CN202225850U - Battery reloading robot - Google Patents
Battery reloading robot Download PDFInfo
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- CN202225850U CN202225850U CN 201120319992 CN201120319992U CN202225850U CN 202225850 U CN202225850 U CN 202225850U CN 201120319992 CN201120319992 CN 201120319992 CN 201120319992 U CN201120319992 U CN 201120319992U CN 202225850 U CN202225850 U CN 202225850U
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Abstract
The utility model discloses a battery reloads robot, include: the base guide rail driving module controls the base to enable the battery replacement robot to move parallel to the battery rack; the battery loading and unloading motion module is used for loading and unloading batteries with different heights through a battery loading and unloading box capable of moving up and down; the laser positioning module is matched with the base guide rail driving module to enable the battery reloading robot to move to a specified position; the bridging module is assembled and disassembled, so that the stable and accurate butt joint of the battery reloading robot and the electric automobile or the battery rack is realized; the rotary table motor driving module is used for completing the rotation action of the battery loading and unloading box; and the integral control module controls the integral structure through the microprocessor. The utility model discloses simple structure, convenient to use can reduce electric automobile and at the used time of trading the battery, has improved efficiency greatly.
Description
Technical field
the utility model belongs to the advanced manufacturing technology field, is specifically related to a kind of battery robot that changes the outfit.
Background technology
environment and energy problem are increasingly serious, and traditional fuel-engined vehicle environmental pollution is serious, and energy resource consumption is big, cause concern and worry that People more and more is many.Electronlmobil has the advantage of energy-saving and environmental protection, can effectively alleviate problems such as energy resources anxiety, atmospheric contamination be serious.Because electronlmobil has energy conversion efficiency height, comfortable clean, advantage such as noise is low, free from environmental pollution, operation is simple and reliable and operating costs is low, is called as green vehicle.Widely popularize the long-range developmental program that electronlmobil meets national energy and environmental protection, help promoting the improvement with air environment of optimizing and revising of domestic energy mix.The electronlmobil of anti-emission carburetor, of low pollution puts into operation to promotion energy-saving and emission-reduction work, but has very strong exemplary and generalization, for realizing that the urban sustainable development target is significant.Electronlmobil has become the irreversible trend of automobile industry development, and its development will constantly advance stage by stage.Along with continuous advancement in technology, China's electronlmobil priority application will progressively carry out the transition to electronic manned vehicle from public service with car, miniature electric automobile, and form the marketization mechanism of electronlmobil development, realize the extensive industrialization of electronlmobil.On people's such as Wang Chunguang research basis; Several broad aspect such as, battery-charging station construction structure unitized at battery standard, battery circulation control, the optimization of battery charge mode are promoted with regard to the construction of pure electric vehicle battery altering formula battery-charging station and to have been carried out a series of Improvement types thinkings.Energy resource supply is the important step in the ev industry chain, and the development of energy resource supply pattern and electronlmobil is closely related.The key issue that is difficult to promote at present is that capacity of cell is limited long with charging duration, but the problem that exists at present exactly is exactly our requirement used in everyday of battery manufacturing technology, charging technique out of reach.Battery altering formula battery-charging station has solved the thorny problem that runs in the present reality well.But technical factor, car load price factor, supporting electrically-charging equipment factor are the major reason that the restriction electronlmobil is popularized for a long time always.Technical factor will be As time goes on, and scientist, enterprises constantly make great efforts and reduce.The cost aspect, electric bus energy use cost is merely 1/3～1/2 of ordinary diesel oil bus.The lifting of cost-saving scale, the support of national policy, cheap relatively use cost have been alleviated the restriction that the car load price factor is brought ev industry effectively.In the process that the technology and the black ice of price progressively melt, factor that last restriction ev industry develops is the construction of supporting electrically-charging equipment.According to the technology and the operating characteristic of electric automobile power battery group, there is certain difference in the charge mode of electronlmobil.For the selection of charging scheme, current pure electric vehicle charge mode mainly contains: normal charge, fast charge and three kinds of patterns of battery altering.At present, it mainly is to start with from public transit industry that China popularizes electronlmobil, in some city pilots, changes bus into electronlmobil.But the battery of electric bus is heavier, generally all at kilogram up to a hundred, therefore, needs a kind of electric machine people that change, and it can be fast, steadily, accurately the power shortage battery is unloaded down and the battery that will be full of electricity is packed into the electronlmobil from electronlmobil.
The utility model content
the utility model purpose is: provide a kind of electronlmobil that reduced in the time of changing used in battery, the battery that the has improved efficient greatly robot that changes the outfit.
The technical scheme of the utility model is: a kind of battery robot that changes the outfit comprises:
The base rail driver module, said base rail driver module makes and changes electric machine people and battery carrier parallel motion through the control to base;
The loading and unloading battery motion module realizes the loading and unloading to the differing heights battery through the battery lift van that can move up and down;
The laser positioning module cooperates with the base rail driver module to make the battery robot that changes the outfit can move to appointed positions;
Loading and unloading bridging module realizes battery the stablizing, accurately docking of robot and electronlmobil or battery carrier that change the outfit;
The turntable motor driver module is accomplished the spinning movement of battery lift van;
whole control module is controlled integral structure through microprocessor.
are further, and said base rail driver module is the rolling wheel guide rails actuating device.
are further, and the roller of said rolling wheel guide rails actuating device adopts the micro-machine direct drive.
are further, and said loading and unloading battery motion module comprises: can drive the battery lift van perpendicular to the screw-threaded shaft elevator structure of ground up-and-down movement, can drive the belt roller mechanism that the battery lift van is parallel to the leading screw slide block movement mechanism of ground level motion and is positioned at the battery lift van.
are further, and said screw-threaded shaft elevator structure is the self locking type worm gear-worm screw-threaded shaft elevator structure.
are further, and said leading screw slide block movement mechanism is a circulating ball nut type ball-screw.
are further, and said laser positioning module comprises laser sensor and control chip, and said laser sensor links to each other with control chip.
are further, and said loading and unloading bridging module is top spring device.
are further, and said whole control module is through the action of other each modules of PLC controls.
The utility model has the advantages that:
this system selects the conventional battery size for use; Cooperate the handling labor platform of self development and Design and the various control housings and the human-computer interaction interface of periphery; Adopt the cooperation control technology, efficiently, automatically accomplish the dress of battery from the charging cabinet to the battery-driven car got task.The utility model has enriched the technology and the mode of charging batteries of electric automobile; Adapt to China's state of development of present stage, reduced electronlmobil, improved the saving of the efficient and the energy greatly in the time of changing used in battery; Can be rapidly, pulsation-free takes out the power shortage battery from electronlmobil; And put it on the battery charging rack and charge, from battery charging rack, other battery that is full of electricity is put into electronlmobil again, guarantee to change the efficient and the accuracy of electricity in the whole process.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the utility model is further described:
Fig. 1 is system works flow process figure.
Fig. 2 is the lift van schematic internal view.
Fig. 3 is a closed loop iterative algorithm block diagram.
Fig. 4 is a PLC electric machine control block diagram.
Fig. 5 is the battery robot overall construction drawing that changes the outfit.
Fig. 6 is the battery robot overall construction drawing that changes the outfit.
wherein: 1 loading and unloading battery motion module; 2 laser positioning modules; 3 turntable motor driver modules; 4 base rail driver modules; 5 load the bridging module; 6 belt roller mechanisms; 7 lift van supports; 8 ejecting mechanisms; 9 docking mechanisms.
The specific embodiment
embodiment: comprise like Fig. 5, the battery shown in Figure 6 robot that changes the outfit: loading and unloading battery motion module 1, laser positioning module 2, turntable motor driver module 3, base rail driver module 4 with load bridging module 5.The base rail driver module; Owing to have a large amount of batteries to charge simultaneously simultaneously, the span of battery charging rack is bigger, therefore changes the electric machine people and will select suitable battery to pack in the electronlmobil according to the situation of battery charge; The base rail driver module is through the control to base; Make and change electric machine people and battery carrier parallel motion, arrive the battery location that is full of electricity, the module of the back of reruning.Simultaneously, the power shortage battery being put into battery carrier also needs base rail driver module corresponding action to accomplish.Wholely change the electric machine people and all driven by base rail, this module will guarantee big bearing capacity, in order to make the steadily minimum with the straightness error of operation of entire machine people operation; What we used is the guide rail linear motion device, the line slideway system need guarantee whole chassis will with the orientation problem of guide rail, otherwise the chassis can be according to straight-line motion completely; In order to reduce the processing technology and the cooperation in when work, the utility model only adopts monolateral location, and will carry out straight-line motion control to robot; Speed and acceleration/accel also will satisfy certain requirement, and acceleration/accel satisfies and will reach the lifting of speed in a short period of time and do not make relative motion or bigger rocking take place between entire mechanism and the battery, and the stationarity of causes system descends; And maximum line velocity is also less to guarantee in the deceleration/decel and the deceleration time in decelerating phase again within certain limit, because such restriction; The guide rail straight-line motion of the utility model adopts rolling wheel guide rails to drive, because load-carrying is bigger, roller directly adopts the micro-machine direct drive; On control, be simplified like this, and saved retarder, so can with the chassis do very short; Reduce the center of total system, also increased safety, and can satisfy the requirement of propulsive effort; Really realized the straight-line motion of motor direct-drive, for the location of native system lays the first stone.
The loading and unloading battery motion module
to the careful decomposition of loading and unloading battery action carrying out again, this action is mainly accomplished (is example from electronlmobil, to take out the power shortage battery) by three steps.
) utilize the sucker in the battery lift van that the relevant position of the power shortage battery in the electronlmobil is held.
) utilize belt roller mechanism that the power shortage battery is delivered from electronlmobil.
) the battery lift van removes the bridging with electronlmobil, and makes the battery lift van reply initial condition.
entire cell lift van has the action of three degree of freedom, and three actions are accomplished by three mechanisms respectively.As shown in Figure 2, the battery lift van comprises following mechanism:
1) screw-threaded shaft elevator structure.The leading screw lifting mechanism drives the battery lift van perpendicular to the ground up-and-down movement in the lift van; Can realize the loading and unloading of lift van to the differing heights battery; For the alerting ability that makes entire mechanism is higher, the utility model selects the mariages thick stick to go up and down, and promptly the left side and the right can be separated from each other; Accomplish action separately respectively, only need two leading screws are controlled respectively.Aspect the up-down of selection leading screw; The utility model has been selected the self locking type worm gear-worm screw-threaded shaft elevator structure; Comprise worm screw, worm gear, nut, leading screw, crowned teeth, said nut adopts recessed integral structure that screws each other with the nut male member of nut, and the gap of nut and leading screw is little; Recessed of nut is that light face location connects and thread connection combines with screwing of nut male member, guarantees that double nuts screws precision; The recessed degree of depth that nut is recessed has been reserved the adjustment space greater than the protrusion height of nut male member, helps adjusting the gap of feed screw nut; Worm gear pair adopts two bag profiles of tooth, and the envelope number of teeth is many, and contact surface is big, and load-carrying capacity is strong, and self-locking performance is better.See that from structure design is more reasonable, working stability, load-bearing capacity is strong, bearing under the vibrational load situation self-locking effective, leading screw is difficult for axial off normal, reduces error, improves the up-down precision.
) the interior leading screw slide block movement mechanism of lift van.This mechanism drives battery lift van and is parallel to the ground level motion, and the battery lift van is docked with electronlmobil or battery carrier completion, when laser sensor sends when ceasing and desisting order; When being exactly battery lift van generation butt joint, behind the height adjustment according to battery carrier and electronlmobil, the horizontal screw lead slide block begins level and outwards moves; And dock with the assigned address of battery carrier or automobile, accomplished bridge formation this moment, because battery is accomplished loading and unloading through building bridge; Part has certain rigidity so build bridge, and load-carrying capacity, because there is the space in leading screw slide block movement mechanism in the advance and retreat process; For the error that reduces to control, should reduce the space as much as possible, so the utility model adopts circulating ball nut type ball-screw; Ball Screw Nut Ball Circulating Body Mechanism; Ball nut is arranged, the screw thread raceway is arranged in the ball nut, in the screw thread raceway ball is arranged; It is characterized in that: be equipped with the reverse hole of a ball between screw thread raceway in ball nut and the cylindrical, two ends are equipped with reverser in ball nut.Advantage: with interior circulating ball nut and extrapolation tubular type ball nut ball-recirculation ingenious combining of mode; Novel structure is unique, and processing, assembly technology is simple, need not expensive lathe such as machining center, and efficient is high; Circulation is reliable, can satisfy the not high occasion of accuracy of positioning height and rotating speed especially.
) belt roller mechanism.After butt joint was accomplished, by the sucker traction, belt roller mechanism drove to battery in the battery lift van; Because there is the problem of switching-over in belt in the work engineering; For the alerting ability that reduces to skid and control, the utility model adopts the break-in technology that drive more, has well solved this problem.
The laser positioning module
laser positioning module mainly is to cooperate guide rail driver module and ball-screw lifting unit to divide work.
guide rail driver module will make and change the electric machine people and stop in the position of confirming; Loading and unloading battery, and accurate here position is by laser sensor control, through the location of laser sensor; Make base to stop, accomplish follow-up action at preposition.Tested position is on battery charging rack, and laser sensor is measured tested position, and signal is passed to base rail, makes guide rail in the assigned address stop motion.Laser sensor drives with base rail and cooperates, and through the difference driving guide rail of guide rail actual position and assigned address, finally realizes the accurate location of base rail.This module osed top detection model that meets the tendency; Sensor signal transfers back to control chip in real time accurately; Control chip sends the instruction adjusting when the speed of former rail driver module and the moving displacement of relative initial position then, accomplishes dual factors and regulates simultaneously, makes locating effect more accurate; System response time is shorter, has improved whole system operation efficient.
aspect the selection of laser positioning components and parts, the utility model is chosen optical fiber-coupled laser device iFLEX2000 series, and iFLEX-2000 is the compact laser diode system that has the single mode optical fiber transmission.Because adopted initiatively temperature control technique, this type of laser has been avoided moding, and has guaranteed the stability of wavelength.C/LOOP control also provides good long term power stability and the ability of passing through the outward sign monitor power.This laser module has long life, high stability and short arc characteristics of noise.All modules all have interlock system, electric current and temperature monitoring system.Frequency can be so that laser power be adjustable up to TTL modulation or the analog-modulated characteristic of 1MHz.All lasers all have the output beam near diffraction limit, and it has characteristics such as zero chromatic dispersion, high spatial coherence and low dynamically sensing mistake.So very big raising the precision of laser positioning.
Loading and unloading bridging module
change the electric machine people with battery from battery carrier or electronlmobil in the handling process; At first need make and change electric machine people and battery carrier or electronlmobil is stable, accurately dock; So just can carry out follow-up loading and unloading battery process; In the loading and unloading bridging module, realize this function with locating piece, key is how locating piece is cooperated with electronlmobil or battery carrier accurately.The utility model adopts top spring device; Do one cylindrical-conical top at the front end of loading and unloading bridge formation module; Under the cooperation of laser positioning; In the top knock hole that injects battery carrier accurately, and then the extruding of having accomplished contained spring makes the fixing device at battery carrier two ends unclamp, and accomplishes the simultaneously synchronous cooperation handler of fixing device.In the middle of the process of putting up a bridge, in order to make top the reeve accurately in the middle of the positioning groove, will cooperate the pattern of laser positioning, accomplish top and cooperation positioning groove down at continuous iterative algorithm.Wherein concrete iterative algorithm block diagram is as shown in Figure 3.
The turntable motor driver module
The electric machine people is changed with power shortage battery or the battery that is full of electricity when packing the battery lift van in
, and next step puts into corresponding position through 180 ° of rotations with battery exactly.The spinning movement of battery lift van is exactly to be accomplished by the turntable motor driver module.Turntable carries the weight of a plurality of batteries, adopts the disk gear small machine to drive, and load is easier to control greatly like this; Can make the stable operation of turntable motor driver module, can control within limits, not make the centnifugal force of rotating disk in the process of rotation excessive for the speed that makes rotating disk; Choose the internal tooth rotating disk; And external tooth is fixed on the chassis, and the micro-machine Drive pinion rotates, and fixs revolution ratio according to the number of teeth of miniature gears; And then drive the internal-gear rotation, below be a cycle of operations figure of turntable:
The direct drive motor that
turntable is installed comes braking motor by its dynamic brake circuit with servomotor is identical usually when receiving halt instruction.But slow down and transmission device owing to be provided with between turntable motor and the turntable; The even now rotating speed sometimes can be very high; When the operating mode of the position of battery that charges electricity and power shortage battery transposing; Load can be very big, and the anxious stopping time, very low-angle the mistake can be taken place changes, thereby in turntable, need other machinery and hydraulic locking mechanism to guarantee accurate location.Therefore when guaranteeing precision, reach certain safety, the utility model has been equipped with a cover hydraulic efficiency gear and has locked turntable.
Whole control part
PLC control linear electric motors, rotary tray motor.Control to miniature electric motor realizes leading screw, belt roller motion of mechanism.Microprocessor is controlled integral structure, coordinates each other.Except the function to several modules realized, time sequence control was also very important in the control.Native system adopts the control method of zero cross fired; Realize various rotating speed of motor controls through the ON time of change system in one-period than (being make-and-break rate); In order to improve anti-interference resistance, the no-load voltage ratio that a band screen layer can be installed for the Disturbance in Power Net of power supply introducing is the isolating transformer of 1:1, with the interference between minimizing equipment and the ground; Also have filter circuit, increased the control accuracy of PLC at power input serial connection LC.PLC electric machine control block diagram is as shown in Figure 4.
workflow is as shown in Figure 1: extract charged battery from charging cabinet; Straight line is transported to corresponding position; Wherein use the laser sensor location, take out the battery of power shortage in the electronlmobil, do the position of two kinds of batteries of 180 degree rotation exchanges; And then increase according to the span of battery carrier charged battery is delivered in the battery-driven car, send the power shortage battery back to charging cabinet.
Claims (9)
1. battery robot that changes the outfit; It is characterized in that; Comprise: can be through control to base; Make the base rail driver module that changes electric machine people and battery carrier parallel motion; Realize loading and unloading battery motion module through the battery lift van that can move up and down, cooperates with the base rail driver module to make the battery robot that changes the outfit to move to the laser positioning module of appointed positions, realize battery change the outfit the stablizing of robot and electronlmobil or battery carrier, accurate loading and unloading bridging module of docking the loading and unloading of differing heights battery; The turntable motor driver module of the spinning movement of completion battery lift van and the whole control module of integral structure being controlled through microprocessor are controlled integral structure through microprocessor.
2. the battery according to claim 1 robot that changes the outfit is characterized in that said base rail driver module is the rolling wheel guide rails actuating device.
3. the battery according to claim 2 robot that changes the outfit is characterized in that, the roller of said rolling wheel guide rails actuating device adopts the micro-machine direct drive.
4. the battery according to claim 1 robot that changes the outfit; It is characterized in that said loading and unloading battery motion module comprises: can drive the battery lift van perpendicular to the screw-threaded shaft elevator structure of ground up-and-down movement, can drive the belt roller mechanism that the battery lift van is parallel to the leading screw slide block movement mechanism of ground level motion and is positioned at the battery lift van.
5. the battery according to claim 4 robot that changes the outfit is characterized in that said screw-threaded shaft elevator structure is the self locking type worm gear-worm screw-threaded shaft elevator structure.
6. the battery according to claim 4 robot that changes the outfit is characterized in that, said leading screw slide block movement mechanism is a circulating ball nut type ball-screw.
7. the battery according to claim 1 robot that changes the outfit is characterized in that said laser positioning module comprises laser sensor and control chip, and said laser sensor links to each other with control chip.
8. the battery according to claim 1 robot that changes the outfit is characterized in that said loading and unloading bridging module is top spring device.
9. the battery according to claim 1 robot that changes the outfit is characterized in that, said whole control module is through the action of other each modules of PLC controls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120319992 CN202225850U (en) | 2011-08-30 | 2011-08-30 | Battery reloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120319992 CN202225850U (en) | 2011-08-30 | 2011-08-30 | Battery reloading robot |
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| Publication Number | Publication Date |
|---|---|
| CN202225850U true CN202225850U (en) | 2012-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120319992 Expired - Fee Related CN202225850U (en) | 2011-08-30 | 2011-08-30 | Battery reloading robot |
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| Country | Link |
|---|---|
| CN (1) | CN202225850U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381290A (en) * | 2011-08-30 | 2012-03-21 | 西安交通大学苏州研究院 | Battery changing and assembling robot |
| CN107719329A (en) * | 2017-05-19 | 2018-02-23 | 成都天麒科技有限公司 | A kind of UAV system |
-
2011
- 2011-08-30 CN CN 201120319992 patent/CN202225850U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381290A (en) * | 2011-08-30 | 2012-03-21 | 西安交通大学苏州研究院 | Battery changing and assembling robot |
| CN107719329A (en) * | 2017-05-19 | 2018-02-23 | 成都天麒科技有限公司 | A kind of UAV system |
| CN107719329B (en) * | 2017-05-19 | 2019-12-27 | 成都天麒科技有限公司 | Unmanned aerial vehicle support system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120523 Termination date: 20140830 |
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| EXPY | Termination of patent right or utility model |