CN202368545U - Robot system for quickly changing batteries of electric buses - Google Patents
Robot system for quickly changing batteries of electric buses Download PDFInfo
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- CN202368545U CN202368545U CN2011204611896U CN201120461189U CN202368545U CN 202368545 U CN202368545 U CN 202368545U CN 2011204611896 U CN2011204611896 U CN 2011204611896U CN 201120461189 U CN201120461189 U CN 201120461189U CN 202368545 U CN202368545 U CN 202368545U
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Abstract
The utility model discloses a robot system for quickly changing batteries of electric buses. The robot system comprises a robot body, wherein the robot body comprises a mechanical part and an electric control part, wherein the mechanical part comprises a horizontal movement unit, a carrying platform unit and a bearing unit which are arranged on X, Y and Z rectangular coordinate directions; the carrying platform unit comprises a carrying table and a battery driving mechanism arranged on the carrying table, wherein the battery driving mechanism is provided with a battery pushing mechanism; and the electric control part comprises a data acquisition device connected with a master control computer system, a power driving mechanism and an input/output (I/O) module. The quick-change robot has high positioning accuracy, low relative displacement and accurate position in the quick-change process, and quickly changes different power batteries of the electric buses.
Description
Technical field
The utility model relates to fast changing battery system between a kind of elec. vehicle and the battery intermediate station, relates in particular to a kind of electric bus fast changing battery robot system.
Background technology
Along with the lasting increase of resource and environment dual-pressure, for alleviating oil resources shortage situation, reduce the pollution of vehicle fuel to environment, the development new-energy automobile has become the direction of following automobile industry development.At present; " anti-emission carburetor " automobile (mainly referring to hybrid vehicle) has got into the extensive industrialization stage; At the accumulative total sales volume in the whole world above 1,000,000; The batch manufacturing time of " zero-emission " automobile (mainly referring to pure electric automobile) has advanceed to 2015, has shifted to an earlier date 10 years to 15 years than time of original expectation.
Yet in practical application, owing to receive the restriction of current energy content of battery density, the continuation of the journey mileage of electronlmobil generally between 100 kilometers to 200 kilometers, can not show a candle to the continuation of the journey mileage of orthodox car.Therefore, can directly have influence on applying of electronlmobil fast for automobile provides energy supply.Generally, battery charged at a slow speed needs several hrs to accomplish, and the fast charge meeting exerted an influence to the life-span of battery, and single case battery is relatively heavier, is unfavorable for artificial the replacing.
With regard to electric bus, on the one hand it needs bigger capacity of cell, owing to receive the restriction of single case capacity of cell, often adopts many battery boxs to make up supply of electrical energy on the other hand because the increasing of number of batteries, brought take up room bigger; Increase the problem of car deadweight, even the weight that the battery of electric bus can be reached ton.According to present capacity of cell present situation, Battery pack operation at most will be changed in 4 hours, will change six to eight at every turn, as changing with artificial, want one to two hour at least, and this does not allow operator.
At present; There is certain research in domestic relevant enterprise mechanism to the battery change system of electric bus; Disclosed publication number: the 201881868U on September 30th, 2010 of State Intellectual Property Office of the People's Republic of China, application number: 201020561469.X has proposed a kind of electronic commercial vehicle/comm..vehicle battery replacement device and has changed electric system.At first, this system has proposed a kind of electric bus battery altering scheme, and this programme has proposed the mode that electrical mechanisms Rotate 180 ° is changed in a kind of utilization; Solve the battery Connector Clip on objective table with the consistency problem of car body direction; But the degree of freedom that the existence of this system needs is many, and control system is complicated; Working space is big, the more weak point of link of error occurs.
In addition, along with technological advance, electronlmobil aspect performance and the economy near in addition be superior to traditional fuel-engined vehicle, and beginning is worldwide applied gradually.News from Beijing Bagong department began to carry out the research and development that electric system is changed in public transport in domestic 2005, and had realized changing the extensive pilot operation of electric bus.When electronlmobil was promoted operation, electric automobile energy deposit and feed system became the key problem in technology of ev industry development.
Traditional electric automobile fast changing battery electromechanical hand; Like patent 200820078476.7 " a kind of be used for the registration device that on-vehicle battery is changed system ", patent 200410090796.0 " a kind of electric bus system " etc.; Though disclosed is the power vehicle and the correlation technique of electrical source of power with the vehicle mounted dynamic battery; But described device is used some problems that exist equally, as: changing cell process needs repeatedly location, and it is longer to change the electrokinetic cell time; The more shared space of exchange device is bigger, is unfavorable for the place layout; In the battery altering process, battery must be done 180 ° of rotations, increases battery change system working space etc.
The utility model content
The purpose of the utility model is exactly in order to address the above problem; A kind of electric bus fast changing battery robot system is provided; It has satisfies electronic public transport electrokinetic cell and changes fast, rationally utilizes land resources, reduces electrokinetic cell and changes the electric system occupation space; The electrokinetic cell storage area is sealed, improve the service life of electrokinetic cell.Can also realize battery status self-orientation, attitude adjustment, and then realize the advantage of functions such as battery extracting, installation.
To achieve these goals, the utility model adopts following technical scheme:
A kind of electric bus fast changing battery robot system; It comprises robot body; Said robot body comprises mechanics and electric control system, and said mechanics is included in the horizontal movement unit that X, Y, three artesian coordinates directions of Z are provided with, article carrying platform unit and bearing unit; Said bearing unit is arranged on horizontal movement unit top; Said article carrying platform unit is connected with said bearing unit, comprises objective table that is provided with and the battery-operated mechanism that which is provided with on the said article carrying platform unit, and said battery-operated mechanism is provided with the battery delivery device;
Described electric control system comprises: with host computer system bonded assembly data acquisition unit, power-driven mechanism, I/O module; Driving device in horizontal movement unit, bearing unit and the article carrying platform unit in described power-driven mechanism and the mechanics is connected.
Said bearing unit comprises the gate-type structure of being made up of entablatrance, cross sill and two root posts, and said entablatrance is provided with two groups of guide rollers, and clamping has the sky rail that is installed on the charging shelf between said two groups of guide rollers; Wiping wire casing that is used for the equipment power taking and the level that is used for the addressing of horizontal direction station were installed on the rail in said day recognize the location sheet; Said two root posts are provided with at least one group of motor-driven capstan winch, are wound with steel rope on the said capstan winch, and the lower end of steel rope is connected on the article carrying platform unit; What said at least one root post was provided with the vertical direction addressing vertically recognizes the location sheet.
Described horizontal movement unit comprises that both sides all have the roller and the follower rollers of wheel rim; The ground rail that is connected with the cross sill of bearing unit; Rail end, said ground is provided with spacing collision block; Said roller links to each other with motor reducer with follower rollers, and said motor reducer is connected with the cross sill of bearing unit.
Said article carrying platform unit is included in the battery-operated mechanism that objective table is provided with; With the objective table is that reference plane is seen from the bottom up in proper order successively; Said battery-operated mechanism comprises the horizontal rotary mechanism that is fixed on the objective table; The slanted angle regulating mechanism that is provided with successively on it, the battery delivery device, said battery delivery device is provided with supporting traverse; Supporting traverse is connected with the battery tray that is provided with.
Described battery delivery device comprises guide track, battery delivery device drive motor and electromagnetism pushing hands; Battery delivery device drive motor is connected with the pinion and rack that passes through that is provided with separately respectively with the electromagnetism pushing hands; Be equipped with two circular electromagnetic chunks on the pushing hands driving surface of electromagnetism pushing hands; Be distributed in the driving surface two ends, in position and the battery on the case two circular iron blocks corresponding; The pushing hands driving surface of said electromagnetism pushing hands also be provided with battery in the release mechanism that matches of latching device on the case; Said guide track is arranged on battery delivery device upper surface;
Be complementary the casing of case for battery is placed in groups in the said battery in said guide track and the battery on the case position; Case is positioned on charging rack or the vehicle in the said battery, and battery is is steadily fetched and delivered;
Said supporting traverse two ends respectively are provided with at least one ultrasonic ranging sensor and at least one pressure sensor, and it is inboard that said pressure sensor is positioned at the ultrasonic ranging sensor;
Said horizontal rotary mechanism comprises the connecting rod slider mechanism that is installed on the objective table, rotation base plate I, base plate II; Battery-operated mechanism horizontally rotates around rotation base plate I center;
Said slanted angle regulating mechanism comprises the gear arc-shaped rack device that is installed in objective table one end; The tilt drive motor that is connected with it; Said slanted angle regulating mechanism is provided with titling axis; Titling axis is installed on the rotation base plate I, and battery-operated mechanism carries out tilt operation around titling axis.
Said host computer system is industrial computer I and PLC controller, and said PLC controller is communicated by letter through EPA with industrial computer I and is connected, and the model of said PLC controller is Siemens PLC C 300 types;
Said data acquisition unit comprises ultrasonic transduter I, opto-electronic pickup, color mark sensor, DMP position transduser; Said ultrasonic transduter I, color mark sensor, DMP position transduser are installed in the electromagnetism pushing hands; Said opto-electronic pickup is installed on entablatrance and the column, is used for the location to robot X axle and Z-direction.
Said power-driven mechanism comprises the servo-driver of 6 motors; The servo-driver of said 6 motors respectively with horizontal movement unit; Servomotor in article carrying platform unit and the bearing unit and horizontal rotary mechanism, the slanted angle regulating mechanism, the servomotor in the latching device connects; The axle of described each servomotor is provided with coder, and the signal output part of coder is connected with the PLC controller.
Said I/O module comprises respectively and PLC controller bonded assembly emergency stop switch I and limit switch that said limit switch is separately positioned on horizontal movement unit, the zero-point positioning of working in article carrying platform unit and bearing unit place, and be connected with cooresponding servomotor contact.
Described quick change method may further comprise the steps:
1) initialization: after system powers on, issue reset instruction through host computer system, seek zero behind each of robot triggering limit switch, each axle is got back to origin position;
2) unload battery: after vehicle safety is stopped and specified the quick change zone; The quick change robot moves to the setting of appointment through host computer system according to the coordinate points information of storage; According to DMP position transduser, ultrasonic transduter I signal adjustment battery tray attitude; Accurately battery tray is reached and the concordant position of docking of car body battery compartment, simultaneously, the rotary angle position signal of horizontal rotary mechanism, slanted angle regulating mechanism is delivered to the storage of PLC controller; Unlocking motor drives the release mechanism release; Judge and confirm whether release is accomplished according to the color mark sensor feedback signal, after the release success, utilize that the magnetic chuck in the electromagnetism pushing hands takes out battery in the article carrying platform unit from the battery compartment of car body;
3) fetching battery: the PLC controller arrives the setting of battery objective table appointment according to the coordinate points and the opto-electronic pickup control robot of storage, the weary battery that takes off is placed on the intermediate station, and the battery that is full of on another intermediate station is taken off;
4) battery is installed: PLC controller control robot is to the position of car body battery compartment; Adjust the attitude of battery tray according to the horizontal rotary mechanism of storage, the anglec of rotation of slanted angle regulating mechanism; Battery is installed in the battery compartment, and the unlocking motor in the electromagnetism pushing hands drives release mechanism and carries out the battery locking, judges and confirm the locking completion according to the color mark sensor detection signal; PLC controller control magnetic chuck dead electricity; Magnetic chuck and battery break away from, and the electromagnetism pushing hands is fixing along the objective table withdrawal, and single case fast changing battery is accomplished;
5) repetitive process 2), 3), 4), until changing all weary batteries, robot is got back to the initial point standby.
The utility model utilizes the quick change robot that electrokinetic cell is exchanged between intermediate station and electric bus, makes it accomplish the electrokinetic cell work of changing fast.The utility model is symmetrically distributed in electric bus to be charged both sides, is applicable to that electric bus both sides electrokinetic cell changes simultaneously.
The beneficial effect of the utility model is: the application of quick change robot, reduced the space hold rate of work area, and improved the degree of utilization of land resources effectively; The quick change robot can carry out the attitude adjustment by power bus battery location; Automatically identification and quick, accurate, the safe electric bus battery is changed; Quick change process accuracy of positioning is high, relative shift is little, the position is accurate, realizes the quick replacing to variety classes electric bus electrokinetic cell.
Description of drawings
Fig. 1 is the utility model quick change robot scheme drawing;
Fig. 2 is the quick change robot article carrying platform unit backsight structural representation of the utility model;
Fig. 3 is the utility model article carrying platform unit slanted angle regulating mechanism front-view schematic diagram;
Fig. 4 A is the utility model article carrying platform unit horizontal rotating mechanism scheme drawing;
Fig. 4 B is the utility model article carrying platform unit horizontal rotating mechanism A-A scheme drawing;
Fig. 5. quick change robot control system scheme drawing.
101. entablatrances wherein, 102. days rails, 103. columns, 104. cross sills, 105. ground rails, 106. spacing collision blocks; 107. horizontal movement unit, 108. objective tables, 109. battery-operated mechanisms, 110. electromagnetism pushing hands, 111. longitudinally guidings wheel, 112. guide rollers; 113. release mechanism, case in 114. magnetic chucks, 201. batteries, 202. pressure sensors, 204. guide tracks, 205. ultrasonic ranging sensors; 206. the slanted angle regulating mechanism, 207. battery delivery devices, 208. battery delivery device drive motor, 210. horizontal rotary mechanisms, 211. supporting traverses, 301 inclination rotating shafts; 302. arc-shaped rack, 303. tilt drive motor, 401. rotation base plate I, 402. base plate II, 403. feathering axis, 404. horizontal drive motors; 405. leading screw, 406. feed screw nuts, 407. connecting rods, 501. host computer systems, 502.PLC controller; 503. limit switch, the linear running unit drives motor of 504.6 degree of freedom, the servo-driver of 505.6 motors, 506. motor encoders, 507. emergency stop switch I; 508. ultrasonic transduter I, 509. color mark sensors, 510. opto-electronic pickups, 511.DMP position transduser
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
Expression the utility model quick change robot and article carrying platform unit backsight structural representation among Fig. 1, Fig. 2; The horizontal movement unit 107 that mechanics among the figure in this system is provided with; Article carrying platform unit and bearing unit are set up system's three-dimensional agent structure like this, and horizontal movement unit 107 comprises that both sides all have the roller and the follower rollers of wheel rim; The ground rail 105 that is connected with the cross sill 104 of bearing unit; Rail 105 ends in said ground are provided with spacing collision block 106, and said roller links to each other with motor reducer with follower rollers, and said motor reducer is connected with the cross sill 104 of bearing unit.Bearing unit is arranged on horizontal movement unit 107 tops; The article carrying platform unit is connected with said bearing unit; Comprise objective table 108 that is provided with and the battery-operated mechanism 109 that which is provided with on the article carrying platform unit, battery-operated mechanism 109 is provided with battery delivery device 207;
Electric control system comprises: with host computer system 501 bonded assembly data acquisition units, power-driven mechanism; Driving device in horizontal movement unit 107, bearing unit and the article carrying platform unit in the I/O module, power-driven mechanism and mechanics is connected;
Bearing unit comprises the gate-type structure of being made up of entablatrance 101, cross sill 104 and two root posts 103, and said entablatrance 101 is provided with two groups of guide rollers 112, accompanies the sky rail 102 that is installed on the charging shelf between said two groups of guide rollers 112; Wiping wire casing that is used for the equipment power taking and the level that is used for the addressing of horizontal direction station were installed on the rail 102 in said day recognize the location sheet; A heel post 103 is provided with one group of motor-driven capstan winch in said two root posts 103, and with lay winding wire ropes on the capstan winch, the lower end of steel rope is connected on the article carrying platform unit; The location sheet of vertically recognizing that one root post is provided with the vertical direction addressing is used for direction identification longitudinally.Objective table 108 two ends are provided with support, and said support is provided with many group longitudinally guiding wheels 111, organizes longitudinally guiding wheel 111 more and arranges along bearing unit two root posts respectively;
The article carrying platform unit is included in the battery-operated mechanism 109 that objective table 108 is provided with, and is that reference plane is seen from the bottom up in proper order with objective table 108,
Said battery-operated mechanism comprises the horizontal rotary mechanism 210 that is fixed on the objective table, is provided with slanted angle regulating mechanism 206 on it successively, battery delivery device 207, and said battery delivery device 207 is provided with supporting traverse 211; Supporting traverse is connected with the battery tray that is provided with.
Described battery delivery device 207 comprises guide track 204, battery delivery device drive motor 208 and electromagnetism pushing hands 110; Battery delivery device drive motor 208 is connected with the pinion and rack that is provided with separately respectively with electromagnetism pushing hands 110; Be equipped with two circular electromagnetic chunks 114 on the pushing hands driving surface of electromagnetism pushing hands 110; Be distributed in the driving surface two ends, in position and the battery on the case two circular iron blocks corresponding; The pushing hands driving surface of said electromagnetism pushing hands 110 also be provided with battery in the release mechanism 113 that matches of latching device on the case.The casing of case for battery is placed in groups in the said battery.Said guide track 204 is arranged on battery delivery device 207 upper surfaces;
Said release mechanism 113 is a unlocking motor shift fork shape structure, is provided with to be distributed in electromagnetism pushing hands 110 driving surface two ends, uses with cooperating and opens charging rack or change the latching device on the case in the battery on the electric car;
On the battery delivery device 207 plane be provided with battery in case 201 cooresponding guide tracks 204, case 201 is positioned on charging rack or the vehicle in the battery, and battery is is steadily fetched and delivered;
Supporting traverse 211 two ends respectively are provided with a ultrasonic ranging sensor 205 and a pressure sensor 202, and the pressure sensor 202 that is located at supporting traverse 211 two ends respectively is positioned at the inboard of ultrasonic ranging sensor 205.
Among Fig. 3; The utility model article carrying platform unit slanted angle regulating mechanism front-view schematic diagram; Slanted angle regulating mechanism 206 comprises the gear arc-shaped rack device that is installed in left end on the objective table 108; The rotation of tilt drive motor 303 driven gears, gear arc-shaped rack engaged transmission, arc-shaped rack 302 drives base plate and realizes banking motion around inclination rotating shaft 301 rotations; Titling axis is installed on the rotation base plate I401.
Fig. 4 A; Among Fig. 4 B, horizontal rotary mechanism 210 comprises the connecting rod slider mechanism that is installed on the objective table 108, drives leading screw 405 through horizontal drive motor 404 and rotates; Leading screw 405 drives feed screw nut 406 horizontal rectilinear motions; Feed screw nut 406 links to each other with connecting rod 407 through hinged, and connecting rod 407 is connected with rotation base plate I 401 through hinged, rotates base plate I401 and be installed in objective table 108 upper plate II402 to stack through feathering axis 403; When connecting rod 407 moved under the drive of feed screw nut 406, connecting rod 407 driven rotary base plate I401 horizontally rotated operation around feathering axis 403;
Among Fig. 5, robot main body system comprises servo-driver 505, motor encoder 506, emergency stop switch I 507, ultrasonic transduter I508, color mark sensor 509, opto-electronic pickup 510, the DMP position transduser 511 of 504,6 motors of linear running unit drives motor of host computer system 501, PLC controller 502, limit switch 503,6DOF.Wherein:
Siemens PLC C 300 type logic controllers are core components of The whole control system; Communicate through EPA and host computer system 501, through the comprehensive judgement of ultrasonic transduter I508, color mark sensor 509, opto-electronic pickup 510, DMP position transduser 511 signals is controlled the respective drive motor.
Data acquisition unit comprises ultrasonic transduter I508, opto-electronic pickup 510, color mark sensor 509, DMP position transduser 511.
Ultrasonic transduter I508, color mark sensor 509, DMP position transduser 511 are installed in the electromagnetism pushing hands, and opto-electronic pickup 510 is installed on entablatrance 101 and the column 103, is used for the location to robot X axle and Z-direction.
After vehicle safety is stopped the quick change zone of appointment; The quick change robot is adjusted pitch drives 206 according to coordinate points and the DMP position transduser 511 of storage, the signal dynamics of ultrasonic transduter I508; Accurately battery tray is reached the position concordant with the battery compartment of car body; The rotary angle position signal of slanted angle regulating mechanism and horizontal rotary mechanism is delivered to the storage of PLC controller simultaneously, and unlocking motor drives release mechanism 113 and carries out the battery box release, accomplishes according to judgement of color mark sensor 509 feedback signals and affirmation release; Afterwards; The electromagnetism pushing hands 110 that Y direction has magnetic chuck powers on, and magnetic chuck produces electromagnetic attraction, and battery is taken out from the battery compartment of car body.The PLC controller is according to coordinate points and the X of storage, opto-electronic pickup 510 signals on the Z-direction, and control robot is to intermediate station, and described intermediate station is the quick change station battery shelf that charge; The electrically-charged weary battery of the needs that take off is placed on the intermediate station, and the battery that has been full of on another intermediate station is taken off.PLC controller control robot moves to the position of car body battery compartment, according to the slanted angle regulating mechanism of storage and the rotation angle value of horizontal rotary mechanism, and adjustment pitch drives 206 and horizontal rotary mechanism 210; And then the attitude of adjustment battery tray, battery is installed in the battery compartment the most at last, and unlocking motor drives release mechanism 113 and carries out the battery locking; Whether accomplish according to color mark sensor 509 judgements and affirmation locking, the locking success is right after PLC controller control magnetic chuck 114 dead electricity; Magnetic chuck 114 breaks away from battery box; The Y direction withdrawal, single case fast changing battery is accomplished, and repeats first the case and changes process; Until changing all batteries, robot is got back to the initial point standby.
The both sides of said roller and follower rollers all have wheel rim, and wheel rim can be embraced ground rail 105 and prevent that roller moves on ground rail 105, and follower rollers is the rail linear running along ground.
In the supporting traverse 211 that comprises in the battery-operated mechanism of quick change robot, tilt drive motor 303, horizontal rotary mechanism 210, the battery delivery device 207.Battery delivery device 207 drives through battery delivery device drive motor 208.Electromagnetism pushing hands 110 is corresponding with the interior case 201 of battery.
On the objective table 108, the diaxon rotating mechanism is installed, the attitude adjustment when realization is fetched and delivered battery to electric bus.Bus direct of travel deviation (horizontal sextant angle) adjustment of entering the station when changing electricity; The automatic adaptation of battery and ground angle (slanted angle) in the car.
The quick change robot is to the intermediate station pond of discharging; Specifically; The quick change robot carries out the motion of level and vertical direction to be aimed in the intermediate station charging goods yard battery delivery device 207 is stretched out, and simultaneously, drives in the battery that electrokinetic cell is housed case and sends into intermediate station; Release mechanism 113 actions are locked in electrokinetic cell on the intermediate station.Battery is thrown off in electromagnetism pushing hands 110, and battery delivery device 207 was regained after objective table 108 dropped to certain altitude.Accomplish discharge pond flow process.The quick change robot fetches electrokinetic cell to intermediate station and comprises: the quick change robot is aimed at the electrokinetic cell on the intermediate station; Battery delivery device 207 stretches out, and magnetic chuck 114 holds battery in the electromagnetism pushing hands 110, release mechanism 113 runnings meanwhile; Releasing electrokinetic cell lock; Electrokinetic cell is pulled out, and meanwhile battery delivery device 207 is regained, and accomplishes from intermediate station power taking pond.
Said I/O module comprises respectively and PLC controller bonded assembly emergency stop switch I and limit switch that said limit switch is separately positioned on horizontal movement unit, the zero-point positioning of working in article carrying platform unit and bearing unit place, and be connected with cooresponding servomotor contact.
The quick change method of electric bus fast changing battery robot system, described quick change method may further comprise the steps:
1) initialization: after system powers on, issue reset instruction through host computer system 501, seek zero behind each of robot triggering limit switch 503, each axle is got back to origin position;
2) unload battery: after the vehicle safety stop is specified and changed electric zone; The quick change robot moves to the setting of appointment through host computer system 501 according to the coordinate points information of storage; According to DMP position transduser, ultrasonic transduter I508 signal adjustment battery tray attitude; Accurately with battery tray reach with car body on the concordant position of docking of battery compartment, simultaneously, the rotary angle position signal of horizontal rotary mechanism 210, slanted angle regulating mechanism 206 is delivered to PLC controller storage; Unlocking motor drives the release mechanism release; Judge and confirm whether release is accomplished, and after the release success, utilizes the magnetic chuck in the article carrying platform unit that battery is taken out from the battery compartment of car body according to color mark sensor 509 feedback signals;
3) fetching battery: the PLC controller is according to the coordinate points and the horizontal movement unit 107 of storage; The photoelectric switching signal control robot of article carrying platform unit is to the setting of battery objective table 108 appointments; The weary battery that takes off is placed on the intermediate station, and the battery that is full of on another intermediate station is taken off;
4) battery is installed: PLC controller control robot is to the position of car body battery compartment; Adjust the attitude of battery tray according to the horizontal rotary mechanism 210 of storage, the anglec of rotation of slanted angle regulating mechanism 206; Battery is installed in the battery compartment, and unlocking motor drives release mechanism and carries out the battery locking, judges and confirm the locking completion according to color mark sensor 509 detection signals; PLC controller control magnetic chuck dead electricity; Magnetic chuck and battery break away from, and the electromagnetism pushing hands is fixing along the objective table withdrawal, and single case fast changing battery is accomplished;
5) repetitive process 2), 3), 4), until changing all weary batteries, robot is got back to the initial point standby.
Though the above-mentioned accompanying drawing that combines is described the specific embodiment of the utility model; But be not restriction to the utility model protection domain; One of ordinary skill in the art should be understood that; On the basis of the technical scheme of the utility model, those skilled in the art need not pay various modifications that creative work can make or distortion still in the protection domain of the utility model.
Claims (7)
1. electric bus fast changing battery robot system; It comprises robot body, it is characterized in that, said robot body comprises mechanics and electric control system; Said mechanics is included in the horizontal movement unit that X, Y, three artesian coordinates directions of Z are provided with; Article carrying platform unit and bearing unit, said bearing unit is arranged on horizontal movement unit top, and said article carrying platform unit is connected with said bearing unit; Comprise objective table that is provided with and the battery-operated mechanism that which is provided with on the said article carrying platform unit, said battery-operated mechanism is provided with the battery delivery device;
Described electric control system comprises: with host computer system bonded assembly data acquisition unit, power-driven mechanism, I/O module; Driving device in horizontal movement unit, bearing unit and the article carrying platform unit in described power-driven mechanism and the mechanics is connected.
2. electric bus fast changing battery robot system as claimed in claim 1; It is characterized in that; Said bearing unit comprises the gate-type structure of being made up of entablatrance, cross sill and two root posts; Said entablatrance is provided with two groups of guide rollers, and clamping has the sky rail that is installed on the charging shelf between said two groups of guide rollers; Wiping wire casing that is used for the equipment power taking and the level that is used for the addressing of horizontal direction station were installed on the rail in said day recognize the location sheet; Said two root posts are provided with at least one group of motor-driven capstan winch, are wound with steel rope on the said capstan winch, and the lower end of steel rope is connected on the article carrying platform unit; What said at least one root post was provided with the vertical direction addressing vertically recognizes the location sheet.
3. electric bus fast changing battery robot system as claimed in claim 1; It is characterized in that; Described horizontal movement unit comprises that both sides all have the roller and the follower rollers of wheel rim, the ground rail that is connected with the cross sill of bearing unit, and rail end, said ground is provided with spacing collision block; Said roller links to each other with motor reducer with follower rollers, and said motor reducer is connected with the cross sill of bearing unit.
4. according to claim 1 or claim 2 electric bus fast changing battery robot system is characterized in that said article carrying platform unit is included in the battery-operated mechanism that objective table is provided with; With the objective table is that reference plane sees that successively said battery-operated mechanism comprises the horizontal rotary mechanism that is fixed on the objective table from the bottom up in proper order, is provided with the slanted angle regulating mechanism on it successively, the battery delivery device, and said battery delivery device is provided with supporting traverse; Supporting traverse is connected with the battery tray that is provided with;
Described battery delivery device comprises guide track, battery delivery device drive motor and electromagnetism pushing hands; Battery delivery device drive motor is connected with the pinion and rack that is provided with separately respectively with the electromagnetism pushing hands, is equipped with two circular electromagnetic chunks on the pushing hands driving surface of electromagnetism pushing hands, is distributed in the driving surface two ends, in position and the battery on the case two circular iron blocks corresponding; The pushing hands driving surface of said electromagnetism pushing hands also be provided with battery in the release mechanism that matches of latching device on the case; Said guide track is arranged on the slanted angle regulating mechanism;
Be complementary on the case position in said guide track and the battery, case is used for casing that battery is placed in groups in the said battery; Case is positioned on charging rack or the vehicle in the said battery, and battery is is steadily fetched and delivered;
Said supporting traverse two ends respectively are provided with at least one ultrasonic ranging sensor and at least one pressure sensor, and it is inboard that said pressure sensor is positioned at the ultrasonic ranging sensor;
Said horizontal rotary mechanism comprises the connecting rod slider mechanism that is installed on the objective table, rotation base plate I, base plate II; Rotation base plate I, lay with base plate II is overlapping through vertical base plate II feathering axis, battery-operated mechanism horizontally rotates around rotating base plate I center;
Said slanted angle regulating mechanism comprises the gear arc-shaped rack device that is installed in objective table one end, the tilt drive motor that is connected with it, and said slanted angle regulating mechanism is provided with titling axis, and titling axis is installed on the rotation base plate I.
5. electric bus fast changing battery robot system as claimed in claim 1; It is characterized in that; Said host computer system is industrial computer I and PLC controller; Said PLC controller is communicated by letter through EPA with industrial computer I and is connected, and the model of said PLC controller is Siemens PLC C 300 types;
Said data acquisition unit comprises ultrasonic transduter I, opto-electronic pickup, color mark sensor, DMP position transduser (511); Said ultrasonic transduter I, color mark sensor, DMP position transduser (511) are installed in the electromagnetism pushing hands; Said opto-electronic pickup is installed on entablatrance and the column, is used for the location to robot X axle and Z-direction.
6. electric bus fast changing battery robot system as claimed in claim 1; It is characterized in that; Said power-driven mechanism comprises the servo-driver of 6 motors, the servo-driver of said 6 motors respectively with horizontal movement unit, servomotor in article carrying platform unit and the bearing unit and horizontal rotary mechanism; The slanted angle regulating mechanism; Servomotor in the latching device connects, and the axle of described each servomotor is provided with coder, and the signal output part of coder is connected with the PLC controller.
7. electric bus fast changing battery robot system as claimed in claim 1; It is characterized in that; Said I/O module comprises respectively and PLC controller bonded assembly emergency stop switch I and limit switch; Said limit switch is separately positioned on horizontal movement unit, the zero-point positioning of working in article carrying platform unit and bearing unit place, and be connected with the contact of cooresponding servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204611896U CN202368545U (en) | 2011-11-18 | 2011-11-18 | Robot system for quickly changing batteries of electric buses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204611896U CN202368545U (en) | 2011-11-18 | 2011-11-18 | Robot system for quickly changing batteries of electric buses |
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| Publication Number | Publication Date |
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| CN202368545U true CN202368545U (en) | 2012-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011204611896U Withdrawn - After Issue CN202368545U (en) | 2011-11-18 | 2011-11-18 | Robot system for quickly changing batteries of electric buses |
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| Country | Link |
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| CN (1) | CN202368545U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490694A (en) * | 2011-11-18 | 2012-06-13 | 山东鲁能智能技术有限公司 | Electric bus battery quick-change robot system and quick-change method |
| CN103661304A (en) * | 2012-09-18 | 2014-03-26 | 国家电网公司 | Battery replacing device and system |
| CN103878773A (en) * | 2014-02-25 | 2014-06-25 | 西安航天精密机电研究所 | Debugging method based on full-automatic battery-changing robot |
-
2011
- 2011-11-18 CN CN2011204611896U patent/CN202368545U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490694A (en) * | 2011-11-18 | 2012-06-13 | 山东鲁能智能技术有限公司 | Electric bus battery quick-change robot system and quick-change method |
| CN102490694B (en) * | 2011-11-18 | 2014-05-28 | 山东鲁能智能技术有限公司 | Electric bus battery quick-change robot system and quick-change method |
| CN103661304A (en) * | 2012-09-18 | 2014-03-26 | 国家电网公司 | Battery replacing device and system |
| CN103661304B (en) * | 2012-09-18 | 2015-11-25 | 国家电网公司 | Battery replacement device and battery change system |
| CN103878773A (en) * | 2014-02-25 | 2014-06-25 | 西安航天精密机电研究所 | Debugging method based on full-automatic battery-changing robot |
| CN103878773B (en) * | 2014-02-25 | 2015-08-12 | 西安航天精密机电研究所 | A kind of adjustment method based on automatically changing electric machine people |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20120808 Effective date of abandoning: 20140528 |
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| RGAV | Abandon patent right to avoid regrant |