacement device, wherein the multi-vehicle type intelligent battery replacement device is used for performing battery replacement operation on power batteries of each type of electric minibus provided with a locking mechanism; the control center is used for controlling the electricity swapping overall process of 2 electric coaches of the same vehicle type/different vehicle types needing to be swapped in 2 electricity swapping station rooms simultaneously; the power station changing house is arranged in a double-station symmetrical layout, and adopts a structural mode of assembling a steel structure framework and a heat insulation wallboard and a semi-excavated reinforced concrete foundation;
the locking mechanism can couple the power battery with a vehicle chassis and comprises a main body frame with a rectangular structure, wherein the main body frame is used for fixedly mounting the main body frame at the bottom of the electric passenger car with different vehicle types according to the bottom structures of the electric passenger cars with different wheel tracks/different wheel bases at corresponding mounting positions set at the bottom of each electric passenger car, and two groups of connecting rod locking devices are symmetrically arranged on the inner walls of cross beams at two sides of the main body frame; the connecting rod locking device comprises a plurality of locking assemblies, each locking assembly comprises a locking block fixed on the inner wall of the cross beam, a connecting rod, a poking plate, a connecting rod safety unit and a locking sector gear matched with the locking block, wherein the locking sector gear is embedded in the locking block and can rotate, the poking plate is arranged below the connecting rod in a T-shaped structure, the connecting rod is connected with the locking block, and the locking/unlocking operation of the locking mechanism and the power battery is completed through the movement of the connecting rod within a set range; the connecting rod safety unit comprises a support, a limiting piece, an elastic element and an elastic pin, the support is fixed on the inner wall of the cross beam, the elastic element is arranged in the elastic pin and inserted into the support, the elastic pin is abutted against the limiting piece through the elastic element, and the limiting piece locks the elastic pin through the elastic element to limit and lock the connecting rod;
the multi-vehicle intelligent battery replacement device can comprise: the intelligent battery replacing and positioning system comprises an intelligent battery replacing and positioning platform HD, a translation bridge board PB, a translation suspension bridge PD (the translation bridge board PB and the translation suspension bridge PD are respectively arranged on the left side and the right side of the intelligent battery replacing and positioning platform HD), a battery prestorage rack Y10, a grabbing mechanism Z10, a lifting mechanism H10, an intelligent battery replacing robot J, a battery intelligent scheduling system ZD, a battery storage rack CC101 and a battery charging device CC 102. The control center is used for controlling the whole electricity replacement process of the small electric buses of all vehicle types needing electricity replacement; the intelligent battery replacement positioning platform is used for positioning the electric motor coach on the intelligent battery replacement positioning platform according to the model parameter information of the electric motor coach; the translation bridge plate and the translation suspension bridge are used for being connected with the intelligent battery replacement positioning platform and providing a mobile platform for enabling the vehicle to stably pass through by replacing the battery; the intelligent battery replacing robot comprises a battery pre-storage rack, a grabbing mechanism and a lifting mechanism, wherein the battery pre-storage rack, the grabbing mechanism and the lifting mechanism are integrated into a whole and are used for grabbing the insufficient battery of the intelligent battery replacing robot and lifting the insufficient battery to a preset height so that the intelligent battery replacing robot takes the full-charge battery which is placed on the battery pre-storage rack by the intelligent battery scheduling system; the intelligent battery replacement robot is used for disassembling a power-shortage battery of the chassis of the electric passenger car and installing a fully-charged battery on the electric passenger car; and the battery intelligent scheduling system is used for conveying the power battery.
As shown in fig. 2, the locking mechanism includes a main body frame 1; a socket unit C is arranged on the side surface of the front part of the main body frame and is 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 at 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); as shown in fig. 4, the locking assembly includes 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 returning unit F, a connecting rod safety unit B, and a locking sector gear 32 engaged with the locking block 31.
The number of the locking assemblies 3 arranged on each group of the connecting rod locking devices 2 is at least 2, and if the number of the locking assemblies 3 arranged on each group of the 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 well controlled, 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 a vehicle chassis through the locking mechanism, the electric passenger car drives into the battery replacement station, and the power battery can be reliably replaced in a short time through the matching of the locking mechanism and the intelligent battery replacement robot.
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. 3, 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 side portions 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 an unsealed 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 locking 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 through the tight coupling of the positioning pin P and the power battery, and the power battery is unlocked from the bottom of the vehicle through the separation of the positioning pin P and the power battery, 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. Fig. 4 is a schematic view (locked state) of the link lock apparatus 2 in the present application. Fig. 5 is a schematic view (unlocked state) of the link lock device 2 in the present application.
As shown in fig. 6, the locking assembly 3 may include a locking block 31 fixed on the inner wall of the cross beam, a locking sector gear 32 engaged with the locking block 31, and a connecting rod 4; wherein, be equipped with step-like circular slot in the latch segment 31, the bottom of latch segment 31 is equipped with the tubaeform notch that communicates with circular slot. The rotary central hole of the locking sector gear 32 is connected with the outside to form a U-shaped slotted hole; a meshing channel between the rack plate and the locking sector gear 32 is arranged above the locking block 31, so that the rack of the rack plate can be conveniently installed. The locking sector gear 32 is embedded in the locking block 31 through a rack plate and can rotate; the position that the locating pin stretched into on the power battery is set up to the horn-shaped notch, can provide certain leading-in effect for the locating pin on the power battery lateral part, and the opening size of horn-shaped notch ensures that the accurate leading-in locking mechanism's of locating pin on the power battery lateral part main body frame 1 locks in the solid assembly 3, accomplishes locking mechanism and power battery 20's locking. The opening angle of the horn-shaped notch is not less than 60 degrees, so that the positioning pin on the side part of the power battery is accurately guided into the locking assembly 3 of the main body frame of the locking mechanism 1, the adaptability is high, in the actual test of 5000 times, the positioning pin on the side part of the power battery can be smoothly guided into the locking assembly of the main body frame of the locking mechanism, and the stability and the success rate are high. (supposing that the power battery is changed for one time in 1 day for the electric motor coach, more than 5000 times of the power battery needs more than 13 years, and the use of the owner of the electric motor coach is basically ensured)
As shown in fig. 4 and 6, the connecting rod 4 is in a T-shaped structure, a poking plate 5 is arranged below the connecting rod 4, a rack plate fixed through screws is arranged at the connecting position of the rod body of the connecting rod 4 and the locking block 31, an oblong hole is arranged at the connecting position of the rod body of the connecting rod 4 and the locking block 31, and the connecting rod 4 and the locking block 31 are connected through pins to limit the moving distance of the connecting rod 4. The rack plate in the connecting rod 4 is meshed with the locking sector gear 32, and the connecting rod 4 is moved to enable the locking sector gear 32 to rotate (the structure of the rack plate enables the locking sector gear 32 to rotate accurately under the control of the connecting rod 4, so that the cost is reduced, and meanwhile, the reliability is high). According to the locking mechanism, the locking and unlocking functions of the locking mechanism on the power battery (namely, the locking/unlocking operation of the locking mechanism and the power battery) are completed through the movement (namely, the constant value movement) of the connecting rod within the set range.
As shown in fig. 4, each group of connecting rod locking devices 2 includes a connecting rod resetting unit F, the connecting rod resetting unit F includes a limiting block 6, a guide block 7 and a resetting spring 8, the limiting block 6 is fixed on the inner wall of the beam 11, the guide block 7 is fixed at the tail end of the connecting rod 4, the limiting block 6 is connected with the guide block 7 through a guide rod, wherein one end of the guide rod is fixed on the limiting block 6, and the other end of the guide rod passes through a waist hole on the side surface of the limiting block 6; the reset spring 8 is sleeved on the guide rod, and two ends of the reset spring 8 are respectively abutted against the side walls of the limiting block 6 and the guide block 7. (the connecting rod reset unit can make the connecting rod return to the preset position after completing the locking/unlocking operation of the locking mechanism and the power battery so as to carry out the locking/unlocking operation of the locking mechanism and the power battery next time, the connecting rod reset unit has simple structure and good stability, the number of normal use times reaches more than 1 ten thousand times through the actual use test, the use cost is saved, the reliability is good, the normal work for many years can be ensured, and the use of the owner of the electric motor coach is satisfied)
The specific working process is as follows:
as shown in fig. 6, when the locking mechanism does not receive any signal action, the connecting rod 4 controls the plurality of locking sector gears 32 (for example, if the locking mechanism comprises 3 locking assemblies, there are 3 locking sector gears, and the same can be pushed out) to hold the corresponding positioning pin (the positioning pin is in the shape of a cylinder, as shown in fig. 7) at the side of the power battery, so as to lock the power battery in the locking mechanism, and complete the locking operation of the locking mechanism and the power battery; when the shifting plate 5 is driven by the intelligent battery replacing robot in the battery replacing station, the connecting rod 4 connected with the shifting plate controls the 3 locking sector gears 32, the U-shaped slotted hole is opened by rotating a preset angle (the preset angle ensures that the positioning pin can be unlocked from the locking block 31), the positioning pin at the side part of the power battery can be withdrawn from the locking block, the power battery is unlocked with the locking mechanism, and the power battery can be replaced from the main body frame 1 of the locking mechanism of the electric motor coach by the intelligent battery replacing robot in the battery replacing station.
As shown in fig. 7, a link safety unit B is provided on each set of links 4, and the link safety unit B includes a bracket 13, a stopper 14, an elastic element 15, and an elastic pin 16. The bracket 13 is fixed on the inner wall of the cross beam 11, the elastic element 15 is arranged in the elastic pin 16 and inserted into the bracket 13, and the elastic pin 16 is automatically abutted with the limiting piece 14 through the elastic element 15. The limiting member 14 can automatically limit and lock the connecting rod 4 by locking the elastic pin 16 by the elastic element 15 (as shown in fig. 7, the limiting member 14 ensures the limiting and locking of the connecting rod 4 by limiting and locking the limiting chuck LK on the connecting rod 4), thereby ensuring the reliable fixation of the power battery in the vehicle and realizing the front-back positioning and the up-down positioning of the power battery in the advancing direction of the vehicle. The elastic element 15 (which may be an element having elastic force such as a spring or elastic rubber, and the spring may be a spring structure such as a disc spring, and the like, but the invention is not limited thereto) may eliminate the positioning gap of the power battery on the vehicle, so that the power battery and the vehicle form an integral structure, which requires that the elastic element has sufficient elasticity to ensure that the power battery does not loosen when the vehicle runs or bumps. The elastic element needs to accurately calculate the elastic driving force during design, and the safety of people on the vehicle is guaranteed while the power battery is reliably fixed on the vehicle. The limiting member 14 can automatically limit and lock the connecting rod 4 by locking the elastic pin 16 through the elastic element 15, so that it can be ensured that the position of the connecting rod 4 is not changed after an extreme condition (for example, a vehicle is violently impacted) occurs in the driving process of the vehicle, the connecting rod 4 controls the plurality of groups of locking sector gears 32 to embrace corresponding positioning pins at the side of the power battery, the power battery is further ensured to be locked in the locking mechanism, the battery is ensured not to fall off from the vehicle, and the safety of the vehicle is improved.
This application need not to carry out complicated structure setting on [ electric ] motor coach's automobile body, only through the setting of adding some structures on the locking mechanical system of installation bottom the automobile body, sets up more electromechanical control structures in the operation equipment side, is favorable to reducing [ electric ] motor coach's manufacturing cost like this, is convenient for [ electric ] motor coach's extensive commercial popularization. The elastic element can ensure the initial locking state of the power battery in the battery compartment without causing danger caused by accidental falling of the power battery, thereby greatly ensuring the safety of the power battery and a vehicle.
The specific working process is as follows: as shown in fig. 7, when the locking mechanism does not receive any signal action, the elastic pin 16 automatically contacts with the limiting member 14 through the elastic element 15, and the limiting member 14 contacts with the connecting rod 4, so as to form a locking state for the connecting rod 4; when the limiting part 14 is driven, the limiting part 14 is pushed to rotate upwards through a mandril unlocking device of the intelligent battery replacement robot in the battery replacement station. As shown in fig. 4, after unlocking, the upper end of the limiting member 14 is flush with the bracket 13, and at this time, the limiting of the connecting rod 4 is released, and the intelligent battery replacement robot in the battery replacement station can push the toggle plate 5 to move (shown as a rightward movement direction in the figure), so that the connecting rod locking device can be unlocked. The connecting rod safety unit is simple in structure and good in stability, the number of times of normal use reaches more than 1 ten thousand times through actual use tests (when the elastic element adopts a disc spring), the use cost is saved, the reliability is good, years of normal work can be guaranteed, and the safety of vehicles is guaranteed.
As shown in fig. 7, a battery locking and positioning unit T of the present application is used for positioning an intelligent battery replacing robot and a locking mechanism in a docking process through a positioning taper pin disposed on the intelligent battery replacing robot in a battery replacing station, wherein one or more tapered positioning sleeves 17 are disposed on each of two side beams 11 of a main body frame 1 (as shown in fig. 7, one tapered positioning sleeve 17 is disposed on each of the two side beams 11 of the main body frame 1, wherein a plurality of tapered positioning sleeves 17 are disposed on each of the two side beams 11 of the main body frame 1, since one tapered positioning sleeve 17 is disposed on each of the two side 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, due to normal wear caused by physical contact between the positioning taper pin and the tapered positioning sleeve 17, and a plurality of tapered positioning sleeves 17 are disposed on each of the two side beams 11 of the main body frame 1, the corresponding intelligent battery replacement robot can correspondingly increase the number of the positioning taper pins, so that the system is high in complexity and high in cost, and therefore the optimal implementation mode is to respectively arrange a taper positioning sleeve 17 on each of the two side beams 11); 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. 7 is shown by dotted lines in fig. 7), the set opening angle ensures that the conical positioning taper pin can be inserted into the conical positioning sleeve 17, and the conical positioning taper pin has high adaptability, can be smoothly inserted into the conical positioning sleeve 17 within a tolerance range of 20mm, and improves the success rate of positioning.
The specific working process is as follows: the intelligent battery replacing robot in the battery replacing station is butted with the locking mechanism 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 portion of the intelligent battery replacing robot is provided with a positioning taper pin which is correspondingly matched with the conical positioning sleeve 17 in shape, the top end of the positioning taper pin is firstly contacted with the edge of the conical positioning sleeve 17 through the ascending of the intelligent battery replacing robot, then the positioning taper pin 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.
As shown in fig. 8, the intelligent battery replacement positioning platform HD includes: the intelligent electric motor coach body replacement positioning device comprises a vehicle identification device P10, a gate P20, a correction positioning unit P30, a correction positioning unit underframe P40, a V-shaped groove positioning unit P50, a V-shaped groove positioning unit underframe P60, a blocking unit (the blocking unit comprises a front stopper P701 and a rear stopper P7012), a correction positioning unit P30, a correction positioning unit P30 and a power conversion positioning unit P40, wherein the correction positioning unit P30 is arranged on the correction positioning unit underframe P40, and is used for moving in the X direction and the Y direction on an intelligent electric motor coach body replacement positioning platform according to vehicle type parameter information of an electric motor coach and moving to a preset positioning; (wherein after the model parameter information of the electric motor coach is acquired, the intelligent battery replacement positioning platform can adjust the X direction and the Y direction according to the model parameter information when the vehicle does not drive into the intelligent battery replacement positioning platform; the device comprises a V-shaped groove positioning unit P50, a V-shaped groove positioning unit P50 is arranged on a V-shaped groove positioning unit underframe P60 and used for controlling the movement of front wheels of the electric passenger car on the intelligent electricity-changing positioning platform in the Y direction according to the car type parameter information of the electric passenger car when the wheel position of the electric passenger car is adjusted by the correction positioning unit, and moving the front wheel positioning V-shaped groove to a preset positioning position simultaneously with the correction positioning unit (namely, the central axis of a chassis of the electric passenger car is overlapped with the central axis of the car positioning platform according to the car type parameter information); the blocking unit comprises a front blocker and a rear blocker, the blocking unit is used for preventing a front wheel of the small electric bus from rolling out of the intelligent battery replacement positioning platform through the front blocker after the small electric bus is driven into the intelligent battery replacement positioning platform, and the front wheel of the small electric bus is prevented from moving backwards through the rear blocker after the small electric bus is moved to the preset position.
After the electric motor coach moves to the preset position, the front wheel position of the electric motor coach moving to the preset position is locked through the two stoppers respectively from the front part and the rear part of the tire of the front wheel. (the front stopper and the rear stopper are respectively connected through two electric push rods, and the two electric push rods respectively drive one stopper to act as a safety device in the electricity changing process of the vehicle)
The front stopper P701 prevents the vehicle from exiting the front wheel positioning V-shaped groove of the V-shaped groove positioning unit due to too high speed after the vehicle enters the intelligent battery replacement positioning platform; the rear stopper 8 prevents that the vehicle from being hung and reversed after finishing initial positioning without replacing the battery, improves the safety of replacing the battery of the electric motor coach on the intelligent battery replacement positioning platform, ensures the safety of the vehicle and the personal safety, and improves the user experience degree.
The correcting and positioning unit is provided with a guide part and is of a platform type structure. The correcting and positioning unit comprises a plurality of V-shaped rollers and guide rails, wherein the V-shaped rollers and the guide rails are used for correcting the X-direction movement of the positioning unit, and the correcting and positioning unit comprises a plurality of positioning rollers used for enabling rear wheels of the electric motor coach to move in the Y-direction.
The guide part of the correction positioning unit can be formed by bending a seamless stainless steel pipe, is formed by two groups of horn-mouth-shaped guide rods and is used for guiding the driving direction of the electric motor coach, and after wheels of the electric motor coach hit the horn-mouth-shaped guide rods, the wheels can be automatically guided and corrected due to the rolling of V-shaped rollers laid below each group of guide rods, so that the driving path of the automobile is limited.
The correction positioning unit moves in the X direction and is an X-direction servo electric pushing cylinder fixedly arranged on a correction positioning unit underframe, the X-direction servo electric pushing cylinder is connected with the correction positioning unit and a V-shaped groove positioning unit, wherein the correction positioning unit can move in the X direction (namely the correction positioning unit is close to the V-shaped groove positioning unit in the X direction or the correction positioning unit is far away from the V-shaped groove positioning unit in the X direction), and the position of the correction positioning unit is adjusted according to the wheel track size of the electric motor coach. The correcting and positioning unit and the V-shaped groove positioning unit can move in the X direction according to different vehicle type parameters, the maximum stroke of the correcting and positioning unit and the V-shaped groove positioning unit can be 1000mm (in practice, the maximum stroke can be set to 580mm when being seen comprehensively according to various types of electric cars, so that the requirements of the wheelbase and the vehicle length of various types of vehicles are met, the physical size of an intelligent positioning platform can be saved, the resource consumption is reduced, the positioning precision can be within 2mm to 4mm, and the space for installing a power battery is ensured to be consistent with the X-direction reference of a lifting system of an intelligent battery replacement robot.
The correcting and positioning unit moves in the Y direction, the Y-direction servo electric pushing cylinder is fixedly arranged on the bottom frame of the correcting and positioning unit, the Y-direction servo electric pushing cylinder is connected with a correcting part of the correcting and positioning unit, the position of the correcting and positioning unit can be adjusted according to the wheel track size of the electric passenger car, and the electric passenger car is moved to a preset positioning position.
The V-shaped groove positioning unit moves in the Y direction, the Y-direction servo electric pushing cylinder is fixedly arranged on the chassis of the V-shaped groove positioning unit and connected with the correcting part of the V-shaped groove positioning unit, the position of the V-shaped groove positioning unit can be adjusted according to the vehicle type wheel base of the electric motor coach, and the electric motor coach is moved to the preset positioning position.
The V-shaped groove positioning unit comprises a plurality of V-shaped rollers and guide rails, wherein the V-shaped rollers and the guide rails are used for correcting the movement of the positioning unit in the X direction. And a guide part of the V-shaped groove is arranged on the V-shaped groove positioning unit. The V-shaped groove positioning unit can limit the front and rear positions of the front wheel of the vehicle. The flow of the guide part of the V-shaped groove and the flow of the correction positioning unit are similar in the same way.
The V-shaped groove positioning unit is of a platform type structure. The V-shaped groove positioning unit comprises a front wheel positioning V-shaped groove, a plurality of groups of front wheel positioning rollers are arranged in the front wheel positioning V-shaped groove, the plane width of the front wheel positioning V-shaped groove can be 200mm to 620mm, and the opening angle formed by the V-shaped of the front wheel positioning V-shaped groove can be 115 degrees to 138 degrees, so that the V-shaped groove positioning unit is suitable for front wheel tires of most electric motor coach types, and meets the wheel limit of the front wheel tires of most electric motor coach types; in the invention, due to the requirements of cost and applicability, the plane width of the front wheel positioning V-shaped groove is preferably 620mm, the opening angle formed by the V shape of the front wheel positioning V-shaped groove can be 120 degrees, a plurality of groups of front wheel positioning rollers are arranged in the front wheel positioning V-shaped groove, a position sensor is arranged at the lower part of each front wheel positioning roller and used for detecting whether a front wheel of a vehicle reaches a preset position, and two ends of each front wheel positioning roller are arranged in a support of the front frame. The vehicle drives on the intelligent positioning platform along the opposite direction of the X axis, when two front wheels drive into the front wheel positioning V-shaped groove, the tire is positioned on the plurality of groups of front wheel positioning rollers, and the position sensor at the lower part of the front wheel positioning rollers determines whether the vehicle reaches a preset position according to vehicle parameter information. The vehicle tire parked on the front wheel aligning roller of the front wheel aligning V-groove determines the position of the wheel in the X direction and is not affected by the diameter of the tire within a certain range. The position sensor arranged at the lower part of the front wheel positioning roller can adopt a pressure sensing mode or a photoelectric sensing mode and the like, but the invention is not limited to the pressure sensing mode, wherein the photoelectric sensing mode is adopted, and the sensitivity is high.
As shown in fig. 8, the electric car passes through the vehicle recognition device P10 and by reading the license plate information of the electric car, the correction positioning unit P30 and the V-shaped groove positioning unit P50 will automatically adjust the position of the electric car in the X direction and the Y direction on the intelligent battery replacement positioning platform according to the vehicle type parameter information, and ensure that the electric car is in the preset positioning position after entering the intelligent battery replacement positioning platform (even if the central axis of the chassis of the electric car coincides with the central axis of the vehicle positioning platform, the intelligent battery replacement robot can perform the battery replacement vehicle position). After the intelligent battery replacement positioning platform is adjusted, the vehicle identification device automatically opens the gate. The leveling positioning unit P30 is moved by the V-shaped roller P301 and the guide rail P302. The V-shaped idler wheel is installed at the bottom of a correction positioning unit P30, the guide rail is installed on a correction positioning unit underframe P40, a plurality of positioning rollers are arranged on a platform of the correction positioning unit, a servo electric push cylinder is fixed on the correction positioning unit underframe P40, the servo electric push cylinder is connected with the correction positioning unit, and the position of the correction positioning unit P30 can be automatically adjusted according to the wheel track of the electric motor coach.
The V-groove positioning unit P50 is moved by means of the V-rollers and the guide rails in cooperation. The V-shaped roller is installed at the bottom of a V-shaped groove positioning unit P50, the guide rail is installed on a V-shaped groove positioning unit underframe P60, the servo electric pushing cylinder is fixed on the V-shaped groove positioning unit underframe P60 and is connected with the V-shaped groove positioning unit P50, and the position of the V-shaped groove positioning unit P50 can be automatically adjusted according to the wheel track of the electric motor coach.
As shown in FIG. 8, after the gate P20 is opened, the front stopper P701 of the V-groove positioning unit P50 will automatically open to prevent the vehicle from moving out of the V-groove positioning unit's front wheel positioning V-groove due to too high speed. At the moment, the vehicle drives into the intelligent power replacement positioning platform through the guide part of the correction positioning unit P30, the front wheel of the vehicle drives into the front wheel positioning V-shaped groove of the V-shaped groove positioning unit P50, the initial positioning of the vehicle is completed, the rear stopper P702 is automatically opened, and the reverse gear is prevented from being engaged and backing up when the vehicle is not completely replaced.
In fig. 9, a translation bridge plate PB and a translation suspension bridge PD are respectively disposed on the left and right sides of the intelligent battery replacement positioning platform HD (i.e., including a left and right pass structure, the left side is the translation bridge plate, and the right side is the translation suspension bridge). The translation bridge plate comprises a translation bridge plate X-direction moving unit and a translation bridge plate Y-direction moving unit, and the translation bridge plate X-direction moving unit is used for controlling the translation bridge plate to move in the X direction; the translation bridge plate Y-direction moving unit controls the translation bridge plate to move in the Y direction; the translation suspension bridge comprises a translation suspension bridge X-direction moving unit, a translation suspension bridge Y-direction moving unit and a vertical Z-direction moving unit; the X-direction moving unit of the translation suspension bridge is used for controlling the movement of the translation suspension bridge in the X direction; the translation suspension bridge Y-direction moving unit is used for controlling the translation suspension bridge to move in the Y direction; and the vertical Z-direction moving unit controls the movement of the translation suspension bridge in the Z direction.
The utility model provides a translation bridge plate PB and translation suspension bridge PD trades electric positioning platform's correction positioning unit and V-arrangement groove positioning unit with intelligence and is connected, provides a whole mobile platform that can make the vehicle steadily pass through.
The translation bridge plate is divided into an upper frame PB101 and a lower frame PB104, the translation bridge plate Y pushes the whole frame to translate on a guide rail to an electric pushing cylinder PB105 (the translation bridge plate Y is of a telescopic structure to the electric pushing cylinder PB 105), the guide rail roller connected with the lower half part of the frame is a bent steel plate, and the guide rail roller is selected to ensure that the whole translation bridge plate can be stably pushed on the guide rail. The translation bridge plate expansion brackets PB102 on the two sides control the correction positioning units and the V-shaped groove positioning units on the two sides of the travel bridge through a translation bridge plate X to an electric pushing cylinder PB103 (the translation bridge plate X to the electric pushing cylinder PB103 is of a telescopic structure and can be a servo electric pushing cylinder, and the servo electric pushing cylinder guarantees the stability and controllability of movement).
The translation bridge plate comprises a translation bridge plate X-direction moving unit and a translation bridge plate Y-direction moving unit and is used for controlling the expansion and contraction of the translation bridge plate and the translation of the translation bridge plate expansion bracket.
Translation bridge plate X is to the horizontal migration unit, and translation bridge plate X is fixed at the middle part of translation bridge plate to the electric push cylinder, and both sides are provided with translation bridge plate expansion bracket, and translation bridge plate X is connected through with translation bridge plate expansion bracket to the electric push cylinder, and control translation bridge plate expansion bracket is flexible and is moved, extends the X of translation bridge plate to the space, and with the trade electricity positioning platform system on both sides correct positioning unit and V type groove positioning platform and be connected.
The translation bridge plate expansion bracket moves integrally with a frame of the translation bridge plate in a sliding mode, the translation bridge plate X-direction electric pushing cylinder is inserted into the middle of the translation bridge plate expansion bracket, and the head of the translation bridge plate expansion bracket is fixed by a nut. The main function of the short beams is to maintain more contact area with the frame, so that the sliding is more stable. The long beam is nested in the fixed beam of the lower frame of the translation bridge plate, the round hole is formed in the long beam, the button is plugged in the round hole, abrasion caused by friction between the pipes is prevented, and the effect of stabilizing the sliding position can be achieved.
The Y-direction moving unit of the translation bridge plate moves in the Y direction through a Y-direction electric pushing cylinder (the Y-direction electric pushing cylinder of the translation bridge plate can be a direct-current electric pushing cylinder which ensures the stability and controllability of the movement) fixed on a track at the lower end of the foundation to push a connecting part below a lower frame of the translation bridge plate, and a guide rail roller arranged at the bottom pushes a limiting part to the electric pushing cylinder through the Y-direction electric pushing cylinder of the translation bridge plate to control the initial distance and the final distance of movement; the guide rail of the track is a bent steel plate, and the whole translation bridge plate can be stably pushed on the track by selecting a guide rail roller.
The translation suspension bridge mainly comprises a translation suspension bridge X-direction moving unit, a translation suspension bridge Y-direction moving unit and a vertical Z-direction moving unit, and is used for vertical lifting and horizontal pushing of the translation suspension bridge and a control system of a translation suspension bridge expansion bracket. The translation suspension bridge further comprises a translation suspension bridge expansion bracket used for connecting two ends and a pushing and stretching system for avoiding the battery-replacing robot. The moving unit of the translation suspension bridge can be realized through the electric pushing cylinder, the lifting and pushing can be stable and quick, the electric pushing cylinder is controlled by the translation suspension bridge expansion bracket and adopts a servo electric pushing cylinder, and the stability and controllability of the expansion bracket are guaranteed.
The translation suspension bridge divide into two left and right sides stand structures, including left suspension bridge stand PD201 and right suspension bridge stand PD202, the stand stretches out two curb girders and grasps the balladeur train PD203 of whole translation suspension bridge, balladeur train PD203 is through translation suspension bridge Y to electric push cylinder PD208 (translation suspension bridge Y is scalable structure to electric push cylinder PD208, translation suspension bridge Y can adopt the direct current to push away the jar to the electric push away jar, the direct current pushes away the stationarity and the controllability that the jar guaranteed the motion) and drives and play the connection effect in Y to flexible. The moving process mainly comprises the steps that gears are connected to two sides of the gear linkage shaft PD205 and move under the control of the gear rack system PD206, the moving mode has the advantages that the friction resistance can be reduced, the sliding frame PD203 can be prevented from being rubbed on the sides of the longitudinal beams to cause physical damage, and the service life of the translation suspension bridge can be prolonged to a great extent. The translation suspension bridge expansion brackets PD204 on the two sides control the correction positioning units and the V-shaped groove positioning units on the two sides of the travel bridge through a translation suspension bridge X-direction electric pushing cylinder PD207 (the translation suspension bridge X-direction electric pushing cylinder PD207 is of a telescopic structure, and a servo electric pushing cylinder is adopted by the translation suspension bridge X-direction electric pushing cylinder PD207 and guarantees the stability and controllability of movement).
The vertical direction of the two sides shows the transmission mechanism of the lifting upright post of the upright post (PD201 or PD 202). The inner upright column LZ602 is nested in the outer upright column LZ601, the inner upright column LZ602 is provided with a plurality of inner upright column splicing strips LZ6022, so that the friction resistance of the inner upright column and the outer upright column can be reduced greatly, and more protection can be provided for the inner structure due to the arrangement of the inner upright column splicing strips LZ 6022. The inner upright post is pushed to lift inside the outer upright post through the upright post electric pushing cylinder LZ 603.
In the vertical column transmission mechanism of the rack motion system, a gear LZ605 moves on a rack LZ604, the gear is connected to a gear connecting shaft, and the combination of the gear and the rack can reduce the friction resistance and can ensure that the movement of the two sides is kept relatively balanced most importantly. The Y of which to interior gyro wheel LZ606, it can protect the balladeur train to keep steady to the flexible in-process in Y, reduces frictional resistance's constructional device, can effectually make the balladeur train can not pry because of the unbalance on both sides after the extension.
Translation suspension bridge X is fixed at the middle end of balladeur train to the mobile unit, translation suspension bridge X to the electric push cylinder, and both sides are provided with translation suspension bridge expansion bracket, and translation suspension bridge X is connected with translation suspension bridge expansion bracket to the electric push cylinder through, and control translation suspension bridge expansion bracket is flexible and is moved, extends the X of translation suspension bridge to the space, and it is connected with correction positioning unit and V type groove positioning platform in the electricity location platform system that trades on both sides.
The translation suspension bridge expansion bracket PD204 and the whole frame move mainly in a sliding mode, the translation suspension bridge X-direction electric pushing cylinder is inserted in the middle, and the head is fixed in a bolt mode. The translation suspension bridge expansion bracket still includes: the short beams and the long beams, and the short beams mainly have the function of keeping more contact area with the frame so as to enable the sliding to be more stable. The short beam keeps more area of contact when being used for contacting with the frame of balladeur train, and the long beam nestification sets up the round hole in the fixed beam of the frame of balladeur train and fills in the button in the long beam, avoids the wearing and tearing that the friction between pipe and the pipe caused, and can play the effect of stabilizing the sliding position.
The sliding frame of the translation suspension bridge is pushed to the electric pushing cylinder by the translation suspension bridge Y through a gear and a rack to move in the Y direction, the bottom of the electric pushing cylinder of the translation suspension bridge Y is fixed on the fixed beam at the bottom end of the left suspension bridge upright post and the fixed beam at the bottom end of the right suspension bridge upright post, in order to keep the balance of the sliding frame, gears are arranged on two sides of a long shaft, the long shaft is called as a gear linkage shaft, and then the sliding frame is pushed and extended on the racks on two sides through the gears.
The translation suspension bridge Y is to the mobile unit, fixes on a mounting beam below left suspension bridge stand and the right suspension bridge stand through translation suspension bridge Y to the electric push cylinder, and the balladeur train passes through a major axis of mid portion, and the both ends of major axis are two gears respectively, and the monolithic stationary of major axis is on the bearing frame, is provided with the rack on the stand curb girder on both sides, is equivalent to the guide rail of gear, reduces the friction through this kind of mode to can be steady move on the track.
And the vertical Z-direction moving unit is wholly divided into an inner part and an outer part by a vertical Z-direction electric pushing cylinder (the vertical Z-direction electric pushing cylinder can adopt a direct current pushing cylinder which ensures the stability and controllability of the movement) pushing and lifting mode, the outer part is fixed on the foundation, and the inner part lifts the inner column through the vertical Z-direction electric pushing cylinder to enable the whole translation suspension bridge to ascend or descend. Can carry out the ascending motion in the Z direction through perpendicular Z to the mobile unit, can give up the space, make the intelligence that carries power battery trade electric robot pass through, reduced the degree of depth of trading the initial foundation ditch of power station (original foundation ditch is 1.8 meters, the construction degree of difficulty is too high), the degree of depth of digging now is 55cm, has reduced the construction degree of difficulty like this, has reduced the construction cost who trades the power station simultaneously, the large-scale commercial popularization of the [ electric ] motor coach of being convenient for.
Fig. 10 shows, the battery prestores a frame Y10, snatch mechanism Z10 and elevating system H10, the battery prestores a frame Y10, the power battery intelligence that snatchs mechanism Z10 and elevating system H10 and constitute prestores the system, realize going up and down through adopting 2 direct current motor electric push cylinders, adjust lifting claw distance in order to adapt to different specification batteries through 1 servo motor electric push cylinder, descend through the lifting claw, snatch intelligent power conversion robot's behind the insufficient voltage battery, promote the insufficient voltage battery to a preset height after, intelligent power conversion robot takes away the full charge battery that battery intelligence scheduling system has put on the battery prestores the frame away, whole process time consumes about 30 seconds, can shorten whole power conversion time 60 seconds greatly than current battery intelligence scheduling system mode of waiting for. The battery pre-storage rack Y10 is used for pre-storing equipment of a low-power battery/a full-power battery so that the intelligent battery replacement robot or the intelligent battery scheduling system takes or places the power battery 20 from the battery pre-storage rack; and the grabbing mechanism Z10 is used for adjusting the grabbing distance according to the size of the power battery placed on the battery prestoring rack, and tightly grabbing the power battery placed on the battery prestoring rack. And the lifting mechanism H10 is used for lifting the power battery grabbed by the grabbing mechanism to a preset height H, or lowering the power battery grabbed by the grabbing mechanism lifted to the preset height H and placing the power battery onto a battery pre-storage rack.
The battery prestoring frame comprises supporting parts on two sides, the supporting parts on the two sides form a supporting structure, the supporting parts on the two sides of the lifting part are respectively contacted with the bottom surface of a power battery placed on the battery prestoring frame, the battery prestoring frame is of a metal structure (the supporting parts on the two sides can be of a separated structure, so that the material cost of the supporting structure can be saved, the supporting part can also be of a lifting frame, the application is not limited, the battery prestoring frame can be of a steel structure, the steel structure is low in cost, the production and the manufacture are more convenient, the large-scale commercial popularization and application of a battery replacement mode are convenient, and other metal structures can be also used, such as metal structures of aluminum, copper and the like, and the application is not limited). The battery prestorage rack is used for presetting devices of insufficient batteries/full batteries (serving as transfer stations of the insufficient batteries/full batteries) and can be used for charging power batteries; the intelligent battery replacement robot or the intelligent battery scheduling system can take or put the power battery from the battery pre-storage rack.
Elevating system H10, including a bracket H101, 2 lift power pack H102, 2 lift guide H103, guide wheel subassembly H104 and a frame H105, wherein, 2 lift power pack fix respectively on 2 lift guide of bracket both sides, the both sides of bracket are connected with a lift power pack respectively, 2 lift power pack promote the bracket and move the action up and down, the guide wheel subassembly of dress in bracket four corners department makes the bracket move the action up and down along lift guide (the guide wheel subassembly of dress in bracket four corners department makes the bracket move the action up and down along the square pipe on the lift guide), realize the switching operation of insufficient battery between prestoring frame position and promotion prestoring position.
The guide wheel assembly (each guide wheel of the guide wheel assembly can be set as a bearing, the bearing is simple in structural design, the cost is greatly reduced, and large-scale commercial popularization and application in the battery replacement mode are facilitated) controls the freedom degree of the movement of the bracket in the X direction and the Y direction, so that the bracket can be stably lifted without overturning.
The left lifting guide rail and the right lifting guide rail are respectively arranged on the gantry-shaped frame, each lifting guide rail adopts a vertical guide rail formed by 2 square pipes, the left lifting guide rail and the right lifting guide rail have 4 vertical guide rails, and the left lifting guide rail and the right lifting guide rail respectively correspond to guide wheels at four corners of the bracket to form a complete up-down lifting mechanism. The vertical guide rail in the lifting guide rail adopts a square pipe, and the clearance between each guide wheel and the corresponding vertical guide rail in the X direction and the Y direction in the guide wheel assembly can be adjusted, so that the manufacturing and mounting precision is greatly reduced on the premise of ensuring the use function.
The battery storage rack and the bracket are arranged in the rack, the bracket, the battery storage rack and the rack form a whole, and the bracket is arranged in the upper space in the rack; the battery storage rack is in the lower space in the interior of the housing,
the grabbing mechanism Z10 comprises a lifting claw Z101, a lifting claw arm Z102 and a claw distance adjusting unit Z103, a connecting rod Z105 is driven to drive 2 lifting claw arms on the inner side by linear motion of a claw distance adjusting power unit Z104 (which can be an electric pushing cylinder), a rack is arranged on the lifting claw arm, and the linear motion of the electric pushing cylinder is synchronously transmitted to the rack on the 2 lifting claw arms on the outer side by a middle gap bridge gear Z106 to drive the outer lifting claw arm to perform linear motion. The lifting claw arm moves along a linear pair formed by the base plate Z107, the guide wheel H104 and the positioning block Z108, the lifting claw and the lifting claw arm are connected into a whole, the lifting claw moves linearly along with the electric pushing cylinder along with the lifting claw arm, and the claw distance of the lifting claw changes along with the linear pair.
The grabbing mechanism is fixedly arranged on the bracket to form a whole piece, the lifting motion is realized through 2 direct current motor push cylinders, and the guide wheels arranged at the four corners of the bracket enable the whole piece to move up and down along the square tube on the lifting guide rail. The grabbing mechanism can automatically adjust the distance between the front lifting claw and the rear lifting claw according to the instruction of automatic control of the system, can adapt to various types of power batteries of the electric motor cars of various types to be promoted and prestored, and is stepless adjustable, and accurate and reliable in positioning.
A claw distance adjusting unit: the single claw distance adjusting power unit drives a transmission mechanism which comprises a connecting rod, a whole lifting claw (the whole lifting claw and a lifting claw arm form the whole lifting claw) and an intermediate bridge gear, realizes the stepless adjustment of the claw distance of the whole front and back 2 lifting claws, and meets the requirements of the widths of various power batteries.
The lifting claw Z101 and the lifting claw arm Z102 form a lifting claw whole piece, 2 pieces are arranged in front and at the back, and a rack Z109 is fixedly arranged on the lifting claw arm Z102; the positioning block and the guide wheel limit the freedom degree of motion of the whole lifting claw in the X direction and the Z direction, and the whole lifting claw moves linearly along the Y direction along with the electric push rod, so that the function of adjusting the claw distance is realized. This application can be applicable to the power battery of the little [ electric ] motor coach of different motorcycle types through the claw apart from the regulating unit, is convenient for the extensive commercial popularization and application of little [ electric ] motor coach more.
The intelligent battery replacement robot can disassemble and assemble the power battery through functions of each-directional fine adjustment of the unlocking device, lifting of the unlocking device, overall horizontal linear running and the like; the intelligent battery replacement robot can intelligently adjust the battery replacement state according to multi-vehicle-type and multi-model power batteries, each battery replacement action is controlled by adopting servo programming, and the operation of replacing the power batteries of the electric motor coach can be automatically coordinated and finished.
As shown in fig. 11, the intelligent battery replacement robot J includes an unlocking device 600, a cradle head 200, a return device 300, a lifting system 400 and a mobile conveying platform 500, the unlocking device 600 is disposed on the cradle head 200, the cradle head 200 is disposed on the lifting system 400, the lifting system 400 is disposed on the mobile conveying platform 500, the return device 300 includes a return taper pin 3001 and 2 corresponding return taper holes 3002, the return taper holes are fixedly disposed at the bottom of the cradle head 200, the return taper pins are fixedly disposed on the mobile conveying platform 500 of the intelligent battery replacement robot, as shown in fig. 12, the unlocking device 600 is a core device for performing battery replacement action (the unlocking device can perform width adjustment and corresponding shift fork position adjustment according to different types of power batteries to ensure successful detachment and installation of the power batteries), the unlocking device 600 is disposed at the uppermost layer of the intelligent battery replacement robot for detaching and installing vehicle-mounted power batteries, the automatic unlocking device comprises an unlocking bottom plate, a positioning unit 100, 2 shifting fork parts, a width adjusting transmission part and 2 shifting fork driving parts, wherein the 2 shifting fork parts are oppositely arranged on two sides of the unlocking bottom plate, the width adjusting transmission part is arranged in the middle of the unlocking bottom plate, the 2 shifting fork parts are connected through the width adjusting transmission part, and the 2 shifting fork driving parts are respectively connected with the 2 shifting fork parts, wherein the positioning unit 100 can comprise 2 groups of telescopic conical pins which are respectively and relatively fixedly arranged on two sides of the unlocking bottom plate;
the positioning unit 100 is used for positioning the intelligent battery replacement robot and a locking mechanism arranged at the bottom of the small electric passenger car; 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. 11 and 12, the positioning unit 100 may include 2 sets of retractable taper pins, which are respectively fixedly disposed on the unlocking device 600 of the intelligent battery replacement 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 is not limited; the intelligent battery replacing robot can be positioned at two points, namely, the two side beams 11 of the main body frame 1 are respectively provided with the conical positioning sleeves 17, and certainly, the positioning can be performed at more than two points, because the positioning taper pins 1001 are in physical contact with the conical positioning sleeves 17 to generate normal wear, if the two side beams 11 of the main body frame 1 are respectively provided with the plurality of conical positioning sleeves 17, the number of the positioning taper pins 1001 can be correspondingly increased, so that the complexity of the intelligent battery replacing robot is high, the cost is high, therefore, aiming at the two side beams 11, respectively provided with the conical positioning sleeves 17, 2 groups of telescopic conical pins are adopted according to the positions of the 2 conical positioning sleeves 17 at the bottom of the vehicle and are respectively fixedly arranged on the unlocking device 600 of the intelligent battery replacing robot, and the best implementation mode is achieved.
The taper pin can comprise a positioning taper pin 1001, an intermediate sleeve 1002, a positioning taper pin base 1003 and a return spring 1004, wherein the taper point of the positioning taper pin 1001 faces upwards, and the angle of the taper point of the positioning taper pin 1001 is matched with the 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 balanced with the pressure generated by the contact of the main body frame, and in an actual test, 3 or 4 cylinders are arranged to be the best implementation mode of the application.
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, wherein the main body frame 11 is used for fixedly mounting the main body frame at the bottom of an electric passenger car with different types of vehicles according to the corresponding mounting positions set at the bottom of each vehicle according to the bottom structures of the vehicles with different wheel tracks/different wheel bases; a 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 taper angle of the conical tip of the positioning taper pin 1001 is greater than 35 degrees and less than 90 degrees, and the angle of the taper angle of the conical tip of the positioning taper pin 1001 is less 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 20mm, and the success rate of positioning is improved.
The shifting fork part is used for unlocking the power battery and a connecting rod locking device at the bottom of the electric motor coach, and enabling the power battery to finish the operation of separating from the coach body or the operation of plugging and electrifying the power battery;
as shown in fig. 11 and 12, each yoke may include: the unlocking shifting fork 610 and the battery plugging shifting fork 611 are used for pushing a connecting rod of a locking mechanism at the bottom of the electric passenger car, so that after a locking sector gear of the locking mechanism rotates, the power battery is unlocked from the locking mechanism at the bottom of the car;
the battery plugging and pulling forks are used for pushing the power battery on a horizontal plane, and the battery plugging and pulling forks arranged on the two sides of the unlocking bottom plate simultaneously push the guide blocks arranged on the two sides of the power battery to perform linear motion along the horizontal direction, so that the operation that the power battery is separated from the vehicle body or the power battery is plugged and electrified is completed.
As shown in fig. 12, the width adjustment transmission part is used for adjusting 2 shifting fork parts in the width direction of the power battery according to the width size of the power battery: the power battery is set to be in a gear-double-rack structure form (namely, two racks are respectively coupled with a gear), a speed reducer is driven by a motor, a gear drives the two racks to rotate, the racks are connected with the shifting fork parts on the two sides to perform adjustment action, and therefore the adjustment operation of 2 shifting fork parts in the width direction of the power battery is completed (namely, the adjustment in the Y direction can be performed according to the sizes of different widths of the power battery, the 2 shifting fork parts simultaneously perform the separation movement of the two shifting fork parts, the distance between the 2 shifting fork parts is enlarged, or the 2 shifting fork parts simultaneously perform the approaching movement of the two shifting fork parts, and the distance between the 2 shifting fork parts is reduced); the gear-double rack structure is adopted, the adjusting distance is accurate, the structure is relatively simple, and the adaptability is good.
Each shifting fork driving part drives the unlocking shifting fork and the battery plugging shifting fork to move, the connecting plate is directly pushed by the electric pushing cylinder to drive each shifting fork to move (namely to move in the X direction), the electric pushing cylinder is compact in structure and controlled by servo programming, and the intelligent unlocking and plugging actions of the power battery can be realized in a very small space.
As shown in fig. 12, the pan/tilt head 200 is configured to perform fine adjustment operation on the position of the unlocking device 600, and can realize that the unlocking device 600 moves along the X direction, the Y direction, and the Z direction (the movement along the Z axis is synchronous with the pan/tilt head 200 through the lifting machine 400, that is, the lifting system 400 drives the pan/tilt head 200 and the unlocking device 600 to move upward or downward along the Z direction), so as to ensure that the unlocking device 600 reaches a position and a state where the power battery is smoothly detached and installed.
As shown in fig. 11 and 12, the pan/tilt head 200 is fixedly disposed on a bracket 4001 of a lifting machine 400 of the intelligent battery replacement robot, and the pan/tilt head 200 is moved up and down in the Z direction by the lifting machine 400. The positioning unit 100 is arranged on the unlocking device 600 of the intelligent battery replacement 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. (when the electric motor coach has manufacturing tolerance, or the vehicle axis is not parallel to the platform axis when the vehicle is stopped on the platform, even the vehicle has the condition of shape change and the like when the vehicle is collided, the mechanical positioning mode that the positioning taper pin 1001 in the positioning unit 100 on the cradle head 200 is inserted into the taper positioning sleeve at the bottom of the electric motor coach is used for adjustment, so that the unlocking device 600 arranged on the cradle head 200 can adapt to the electricity changing state of the electric motor coach for changing the electricity to the maximum extent, the power battery of the electric motor coach can be successfully disassembled and installed by the intelligent electricity changing robot, the time for changing the primary power battery of the electric motor coach is controlled within 3 minutes through actual tests, the work is stable and reliable, the electricity changing efficiency is high, the requirement for high-frequency stable electricity changing of the electricity changing station is met, the requirement on the positioning environment is low, and the electric motor coach can adapt to various electricity changing environments, meanwhile, the equipment cost of the battery replacement station is reduced, and large-scale commercial popularization of the electric motor coach is facilitated).
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, and 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 replacing the power batteries of the vehicle is completed.
As shown in fig. 12, the holder 200 includes 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. 11, the intelligent battery replacement 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 the position error in the battery replacement process, thereby realizing the accurate positioning of the intelligent battery replacement robot before the battery replacement of the electric motor coach.
Including 2 layers of structures on the last roof of cloud platform 200, 2 layers of structures are from last down the structure and are in proper order: a moving frame along the X direction and a moving frame along the Y direction; wherein, a Y-direction electric pushing cylinder is arranged along the Y-direction moving frame to push the multi-direction intelligent moving system to move along the Y direction; an X-direction electric pushing cylinder is arranged along the X-direction moving frame to push the multi-direction intelligent moving system along the X direction. The movement in each direction is independently completed by each electric pushing cylinder, the structure is compact, and the intelligent control can be realized.
The returning device 300 is used for returning the unlocking device 600 to an initial set position after the unlocking device 600 shifts position in the battery replacing process, the returning device 300 comprises 2 groups of three-level telescopic returning taper pins 3001 and 2 corresponding returning taper holes 3002, the returning taper pins are fixedly arranged on the mobile conveying platform 500 of the battery replacing 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 more than 35 degrees and less than 90 degrees, and the angle of the cone head of the return taper pin is less 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 20mm, and the success rate of returning the unlocking device 600 to the initial set position is improved.
The lifting system 400 is fixed on the mobile conveying platform 500, and the unlocking device 600 is lifted to reach the height for dismounting the power battery by adopting a bilateral synchronous lifting mode; wherein, including two unilateral machines 400A of lifting, lift transmission portion and lift tray portion, two unilateral machines of lifting realize lifting in step (this application adopts one to lift transmission portion and drives, has reduced the complexity of equipment, the cost is reduced, can ensure 2 unilateral machine synchronous motion of lifting simultaneously, has promoted lifting system's stability) through same drive mechanism (lift transmission portion) for lift and descend the operation to unlocking device 600. Note that the overall height of the lifting system is reduced by the structure that the lifting system is lifted at two sides, the height is reduced by about 40cm, the depth of the pit dug by the power station in the construction is reduced, the current depth of the pit dug is less than 60cm, and the construction difficulty is greatly reduced (the depth of the pit dug by the power station is originally 1.8 m, and the construction difficulty is too high)
Single-side lifter 400A: the single-stage hinge plate lifting structure is characterized in that a bottom plate of the single-stage hinge plate lifting structure is fixedly arranged on the movable conveying platform 500, a top plate of the single-stage hinge plate lifting structure is connected with the supporting plate, and left-handed and right-handed ball screws are driven to drive nuts of the single-stage hinge plate lifting structure to move in opposite directions or relative directions, so that the angles among hinge plate groups are changed to realize the lifting of the single-stage lifter, and the unlocking device 600 and the like; the unilateral lifter comprises a top plate 400A1, a bottom plate 400A2 and a middle movable hinge plate group 400A3, wherein rollers 400A6 are arranged at the upper end and the lower end of each hinge plate, the upper end rollers are in contact with tracks on the top plate, the lower end rollers are in contact with tracks on the bottom plate, the lower end rollers are connected with screw nuts 400A7, the middle transmission is transmission of a left-handed ball screw 400A4 and a right-handed ball screw 400A5, and the left-handed ball screw and the right-handed ball screw are driven to drive the nuts to move oppositely or relatively, so that the unilateral lifter is lifted.
The freedom degree limiting mode of the top plate is as follows: the X-direction movement limiting and the Y-direction movement limiting are realized in a mode of gear-two racks (namely two racks are respectively coupled with a gear, a gear-double rack structure mode is adopted, the distance adjusting is accurate, the structure is relatively simple, and the adaptability is good), the gear is fixed on the top plate, the two racks are respectively connected to roller shafts at the upper ends of the hinge plates at two sides, when the hinge plates are contracted or expanded, the racks are always meshed with the gear to rotate, and the top plate is limited in the X-direction and the Y-direction movement through the length of the racks; the Z-direction movement limiting is realized by the rack connecting seat which is caught in a limiting groove connected with the top plate.
The lifting transmission part 400B: the motor drives the reducer, drives the double-output shaft commutator through the connecting shaft, transmits in two ways, and transmits power to the ball screw of the corresponding single-side lifter through the respective one-way output shaft commutator; (this application drives through adopting one to lift transmission portion to the ingenious structural design of lifting transmission portion, has reduced the complexity of equipment, and the cost is reduced can ensure 2 unilateral machine synchronous motion that lift simultaneously, has promoted the stability of lifting the system). Lifting tray part 400C comprises two Z-shaped supporting plates and a bracket 4001 which are respectively arranged on the left side and the right side, wherein the upper ends of the left Z-shaped supporting plate and the right Z-shaped supporting plate are respectively connected with a top plate of a single-side lifting machine, the lower ends of the left Z-shaped supporting plate and the right Z-shaped supporting plate jointly hold the bracket 4001 to form a concave supporting plate (the upper surface of the concave supporting plate is provided with a holder 200 with an unlocking device 600), the Z-shaped supporting plate is made of manganese steel, and the integral rigidity and strength of the intelligent battery-.
The movable conveying platform 500 is used for enabling the intelligent battery replacement robot J to integrally and horizontally run in a straight line and conveying the power battery to a specified position. The lifting device is a carrier of a lifting system 400 and other accessories (other accessories refer to a cradle head 200 with an unlocking device 600), and power batteries are conveyed between a pre-storage rack and an electric passenger car in a reciprocating mode through traction motion of a synchronous pulley box 5001 and a strip-shaped synchronous belt; the movable conveying platform 500 is pulled by the strip-shaped synchronous belt, the structure is simple, the cost is reduced, and the stability and the applicability of the movable conveying platform are improved.
As shown in fig. 13, the intelligent battery scheduling system ZD for sharing battery replacement for electric cars of different models according to the present application may schedule a power battery between a battery storage rack CC101 and a pre-storage rack (or an intelligent battery replacement robot), or may also deliver a battery to be charged to the battery storage rack CC101, or deliver a fully charged battery on the battery storage rack to an intelligent battery replacement robot J; the method comprises the following steps: the device comprises a track, a portal frame ZD101 and a cargo bed ZD102, wherein the cargo bed ZD102 is arranged on the portal frame ZD101, and the portal frame ZD101 is a main body frame for providing the cargo bed ZD102 to move up and down and can perform linear reciprocating motion on the track; the goods carrying platform ZD102 is used for carrying a power battery, the goods carrying platform ZD102 comprises a bidirectional telescopic fork ZD103, and the bidirectional telescopic fork ZD103 is used for pushing the power battery to move forwards and backwards; the gantry ZD101 and the loading platform ZD102 are controlled to be loaded with power batteries to lift in a chain transmission mode.
The portal frame ZD101 comprises an upper cross beam ZD1011, a lower cross beam ZD1012, a left upright ZD1013 and a right upright ZD1014, wherein the upper cross beam, the lower cross beam, the left upright and the right upright form a vertical frame structure; the upper crossbeam ZD1011 comprises an upper crossbeam main body, a front and rear anti-collision block ZD1015, a guide wheel group ZD1016 and a wire seat; wherein the guide wheel group ZD1016 clamps the top rail TG to keep the upper beam of the portal frame in the vertical state stable;
the lower beam ZD1012 comprises a lower beam main body, a driving wheel system ZD1017, a driven wheel system, a front and rear anti-collision block ZD1018 and a lower roller train, the portal frame drives a rectangular shaft reducer through a driving servo motor, the rollers in the lower roller train are driven to linearly and unidirectionally drive on the track, and the lower roller train clamps the track to keep the portal frame linearly and unidirectionally drive;
the left upright and the right upright respectively comprise an upright main body, the upright main body comprises a power transmission system used for lifting the goods carrying platform and a Z-direction track used for guaranteeing stable lifting, the lifting action of the goods carrying platform drives a worm and gear reducer ZD1020 through a lifting servo motor ZD1019, a chain wheel is driven to pull the goods carrying platform to lift, and a guide wheel group of the goods carrying platform per se clamps a guide rail on the upright in the length direction and the width direction. Through, the guide rail on the stand is being held all the time to the lift transmission structure of carrying cargo bed and the guide pulley group of carrying cargo bed self length direction and width direction to guaranteed that carrying cargo bed goes up and down steadily reliably.
The cargo bed ZD102 is used for loading a power battery and comprises a cargo bed frame ZD1021, a bidirectional telescopic cargo fork ZD103 and a guide wheel group ZD1022 of the cargo bed; the goods carrying platforms are connected through chain transmission, the lifting action can be realized in a frame of the portal frame, and when the goods carrying platforms are lifted, the guide wheel sets of the goods carrying platforms clamp the upright columns in the length direction and the width direction all the time; the bidirectional telescopic fork can push the battery to move forwards and retreat, so that the battery can be pushed to the accurate position of the battery storage rack and the pre-storage rack.
The worm gear and worm reducer is provided with a self-locking action, and the cargo carrying platform is stopped at any height in a set stroke. The goods carrying platform can be safely stopped at any height through the self-locking action of the worm gear reducer. The portal frame performs linear reciprocating running action on the track, the goods carrying platform performs lifting action, and the bidirectional telescopic fork pushes the power battery to move forwards and backwards, and the actions are controlled through coding servo, wherein the actions are combined with positioning bar codes to ensure the action precision. Control through the code servo, combine the location bar code, for traditional stack mechanical system miniaturization more, compact structure, intelligence is accurate. The driving servo motor and the lifting servo motor are servo motors provided with contracting brake modes and keep a stop state under the power-off working condition. The servo motor is provided with a band-type brake mode, so that the safety of the power battery loaded on the loading platform of the portal frame is improved. The gantry frame is provided with a travel switch at a limited position, and when the gantry frame runs out of control and exceeds the limited position, the travel switch is triggered, and then the battery intelligent dispatching system is powered off. Through travel switch, can protect the security of entire system, improved the security that sets up the power battery who bears on the goods platform on the portal frame simultaneously. The front and rear anti-collision blocks of the upper cross beam and the front and rear anti-collision blocks of the lower cross beam are polyurethane anti-collision blocks. The polyurethane anti-collision block can reduce collision when the out-of-control portal frame is intercepted, and reduce damage to the system. Be provided with rubber buffer pad on the lower beam under the platform of carrying cargo, the accident drops when the platform of carrying cargo appears, reduces the decurrent impulsive force of platform of carrying cargo through rubber buffer pad. The damage degree of accidents is reduced.
The cargo bed ZD102 further comprises: two pairs of opposite type photoelectric sensors ZD1023, two pairs of opposite type photoelectric sensors are set up through the mode of upper and lower diagonal arrangement; when the bidirectional telescopic pallet fork ZD103 pushes the power battery 20 to move forward, whether the bidirectional telescopic pallet fork reaches a preset positioning position is judged through the correlation type photoelectric sensor; or when the bidirectional telescopic fork pushes the power battery to move backwards, whether the bidirectional telescopic fork is successfully separated from the preset positioning position or not is judged through the correlation type photoelectric sensor. The battery is ensured to stretch in place and be always in a safe state in the transfer process through two pairs of opposite type photoelectric sensors and an up-down opposite angle arrangement mode. The front end of the cargo carrying platform ZD102 is provided with a diffuse reflection type photoelectric sensor ZD1024 which is used for identifying whether a power battery 20 storage position of the battery storage rack is provided with the power battery. Therefore, whether the power battery exists or not can be intelligently identified, the sensitivity of the system is improved, useless actions are avoided, and the efficiency of the system is improved.
A battery storage rack CC101 and a battery charging device CC102 in FIGS. 14 and 15, the battery storage rack CC101 is used for storing power batteries 20 of electric cars of different models; the battery charging device CC102 is disposed on the battery storage rack CC101, and is used for rapidly charging the power batteries, and monitoring and displaying the current state of each power battery in real time, where the current state of each power battery includes: a battery to be charged, a positive charging battery, a full charge battery, and a faulty battery.
The battery storage rack comprises a frame for placing power batteries, the frame is of a multilayer structure, a plurality of power battery storage positions are arranged on the frame, and each layer of the structure of the frame is formed by connecting a plurality of longitudinal beams and a plurality of cross beams; the control center locks the power battery on the frame, and after receiving the information of taking a certain power battery, the control center independently unlocks the power battery, so that the power battery is only placed on the frame, and the control center controls the power battery to be moved out of the frame. The frame is formed by welding sectional materials, the size of each sectional material is 40mm multiplied by 40mm, and through actual measurement, the size of each sectional material is set to be 40mm multiplied by 40mm, so that the strength of the frame is improved.
Further comprising: the power battery is locked on the frame in an electromagnetic suction mode of the electromagnetic chuck. The power battery is fixed on the frame in an electromagnetic suction mode of the electromagnetic chuck. The power battery is fixed by adopting the electromagnetic suction way of the electromagnetic chuck, and the advantage is that the power battery is not limited to be fixed in a specific form. When a certain power battery is taken, the power battery can be independently unlocked and then taken down by the intelligent battery dispatching system.
Further comprising: the power battery is moved out of the frame through a plurality of rollers and roller driving devices arranged on the frame, the left side and the right side of each roller are driven by two chain wheels, and a set of chain wheels is driven by driving motors arranged on the left side and the right side of each roller so as to enable the rollers to rotate and correspondingly move the power battery on the rollers.
The battery charging device CC102 further includes a power battery plugging unit CC1021, where the power battery plugging unit is used to plug a power battery placed in a power battery storage location, and the power battery plugging unit enables the power socket to move and adjust along the front-back direction of the vehicle and the direction perpendicular to the ground, and then to be connected with the power battery to be charged. The power battery plug-in unit also comprises a sensor, and the sensor inserts the guide post into the guide post hole of the power battery after judging that the power supply plug-in socket is matched with the interface of the power battery after moving and adjusting, so as to complete the positioning of the power supply plug-in socket and the power battery. (by combining the sensor with the guide post, the positioning of the power socket and the power battery can be accurately finished, the positioning efficiency is improved, and the physical abrasion when the guide post is inserted into the guide post hole of the power battery is reduced)
The power battery plug-in unit also comprises an electric push rod; the power battery plug-in unit enables the power plug-in socket to be connected with a power battery to be charged after the power plug-in socket moves and adjusts along the front and back directions of the vehicle and the direction vertical to the ground, and the power battery plug-in unit refers to the following steps: the power battery plug-in unit enables the power supply plug socket to move and adjust along the front-back direction of the vehicle and the direction vertical to the ground through the electric push rod, and then is connected with the power battery to be charged.
As shown in fig. 14, the battery charging apparatus CC102 further includes a charger CC1022 and a charging control cabinet CC1023 connected to each other, where the charger is used for fast charging the power battery; and the charging control cabinet is used for controlling the quick charging of the power battery and carrying out corresponding alarming and power-off operations after monitoring the state of the power battery.
Fig. 16 is a flowchart of a dual-station battery swapping control method, which includes the following steps:
step 1601, enabling 2 electric coaches of the same vehicle type/different vehicle types to enter corresponding inlets of 2 power exchanging station rooms of the double-station power exchanging station; the power station changing rooms are arranged in a double-station symmetrical layout, and a structural mode of splicing a steel structure framework and a heat insulation wallboard and a semi-excavation reinforced concrete foundation are adopted;
step 1602, the control center obtains vehicle type parameter information of the electric motor coach driving into the corresponding power change station room through a vehicle identification device of each intelligent power change positioning platform in 2 power change station rooms; meanwhile, each intelligent scheduling system in the 2 power change station rooms takes out the required full-electricity batteries from the only battery storage rack of the double-station power change station according to the vehicle type parameter information of the small electric passenger vehicle driving into the corresponding power change station room, and conveys the full-electricity batteries to each battery pre-storage rack of the 2 power change station rooms for placement; after the 2 grabbing mechanisms grasp full-charge batteries placed in battery pre-storage racks of the respective battery replacing station rooms, the 2 lifting mechanisms respectively lift the corresponding full-charge batteries to a preset height; the locking mechanism comprises a main body frame with a rectangular structure, the main body frame is fixedly arranged at the bottom of each electric passenger car according to the bottom structure of the electric passenger car with different wheel track/different wheel base, the main body frame is fixedly arranged at the bottom of the electric passenger car with different car types at the corresponding installation position set at the bottom of each electric passenger car, and two groups of connecting rod locking devices are symmetrically arranged on the inner walls of the cross beams at two sides of the main body frame; the connecting rod locking device comprises a plurality of locking assemblies, each locking assembly comprises a locking block fixed on the inner wall of the cross beam, a connecting rod, a poking plate, a connecting rod safety unit and a locking sector gear matched with the locking block, wherein the locking sector gear is embedded in the locking block and can rotate, the poking plate is arranged below the connecting rod in a T-shaped structure, the connecting rod is connected with the locking block, and the locking/unlocking operation of the locking mechanism and the power battery is completed through the movement of the connecting rod within a set range; the connecting rod safety unit comprises a support, a limiting piece, an elastic element and an elastic pin, the support is fixed on the inner wall of the cross beam, the elastic element is arranged in the elastic pin and inserted into the support, the elastic pin is abutted against the limiting piece through the elastic element, and the limiting piece locks the elastic pin through the elastic element and limits and locks the connecting rod;
step 1603, any intelligent battery replacement positioning platform performs vehicle positioning on the electric passenger car on the intelligent battery replacement positioning platform according to vehicle type parameter information of the corresponding electric passenger car, which is acquired by a vehicle identification device, wherein a translation bridge plate and a translation suspension bridge which are connected with the intelligent battery replacement positioning platform perform corresponding movement according to the vehicle type parameter information of the electric passenger car, so that the electric passenger car stably passes through;
1604, after the vehicle positioning of any one of the mini electric cars is completed on the corresponding intelligent battery replacement positioning platform, the intelligent battery replacement robot in the corresponding battery replacement station room unloads the insufficient battery of the chassis of the mini electric car and places the insufficient battery on the corresponding battery pre-storage rack, and then the corresponding battery scheduling system takes away the insufficient battery;
step 1605, after the full-charge batteries lifted to the preset height in the respective battery replacing station rooms are placed back to the corresponding battery pre-storage rack by the 2 lifting mechanisms, the 2 battery replacing robots respectively take the full-charge batteries in the corresponding battery pre-storage rack away, and respectively install one full-charge battery on the corresponding electric passenger car;
and step 1606, after the 2 battery scheduling systems convey the corresponding insufficient battery to the only battery storage rack of the double-station battery replacement station, the battery charging device on the battery storage rack automatically charges the 2 insufficient batteries.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (10)

1. A double-station battery replacement control method for sharing intelligent quick change of multi-vehicle type electric coaches is characterized by comprising the following steps:
2 electric coaches of the same vehicle type/different vehicle types are driven into corresponding inlets of 2 power exchanging station rooms of the double-station power exchanging station; the power station changing rooms are arranged in a double-station symmetrical layout, and a structural mode of splicing a steel structure framework and a heat insulation wallboard and a semi-excavation reinforced concrete foundation are adopted;
the control center acquires vehicle type parameter information of an electric motor coach driving into the corresponding power change station room through vehicle identification devices of intelligent power change positioning platforms in 2 power change station rooms; meanwhile, each intelligent scheduling system in the 2 power change station rooms takes out the required full-electricity batteries from the only battery storage rack of the double-station power change station according to the vehicle type parameter information of the small electric passenger vehicle driving into the corresponding power change station room, and conveys the full-electricity batteries to each battery pre-storage rack of the 2 power change station rooms for placement; after the 2 grabbing mechanisms grasp full-charge batteries placed in battery pre-storage racks of the respective battery replacing station rooms, the 2 lifting mechanisms respectively lift the corresponding full-charge batteries to a preset height; the locking mechanism comprises a main body frame with a rectangular structure, the main body frame is fixedly arranged at the bottom of each electric passenger car according to the bottom structure of the electric passenger car with different wheel track/different wheel base, the main body frame is fixedly arranged at the bottom of the electric passenger car with different car types at the corresponding installation position set at the bottom of each electric passenger car, and two groups of connecting rod locking devices are symmetrically arranged on the inner walls of the cross beams at two sides of the main body frame; the connecting rod locking device comprises a plurality of locking assemblies, each locking assembly comprises a locking block fixed on the inner wall of the cross beam, a connecting rod, a poking plate, a connecting rod safety unit and a locking sector gear matched with the locking block, wherein the locking sector gear is embedded in the locking block and can rotate, the poking plate is arranged below the connecting rod in a T-shaped structure, the connecting rod is connected with the locking block, and the locking/unlocking operation of the locking mechanism and the power battery is completed through the movement of the connecting rod within a set range; the connecting rod safety unit comprises a support, a limiting piece, an elastic element and an elastic pin, the support is fixed on the inner wall of the cross beam, the elastic element is arranged in the elastic pin and inserted into the support, the elastic pin is abutted against the limiting piece through the elastic element, and the limiting piece locks the elastic pin through the elastic element and limits and locks the connecting rod;
any intelligent battery replacement positioning platform carries out vehicle positioning on the electric motor coach on the intelligent battery replacement positioning platform according to vehicle type parameter information of the corresponding electric motor coach, which is acquired by the vehicle identification device of the intelligent battery replacement positioning platform, wherein a translation bridge plate and a translation suspension bridge which are connected with the intelligent battery replacement positioning platform carry out corresponding movement according to the vehicle type parameter information of the electric motor coach, so that the electric motor coach can stably pass through;
after the vehicle positioning of any one electric passenger car is completed on the corresponding intelligent battery replacement positioning platform, the intelligent battery replacement robot in the corresponding battery replacement station room unloads the insufficient battery of the electric passenger car chassis and places the insufficient battery on the corresponding battery prestoring frame, and the corresponding battery scheduling system takes away the insufficient battery;
after the full-charge batteries of the respective battery replacing station rooms lifted to the preset height are placed back to the corresponding battery pre-storage rack by the 2 lifting mechanisms, the 2 battery replacing robots respectively take the full-charge batteries on the corresponding battery pre-storage racks away, and respectively install one full-charge battery on the corresponding electric passenger car;
after the 2 battery dispatching systems convey the corresponding insufficient batteries to the only battery storage rack of the double-station battery replacement station, the battery charging device on the battery storage rack automatically charges the 2 insufficient batteries.
2. The method of claim 1,
intelligence trades electric positioning platform includes: the correction positioning unit moves in the X direction and the Y direction on the intelligent battery replacement positioning platform according to the model parameter information of the electric motor coach and moves to a preset positioning position;
the V-shaped groove positioning unit comprises a front wheel positioning V-shaped groove, when the correction positioning unit adjusts the wheel position of the electric motor coach, the V-shaped groove positioning unit controls the front wheel of the electric motor coach to move on the intelligent electricity-exchanging positioning platform in the Y direction according to the model parameters of the electric motor coach, and the V-shaped groove positioning unit and the correction positioning unit simultaneously move the front wheel positioning V-shaped groove to a preset positioning position; and
the blocking unit comprises a front blocker and a rear blocker, the blocking unit blocks a front wheel of the electric passenger car from exiting the intelligent electricity-exchanging positioning platform through the front blocker after the electric passenger car enters the intelligent electricity-exchanging positioning platform, the blocking unit blocks the front wheel of the electric passenger car from moving backwards through the rear blocker after the electric passenger car moves to a preset position, the blocking unit further comprises two electric push rods, the front blocker and the rear blocker are respectively connected through the two electric push rods, and the two electric push rods respectively drive one blocker to act; the X direction is an axial direction opposite to a direction in which the vehicle keeps running straight on a horizontal ground, and the Y direction is an axial direction perpendicular to the X direction on a vehicle chassis plane.
3. The method of claim 2,
further comprising: the translation bridge plate is divided into an upper frame and a lower frame, the upper frame and the lower frame comprise an upper translation bridge plate frame and a lower translation bridge plate frame, the translation suspension bridge is provided with a left upright post and a right upright post structure, the left suspension bridge upright post and the right suspension bridge upright post structure comprise a left suspension bridge upright post and a right suspension bridge upright post, wherein,
the translation bridge plate comprises a translation bridge plate X-direction moving unit and a translation bridge plate Y-direction moving unit, and the translation bridge plate X-direction moving unit controls the translation bridge plate to move in the X direction; the translation bridge plate Y-direction moving unit controls the translation bridge plate to move in the Y direction;
the translation suspension bridge comprises a translation suspension bridge X-direction moving unit, a translation suspension bridge Y-direction moving unit and a vertical Z-direction moving unit; the translation suspension bridge X-direction moving unit controls the translation suspension bridge to move in the X direction; the translation suspension bridge Y-direction moving unit controls the translation suspension bridge to move in the Y direction; and the vertical Z-direction moving unit controls the movement of the translation suspension bridge in the Z direction.
4. The method of claim 3,
further comprising: the intelligent battery replacement robot comprises: the device comprises an unlocking device, a holder, a lifting system and a movable conveying platform, wherein the lifting system and the movable conveying platform are provided with power batteries which are detached and installed by the unlocking device; the holder is arranged on the lifting system; the lifting system is arranged on the mobile conveying platform, wherein,
the unlocking device comprises an unlocking bottom plate, a positioning unit and 2 shifting fork parts, wherein the 2 shifting fork parts are oppositely arranged on two sides of the unlocking bottom plate; the positioning unit comprises 2 groups of telescopic taper pins, and the 2 groups of telescopic taper pins are respectively and relatively fixedly arranged on two sides of the unlocking bottom plate according to the positions of 2 corresponding conical positioning sleeves in the locking mechanism at the bottom of the electric motor coach; the conical pin comprises a positioning conical pin, a conical tip of the positioning conical pin faces upwards, and the angle of the conical tip of the positioning conical pin is matched with the opening angle of the conical positioning sleeve; the shifting fork part is used for unlocking the power battery and a locking mechanism at the bottom of the electric motor coach, and enabling the power battery to finish the operation of separating from the coach body or the operation of plugging and electrifying the power battery;
after the electric passenger car drives into the power exchanging station to complete vehicle positioning, the cradle head enables the positioning unit to freely move on a plane formed in the X direction and the Y direction within a preset movement range, and simultaneously, the cradle head moves up and down in the Z direction, so that the positioning unit is inserted into a conical positioning sleeve at the bottom of the electric passenger car, the positioning unit is driven to move in a conical automatic centering mode, position errors in the power battery replacing process are compensated, and positioning operation before power exchanging of the electric passenger car is completed;
the lifting system lifts and lowers the unlocking device;
and the movable conveying platform enables the intelligent battery replacement robot to integrally and linearly travel horizontally and convey the power battery to a specified position.
5. The method of claim 4,
further comprising: the 2 conical positioning sleeves are arranged in 2 corresponding battery locking and positioning units on a locking mechanism of the electric motor coach; the battery locking and positioning unit of the locking mechanism completes 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.
6. The method of claim 5,
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 finishes the guiding operation of the conical pin, after the positioning conical pin is inserted into the conical 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 conical pin is determined to reach a preset positioning position through the compression degree of the return spring;
each of the fork portions includes: an unlocking fork and a battery plugging fork, wherein,
the unlocking shifting fork pushes a connecting rod of a locking mechanism at the bottom of the electric motor coach to enable the power battery and the locking mechanism at the bottom of the electric motor coach to be unlocked after a locking sector gear of the locking mechanism rotates;
the battery plugging and pulling forks push the power battery on the horizontal plane, and the battery plugging and pulling forks arranged on the two sides of the unlocking bottom plate simultaneously push the guide blocks arranged on the two sides of the power battery to perform linear motion along the horizontal direction, so that the power battery is separated from the vehicle body or the power battery is plugged and electrified.
7. The method of claim 6,
further comprising: 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 compression spring, and the universal bearing is fixedly arranged on the lower bottom plate; the holder limiting sleeve is fixedly arranged on the upper top plate and limits the motion range of the holder within a preset motion range; the cloud platform upwards moves along the Z direction, so that the top end of the 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, position errors in the power battery replacement process are compensated, and the positioning operation before the power replacement of the electric motor coach is completed.
8. The method of claim 7,
further comprising: the battery intelligent dispatching system comprises a portal frame and a cargo carrying table, wherein the cargo carrying table is arranged on the portal frame, and the portal frame is a main body frame for providing the cargo carrying table to perform lifting motion and can perform linear reciprocating running motion on a track; the goods loading platform is loaded with the power battery and comprises a bidirectional telescopic fork, and the bidirectional telescopic fork finishes the actions of pushing the power battery to advance and retreat; the portal frame and the loading platform are controlled to load power batteries to carry out lifting action in a chain transmission mode.
9. The method of claim 8,
further comprising: the battery storage rack comprises a frame for placing power batteries, wherein the frame is of a multilayer structure, a plurality of power battery storage positions are arranged on the frame, and each layer of structure of the frame is formed by connecting a plurality of longitudinal beams and a plurality of cross beams; the battery intelligent storage charging system locks the power battery on the frame, and after receiving information of taking a certain power battery, the battery intelligent storage charging system independently unlocks the power battery, so that the power battery is only placed on the frame, and the power battery is controlled to move out of the frame;
battery charging device sets up on the frame is stored to the battery, carries out quick charge to power battery to real time monitoring and the current state that shows each power battery, wherein, power battery's current state includes: a battery to be charged, a positive charging battery, a full charge battery, and a faulty battery.
10. The method of claim 9,
further comprising: the power battery is a plate-shaped cube, a plurality of positioning pins of the power battery are arranged on the end surfaces of the left side part and the right side part of the plate-shaped cube, and the positioning pins are in a cylindrical shape;
the locking block in the locking assembly is of an unsealed hollow structure, the shape of the hollow structure of the locking block is matched with the shape of a cylinder of the positioning pin, and the positioning pin is locked in the locking block when the locking mechanism and the power battery are in a locking state;
the locking block is provided with a hollow structure provided with a step-shaped circular groove, the bottom of the locking block is provided with a horn-shaped notch communicated with the circular groove, a rotary central hole of the locking sector gear is connected with the outside to form a U-shaped slotted hole, a rack plate and an engaging channel of the locking sector gear are arranged above the locking block, and the locking sector gear is embedded in the locking block through the rack plate and can rotate; the horn-shaped notch is arranged at the position where the positioning pin on the power battery extends into and leads into the positioning pin on the side part of the power battery.
CN201910251907.8A 2019-03-29 2019-03-29 Double-station battery replacement control method for sharing intelligent quick change of multi-vehicle type electric passenger car Withdrawn CN111823939A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112455278A (en) * 2020-10-30 2021-03-09 武汉瑞杰特材料有限责任公司 Electricity-changing transfer trolley
CN113352935A (en) * 2021-06-15 2021-09-07 浙江吉利控股集团有限公司 Vehicle power exchanging station
CN113619440A (en) * 2021-05-28 2021-11-09 蓝谷智慧(北京)能源科技有限公司 Battery changing mobile device
CN113859038A (en) * 2021-10-15 2021-12-31 重庆柏延工业设计有限公司 Intelligent movement trades power station
WO2022143950A1 (en) * 2020-12-31 2022-07-07 奥动新能源汽车科技有限公司 Transmission mechanism for battery transfer apparatus, battery transfer apparatus, battery transfer system and battery swapping station or energy storage station
CN117096837A (en) * 2023-10-16 2023-11-21 深圳市鼎硕同邦科技有限公司 New energy automobile vehicle-mounted power supply

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112455278A (en) * 2020-10-30 2021-03-09 武汉瑞杰特材料有限责任公司 Electricity-changing transfer trolley
CN112455278B (en) * 2020-10-30 2022-10-18 武汉瑞杰特材料有限责任公司 Electricity changing transfer trolley
WO2022143950A1 (en) * 2020-12-31 2022-07-07 奥动新能源汽车科技有限公司 Transmission mechanism for battery transfer apparatus, battery transfer apparatus, battery transfer system and battery swapping station or energy storage station
CN113619440A (en) * 2021-05-28 2021-11-09 蓝谷智慧(北京)能源科技有限公司 Battery changing mobile device
CN113352935A (en) * 2021-06-15 2021-09-07 浙江吉利控股集团有限公司 Vehicle power exchanging station
CN113859038A (en) * 2021-10-15 2021-12-31 重庆柏延工业设计有限公司 Intelligent movement trades power station
CN117096837A (en) * 2023-10-16 2023-11-21 深圳市鼎硕同邦科技有限公司 New energy automobile vehicle-mounted power supply
CN117096837B (en) * 2023-10-16 2024-02-02 深圳市鼎硕同邦科技有限公司 New energy automobile vehicle-mounted power supply

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