CN1467108A - Balanced type mechanical arm for changing card type battery of electric motor car - Google Patents

Balanced type mechanical arm for changing card type battery of electric motor car Download PDF

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Publication number
CN1467108A
CN1467108A CNA031071902A CN03107190A CN1467108A CN 1467108 A CN1467108 A CN 1467108A CN A031071902 A CNA031071902 A CN A031071902A CN 03107190 A CN03107190 A CN 03107190A CN 1467108 A CN1467108 A CN 1467108A
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China
Prior art keywords
battery pack
cassette
electric vehicle
platform
arm
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CNA031071902A
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Chinese (zh)
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钢 李
李钢
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钢 李
李钢
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Priority to CNA031071902A priority Critical patent/CN1467108A/en
Publication of CN1467108A publication Critical patent/CN1467108A/en

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    • 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 for electromobility
    • Y02T10/7005Batteries

Abstract

A balance-type manipulator for exchanging the card-type accumulator set of electric vehicle is composed of tracks, track carriage running on the tracks, fixed platform installed on said track carriage, rotary platform arranged on the top surface of fixed platform, two groups of lifting arms controlled by lifting controller, and two groups of insertion arms movable up and down along said lifting arms respectively.

Description

用于更换电动车卡式电池组的平衡式机械臂 For exchanging cassette battery electric vehicle balanced manipulator

(一)技术领域本发明涉及一种装卸工具,特别是一种用来更换卡式电池组电动车的卡式电池组的装卸工具。 (A) Technical Field The present invention relates to a handling tool, in particular a cassette for replacement of the battery pack of an electric vehicle battery pack of the cassette handling tools.

(二)背景技术电动汽车具有降低大气污染和优化能源结构的双重作用。 (B) Background Art Electric vehicles have the dual role of atmospheric pollution and reduced energy structure optimization. 传统的电动公交车,需要架设专用电线;对城市景观有所影响。 The traditional electric buses, need to set up a dedicated wire; have an impact on the urban landscape. 目前,世界各国均投入大量资金与人力发展无需专用电线的电动汽车;国内也有几家大学、公司和研究单位合作开发电动汽车。 Currently, countries in the world have invested a lot of money and manpower development without a dedicated wire for electric vehicles; There are also a few universities, companies and research institutes to develop electric vehicles. 但是,这些电动汽车存在着的缺点是:续航时间短,电池造价高,电池充电时间过长,充电电流太大;特别是电池固装于汽车车体,电池在充电过程中,汽车无法运行。 However, there are drawbacks of electric vehicles is: life is short, the high cost of batteries, battery charging time is too long, the charging current is too large; especially automobile bodies fixedly mounted battery, the charging process, the automobile can not run. 2001年5月30日公告的CN2432079Y的中国专利ZL00226727.6,公开了一种零污染可更换电瓶式公交车。 2001 May 30 announcement of CN2432079Y of Chinese patent ZL00226727.6, discloses a zero pollution replaceable battery type bus. 这种公交车主要用于城市公共交通,公交车上装有可更换的电池组作为能源,从而使公交车尾气排放为零,为净化城市空气作贡献。 This bus is mainly used for urban public transport, the bus is equipped with a replaceable battery as an energy source, so that the bus exhaust emissions to zero, in order to contribute to urban air purification. 因这种公交车以电池组为电能源,无需专用供电路网,一方面改善了城市景观;另一方面也不受运营线路与停电因素的制约。 Because of this the bus to the battery pack for the electric energy, road network without a dedicated power supply, on the one hand to improve the urban landscape; on the other hand it is not subject to the constraints of operating lines and power factor. 这种公交车解决了目前电动汽车存在的缺点,它采用更换电池组的方式解决电动汽车的续航能力问题,其工作方式是将电能用完的电池组换下来进行充电,将充满电的电池组再安装到电动汽车上。 This bus addresses the shortcomings of the current electric cars exist, it uses a replaceable battery pack to solve the problem of battery life of electric vehicles, whose work is to change down energy exhausted battery charging, fully charged battery pack and then installed on electric vehicles.

2002年11月20日公告的CN2521760Y的中国专利ZL01265928.2,公开了一种卡式电池组电动车电池组充电架。 November 20, 2002 announcement of CN2521760Y of Chinese patent ZL01265928.2, discloses a cassette battery electric vehicle battery charging stand. 这种充电架可设置在公交车总站,更换电池组的工作可以由电动叉车完成。 This charging stand may be provided at the bus terminal, the battery pack replacement work can be done by electric forklift. 但是,这种采用电动叉车更换电池组的工作方式,需要电动叉车先将卡式电池组电动车上电能耗尽的电池组取下来放到电池组充电架上,再将电池组充电架上充满电能的电池组安装到卡式电池组电动车上。 However, the use of electric forklift battery replacement work requires electric forklift first cassette battery electric vehicle power take off discharged battery pack into the battery holder, and then filled with battery charging stand power battery pack mounted to an electric vehicle battery pack cassette.

(三)发明内容本发明的目的在于提供一种更换卡式电池组更为方便快捷的用于更换卡式电池组电动车的卡式电池组的平衡式机械臂,使更换电池组的“取旧换新”工作几乎可以同步进行。 (C) SUMMARY OF INVENTION An object of the present invention is to provide a more convenient and efficient to replace the battery pack to the replacement cassette balanced manipulator cassette cassette battery electric vehicle battery pack of the replaceable battery pack "take new leaf "work almost simultaneously.

为了实现上述目的,本发明是用于更换电动车卡式电池组的平衡式机械臂,包括升降臂和可沿升降臂上下运行的插臂;它还包括固定平台、旋转平台、轨道车和轨道。 To achieve the above object, the present invention is a replacement cassette balanced manipulator electric vehicle battery pack, comprising a lower operating arm is inserted and along the lifting arm lifting arm; further comprising a fixed platform, the rotating platform, rail car and the rail . 固定平台下安装有轨道车,轨道车可沿轨道行走,固定平台上端面相对位置设置的是能够作180度半圆周运动的旋转平台,旋转平台与驱动设施连接,旋转平台的台面上安装有相对设置在一条直径线的两组所述的升降臂,每组所述的升降臂分别由升降控制装置控制,每组所述的升降臂安装有一组所述的插臂,插臂上安装有外滑道,外滑道的滑槽内装有内滑道,内滑道可沿外滑道的滑槽伸缩,所述的插臂上还分别安装有用来装卸卡式电池组的推拉器。 The fixed platform is attached to rail cars, rail car can travel along the track, the relative positions of the end face disposed on the fixed platform is capable of movement through 180 degrees of rotation half the circumference of the platform, the rotating platform is connected with the driving means, the rotary table is mounted relative to the platform provided on a diameter line of the two sets of lifting arms, each lifting arm of the apparatus are controlled by a lift, the lift arm is attached to each set of said plugging arm is inserted is attached to an outer arm chute, an outer chute of the chute that has the chute, the chute along the chute outer telescopic slide, said arm further inserted are detachably attached to the card-type push-pull battery pack.

这种用于更换电动车卡式电池组的平衡式机械臂,其轨道固定设置在卡式电池组电动车电池组充电架前面,需要更换电池组的电动车则停在轨道的另一面,由于旋转平台上安装有相对设置的两组升降臂,一组用来把电动车上的1#卡式电池组取出,另一组用来把充电架上的2#卡式电池组取出,旋转平台旋转180度,再将2#卡式电池组送入电动车,将1#卡式电池组送入充电架;更换电池组的“取旧换新”工作几乎是同步进行。 Such a replacement cassette balanced manipulator electric vehicle battery pack, which is disposed in front of the fixed rail cassette battery electric vehicle battery charging stand, the battery pack needs to be replaced then the electric vehicle parked on the other side of the track, since the mounted on a rotating platform with two sets of oppositely disposed lifting arm, for a group # 1 to the card-type electric vehicle battery pack removed, the other set of shelves 2 used to charge the battery pack # cassette removed, the rotating platform rotated 180 degrees, then # 2 into the cassette battery electric vehicle, the battery pack into the cassette 1 # charging rack; replaceable battery pack "take a new leaf" work almost simultaneously. 由于两组升降臂分别由升降控制装置控制,两组升降臂上安装的插臂能够停在不同的水平位置;还由于外滑道的滑槽内装有内滑道,装卸卡式电池组时,内滑道先行伸入电动车或者充电架的电池组卡槽内,推拉器再将卡式电池组送入或取出,使装卸平稳运行;尤其是两组升降臂在旋转平台上相对设置在一条直径线上,确保了整套装置的平衡稳定。 Since the two control means are controlled by the lift the lift arm, two arms mounted lift arm can be stopped at the inserted different horizontal positions; also due to the outer chute of the chute interior inner chute, removable cassette battery set, extending into the chute leading an electric vehicle or the battery pack slot charging stand, then the card-type push-pull device into or remove the battery pack, the detachable smooth operation; groups, especially on the lift arm is disposed opposite a rotating platform diametrical line, to ensure a stable balance of the entire device. 对于公交车使用量大的城市而言,使用这种平衡式机械臂,能够大大提高更换电池组的工作效率,保证工作现场井然有序,电动公交车更换电池组随到随走。 For use large city buses, the use of this balanced robot arm, replace the battery pack can greatly enhance work efficiency and ensure the work site orderly, electric buses to replace the battery pack pick away.

又由于轨道车可以沿轨道前、后行走、两组升降臂上安装的插臂能自由的上、下运行及内、外滑道可左、右伸缩,实现了该平衡式机械臂在三维空间的自由定位,从而能将充电架上任一卡槽内的电池组取出。 Also, because the rail car along the front rail can, after walking, can the two lifting arms mounted freely inserted arm, and the lower run, the outer chute can be left and right telescopic achieve the balanced manipulator in three dimensions positioning freedom, so that the charge can stand in a battery pack according to any slot removed.

(四)附图说明图1是本发明用于更换电动车卡式电池组的平衡式机械臂的主视图;图2是图1的俯视图;图3是图1的左视图。 (Iv) Brief Description of Drawings FIG. 1 is a front view of the present invention is balanced manipulator for exchanging electric vehicle battery pack of the cassette; FIG. 2 is a plan view of FIG. 1; FIG. 3 is a left side view of FIG.

图中:1-固定平台,2-旋转平台,3-轨道车,4-轨道,5、6-升降臂,7、8-插臂,9、10-升降控制装置,11、12-外滑道,13、14-内滑道,15、16-推拉器,17-驱动设施,18-直齿轮,19、20-卡式电池组,21、22-导轮,23-滚动轴承,24-链轮,25-链条。 Reference Numerals 1: fixed platform, the rotating platform 2-, 3- railcar, 4 tracks, lifting arms 5,6, 7,8 plugging arm, 9,10 elevation control means 11,12 outer slide tract, 13,14 slide, push-pull 15,16, 17 driving means, a spur gear 18, 19, 20 cassette battery set, 21,22- guide wheels, rolling 23-, 24- chain round, 25 of the chain.

(五)具体实施方式下面结合附图对本发明作进一步说明。 DRAWINGS The invention will be further described (v) below in connection with specific embodiments.

参见图1至图3:用于更换卡式电池组电动车的卡式电池组的平衡式机械臂,包括升降臂5、6和可沿升降臂上下运行的插臂7、8;它还包括固定平台1、旋转平台2、轨道车3和轨道4。 Referring to Figures 1 to 3: cassette for replacing a battery pack of an electric vehicle battery pack card balance of the robot arm, the arm comprising plug operating at and along the lifting arm lifting arm 5, 6 7, 8; further comprising a fixed platform, the rotating platform 2, the track rail car 3 and 4. 固定平台1下安装有轨道车3,轨道车3可沿轨道4行走,固定平台1上端面相对位置设置的是能够作180度半圆周运动的旋转平台2,旋转平台2由驱动设施17的柱形直齿轮18连接并带动其转动,固定平台1与旋转平台2相对应的端面之间由滚动轴承23支撑,旋转平台2的台面上安装有相对设置在一条直径线的两组升降臂5、6;每组所述的升降臂5、6分别由升降控制装置9、10控制,升降控制装置9、10采用链轮24传动链条25,每组升降臂5、6安装有一组插臂7、8,插臂7、8上安装有外滑道11、12,外滑道11、12的滑槽内装有内滑道13、14,内滑道13、14可沿外滑道11、12的滑槽伸缩,每组插臂上还分别安装有用来装卸卡式电池组的螺旋式推拉器15、16;卡式电池组19、20上设置的导轮21、22能够在内滑道13、14上运行。 1 mounted fixed platform with a rail car 3, rail car 3 is movable along rails 4 running, the end face opposite positions disposed on a fixed platform is capable of rotational platform 180 degrees semicircular circumferential movement 2, 2 column by the driving means 17 of the rotating platform shaped spur gear 18 is connected to drive its rotation and, between the two end faces of the corresponding fixed platform 1 and the rotating platform is supported by a rolling bearing 23, the rotary table 2 is attached to the platform relative to a diameter line provided two sets of lifting arms 5,6 ; each of said lifting arms 5,6 are controlled by the lift control means 9, 10, 9 and 10 using the lift control means 24 drive chain sprocket 25, the lift arms 5 and 6 attached to each set of arms 7, 8 are inserted 13, 14, 13 and 14 can slide along the outer chute slide, inserted on the 7,8 arm 11 is attached to the outer chute, an outer chute of the chute 11, interior of the inner slide 11, 12 telescopic groove, each insertion arm is also attached to each push-pull spiral removable cassette battery pack 15, 16; guide wheel provided on the cassette 21 can be a battery pack including the chute 13, 19, 20 on the run.

这种用于更换卡式电池组电动车的卡式电池组的平衡式机械臂,它位于卡式电池组电动车与电池组充电架之间,也就是说,其轨道4固定设置在卡式电池组电动车电池组充电架前面,需要更换电池组的电动车则停在轨道4的另一面,旋转平台2上安装的相对设置的两组升降臂5、6,一组用来把电动车上的1#卡式电池组19取出,另一组用来把充电架上的2#卡式电池组20取出,而后旋转平台2旋转180度,再将2#卡式电池组20送入电动车,将1#卡式电池组19送入充电架;更换电池组的“取旧换新”工作几乎是同步进行。 Such a replacement cassette balanced manipulator cassette battery electric vehicle battery pack, which is located between the cassette and the battery electric vehicle battery charging stand, that is, it is disposed rail 4 is fixed cassette battery electric vehicle battery charging stand in front, need to replace the battery electric vehicles parked on the other side of the rail 4, the two rotary platform 2 mounted on the lifting arms 5,6 disposed opposite, a group for electric cars # 1 on the cassette battery pack 19 removed, the other set of shelves 2 used to charge the battery pack 20 # cassette removed, and then the rotary table 2 is rotated by 180 degrees, then 2 # cassette 20 into an electric battery vehicle, the battery pack 1 # cassette 19 into the charging stand; replaceable battery pack "take a new leaf" work almost simultaneously. 由于两组升降臂5、6分别由升降控制装置9、10控制,两组升降臂5、6上安装的插臂7、8能够停在不同的水平位置;还由于外滑道11、12的滑槽内装有内滑道13、14,装卸卡式电池组时,内滑道13、14先行伸入电动车或者充电架的电池组卡槽内,推拉器15、16再将卡式电池组送入或取出,使装卸平稳运行;尤其是两组升降臂5、6在旋转平台2的台面上相对设置在一条直径线上,确保了整套装置的平衡稳定。 Since the two control means 9, 10 are controlled by lifting the lifting arms 5,6, mounted on two sets of lifting arms 5,6 7,8 insertion arm can be stopped at different horizontal positions; also since the outer slide 11, 12 chute built with the chute 13, when loading cassette battery set, 13, 14 preceding the chute extending into an electric vehicle or the battery pack slot charging stand, then the cassette push the battery pack 15, 16 fed or removed, the detachable smooth operation; 5,6 particular two lifting arms on the table relative to the rotating platform 2 provided on a diameter line to ensure balance and stability of the entire device. 对于公交车使用量大的城市而言,使用这种平衡式机械臂,能够大大提高更换电池组的工作效率,保证工作现场井然有序,电动公交车更换电池组随到随走。 For use large city buses, the use of this balanced robot arm, replace the battery pack can greatly enhance work efficiency and ensure the work site orderly, electric buses to replace the battery pack pick away.

当然,本发明中的驱动设施与升降控制装置还可以采用其它方式,比如,液压传动等。 Of course, in the present invention, the control means driving the lifting facility can also be used in other ways, for example, a hydraulic drive and the like. 类似的变换均应属于本发明的保护范围。 Similar conversion shall fall within the protection scope of the present invention.

Claims (5)

1.一种用于更换电动车卡式电池组的平衡式机械臂,包括升降臂和可沿升降臂上下运行的插臂;其特征在于:它还包括固定平台(1)、旋转平台(2)、轨道车(3)和轨道(4);固定平台(1)下安装有轨道车(3),所述的轨道车(3)可沿所述的轨道(4)行走,所述的固定平台(1)上端面相对位置设置的是能够作180度半圆周运动的所述的旋转平台(2),所述的旋转平台(2)与驱动设施(17)连接,所述的旋转平台(2)的台面上安装有相对设置在一条直径线的两组所述的升降臂(5、6),所述的升降臂(5、6)分别由升降控制装置(9、10)控制,所述的升降臂(5、6)安装有一组所述的插臂(7、8),所述的插臂(7、8)上安装有外滑道(11、12),外滑道(11、12)的滑槽内装有内滑道(13、14),内滑道(13、14)可沿外滑道(11、12)的滑槽伸缩,所述的插臂(7、8)上还分别安装有用来装卸卡式电池组的推拉器(15、16)。 1. A method for replacing a cassette balanced manipulator electric vehicle battery pack, comprising plugging arm and lifting arm running along the lower lift arms; characterized in that: it further comprises a fixed platform (1), the rotating platform (2 ), rail vehicle (3) and the rail (4); a rail car mounted fixed platform (3), said rail vehicle (3) along said track (4) walking) under (1, fixing said the relative position of the platform provided on the end surface (1) is capable of rotational platform (2) of the semicircle of 180 degrees of movement, the rotating platform (2) and driving means (17) connected to said rotating platform ( 2) the table is attached to lifting arm (5, 6) disposed opposite the two sets of a diameter of the wire, said lifting arm (5, 6) are controlled by the lift control means (9, 10), the said lifting arm (5, 6) is attached to insertion arms (7, 8) a group of the mounted outer slide (11, 12), an outer slide (11 on the insertion arm (7,8) , 12) that has the inner slide chute (13, 14), the chute (13, 14) can slide along the outer (11, 12) of the telescopic chute, said insertion arms (7, 8) also on the card are detachably attached to the battery pack for sliding (15, 16).
2.根据权利要求1所述的一种用于更换电动车卡式电池组的平衡式机械臂,其特征在于:所述的驱动设施(17)是柱形直齿轮(18)。 According to one of the claim 1 for the replacement cassette balanced manipulator electric vehicle battery pack, wherein: said driving means (17) is a cylindrical spur gear (18).
3.根据权利要求1或2所述的一种用于更换电动车卡式电池组的平衡式机械臂,其特征在于:所述的升降控制装置(9、10)是链轮(24)传动链条(25)。 3. According to one of claim 1 or claim 2 for exchanging cassette balanced manipulator electric vehicle battery pack, wherein: the control lifting means (9, 10) of the sprocket (24) Transmission chain (25).
4.根据权利要求1或2所述的一种用于更换电动车卡式电池组的平衡式机械臂,其特征在于:所述的固定平台(1)与所述的旋转平台(2)相对应的端面之间由滚动轴承(23)支撑。 4 according to one of claim 1 or claim 2 for replacing a cassette balanced manipulator electric vehicle battery pack, wherein: said fixed platform (1) with said rotating platform (2) with (23) is supported by a rolling bearing between the respective end faces.
5.根据权利要求1或2所述的一种用于更换电动车卡式电池组的平衡式机械臂,其特征在于:所述的推拉器(15、16)是螺旋式推拉器。 5 according to one of claim 1 or claim 2 for exchanging cassette balanced manipulator electric vehicle battery pack, wherein: said push-pull device (15, 16) is a helical-type push-pull device.
CNA031071902A 2003-03-14 2003-03-14 Balanced type mechanical arm for changing card type battery of electric motor car CN1467108A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006050637A1 (en) * 2004-11-11 2006-05-18 Beijing Dianba Technology Co. Ltd An electrical bus system
CN100393560C (en) 2004-12-13 2008-06-11 万向电动汽车有限公司 Electric car battery set unloading vehicle
CN102040010A (en) * 2010-09-30 2011-05-04 国家电网公司 Battery changing device for commercial electric vehicle and electric conversion system
CN102092366A (en) * 2010-12-29 2011-06-15 上海电巴新能源科技有限公司 Power battery replacement system for pure electric car
CN102107650A (en) * 2010-12-16 2011-06-29 长春艾希技术有限公司 Mechanical arm of electric vehicle battery
CN101284524B (en) 2008-01-31 2012-05-30 北京理工大学 Power batteries fast replacement system for electric motor vehicle
WO2012162865A1 (en) * 2011-05-27 2012-12-06 山东电力研究院 System for rapidly changing chassis battery of electric passenger car based on rectangular coordinate robot
WO2013006998A1 (en) * 2011-07-13 2013-01-17 山东电力研究院 Passenger vehicle battery changing platform system achieving automatic attitude adjustment and vehicle positioning

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006050637A1 (en) * 2004-11-11 2006-05-18 Beijing Dianba Technology Co. Ltd An electrical bus system
US8022666B2 (en) 2004-11-11 2011-09-20 Beijing Dianba Technology Co. Ltd. Electric public transit system
CN100393560C (en) 2004-12-13 2008-06-11 万向电动汽车有限公司 Electric car battery set unloading vehicle
CN101284524B (en) 2008-01-31 2012-05-30 北京理工大学 Power batteries fast replacement system for electric motor vehicle
CN102040010A (en) * 2010-09-30 2011-05-04 国家电网公司 Battery changing device for commercial electric vehicle and electric conversion system
CN102040010B (en) * 2010-09-30 2014-07-23 国家电网公司 Battery changing device for commercial electric vehicle and electric conversion system
WO2012041141A1 (en) * 2010-09-30 2012-04-05 国家电网公司 Electric commercial vehicle battery replacement apparatus and battery swap system
EP2623379A4 (en) * 2010-09-30 2017-09-27 State Grid Corporation of China (SGCC) Electric commercial vehicle battery replacement apparatus and battery swap system
CN102107650A (en) * 2010-12-16 2011-06-29 长春艾希技术有限公司 Mechanical arm of electric vehicle battery
CN102107650B (en) 2010-12-16 2012-05-30 长春艾希技术有限公司 Mechanical arm of electric vehicle battery
CN102092366B (en) 2010-12-29 2012-10-10 上海电巴新能源科技有限公司 Power battery replacement system for pure electric car
CN102092366A (en) * 2010-12-29 2011-06-15 上海电巴新能源科技有限公司 Power battery replacement system for pure electric car
WO2012162865A1 (en) * 2011-05-27 2012-12-06 山东电力研究院 System for rapidly changing chassis battery of electric passenger car based on rectangular coordinate robot
US8868235B2 (en) 2011-05-27 2014-10-21 Shandong Electric Power Research Institute Battery quick-change system for an electric passenger car chassis having a cartesian coordinate robot
WO2013006998A1 (en) * 2011-07-13 2013-01-17 山东电力研究院 Passenger vehicle battery changing platform system achieving automatic attitude adjustment and vehicle positioning

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