CN202491788U - Quick replacing system of batteries of electric bus - Google Patents
Quick replacing system of batteries of electric bus Download PDFInfo
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- CN202491788U CN202491788U CN201220106317XU CN201220106317U CN202491788U CN 202491788 U CN202491788 U CN 202491788U CN 201220106317X U CN201220106317X U CN 201220106317XU CN 201220106317 U CN201220106317 U CN 201220106317U CN 202491788 U CN202491788 U CN 202491788U
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Abstract
The utility model discloses a quick replacing system of batteries of an electric bus. The batteries are placed above a battery replacing robot, therefore the robot can obtain charged batteries without turning around, then the batteries can be changed by the battery replacing robot on the same side of the robot, thus space occupied by the batteries is saved, a turning around mechanism of the battery replacing robot is reduced, an equipment is simplified, and the reliability and the replacing efficiency of equipment are further improved. The quick replacing system comprises a charging rack unit with charging batteries arranged on the upper part, and at least one lifting type battery replacing robot matched with the charging rack unit on the same side, wherein the lifting type battery replacing robot can move along the length direction of the charging rack unit; the lifting type battery replacing robot takes a battery needing being replaced from an electric bus, lifts the battery needing being replaced to a battery storing place on the upper part of the charging rack unit and descends the replaced battery to the battery replacing position after the battery is replaced, so that the battery of the electric bus is replaced.
Description
Technical field
The utility model relates to a kind of battery change system, especially a kind of electric bus fast changing battery 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.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 fast charge then can exert an influence to the life-span of battery.
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, and Chinese patent 201020561469.X has proposed the mode that electrical mechanisms Rotate 180 ° is changed in a kind of utilization; With 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; Chinese patent 200820078476.7 " a kind of be used for the registration device that on-vehicle battery is changed system ", Chinese patent 200410090796.0 " a kind of electric bus system " etc.; Described device is used and is also existed problems; As: changing cell process needs repeatedly location, and it is longer to change the electrokinetic cell time; The extensibility of changing electric equipment is relatively poor, and the battery box of different vehicle can not be used with a kind of and change electric equipment; Be correlated with and change the height-limited of electric equipment, can not satisfy the demand of extensive centralized electrical changing station; Chinese patent 201110138576.0 changes electric complex steps, and it is lower to change electrical efficiency.
Why the problems referred to above appear in prior art; It mainly is the restriction that receives the conventional thinking of battery altering; Be that the conventional battery substitute mode all is to adopt " turning round " mode to accomplish battery altering; They generally are placed on battery the rear of robot, and robot is accomplished the replacing of battery through " turning round " action when changing.Because the state that foregoing current battery exists; This substitute mode must be with causing whole floor area of changing electric system excessive; The action of whole actuating unit needs complicated respective outer side edges to accomplish, so fault rate and maintenance cost are very high, are unfavorable for the popularization of electronlmobil.
The utility model content
The purpose of the utility model is changed system for the present batteries of electric automobile of solution exactly and on the battery altering mode, is limited to rotary substitute mode; Make total complicated; Problems such as floor area is big provide a kind of electric bus fast changing battery system that adopts vertical direction to carry out battery altering, and it changes battery behind the electric machine person with traditional placing and has changed into placing and change electric machine people top; Thereby make robot no longer need touch turn can obtain charged battery from the top; Can accomplish the battery altering operation through changing the electric machine people at the homonymy of robot then, not only save the battery occupation space, also reduce the mechanism that turns round that changes the electric machine people; Simplify device structure, further improved the reliability and replacing efficient of equipment.
For realizing above-mentioned purpose, the utility model adopts following technical scheme:
A kind of electric bus fast changing battery system; It comprises that rechargeable battery places the charging overhead baggage rack unit on top; At least one lifting mode that is provided with that matches with charging overhead baggage rack unit homonymy changes the electric machine people, and the while lifting mode changes the electric machine people and moves along charging overhead baggage rack unit length direction; Lifting mode changes the electric machine people and takes off the battery that needs replacing from electric bus; What give rise to charging overhead baggage rack unit top deposits the battery place; To wait that needing to change battery changes, and accomplishes the battery altering of electric bus with dropping to the battery altering position after rechargeable battery is got.
Said lifting mode changes the electric machine people and comprises robot body and main console desk, and wherein robot body comprises mechanics and electric control system:
Said mechanics comprises horizontal movement unit, article carrying platform unit and the bearing unit that moves in X, Y, three artesian coordinates directions of Z respectively, and said bearing unit is arranged on the horizontal movement unit, and said article carrying platform unit is arranged on the said bearing unit;
Described electric control system comprises: with host computer system bonded assembly data acquisition unit, power-driven mechanism, wireless communication module I; 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 main console desk is set up wireless telecommunications through its wireless communication module II that is provided with and wireless communication module I, accomplishes required action according to the information Control power-driven mechanism of data acquisition unit.
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 overhead baggage rack unit 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: 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, ground is provided with spacing collision block; Said roller links to each other with motor reducer with follower rollers, and said motor reducer is provided with on the cross sill of bearing unit and with the horizontal motion servomotor and is connected.
The article carrying platform unit comprises objective table and the battery-operated mechanism that which is provided with; It is the battery delivery device that said battery-operated mechanism is provided with the said objective table of battery delivery device bottom; Battery delivery device bottom is a horizontal rotary mechanism, and the objective table side is provided with the slanted angle regulating mechanism, and the objective table two ends are provided with support; Said support is provided with many group longitudinally guiding wheels, organizes the longitudinally guiding wheel more and arranges along bearing unit two root posts respectively.
Said battery delivery device is provided with supporting traverse, and supporting traverse is connected with battery tray; The battery delivery device also 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 battery delivery device upper surface; Case is complementary in said guide track and the battery, the casing of case for battery is placed in groups in the said battery; 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 slanted angle regulating mechanism comprises the gear arc-shaped rack that is installed in objective table one end; The tilt drive motor that is connected with it; Said slanted angle regulating mechanism also is provided with titling axis; Titling axis is installed on the rotation base plate I of horizontal rotary mechanism, and the tilt drive motor driving objective table carries out tilt operation around titling axis;
Said horizontal rotary mechanism comprises: rotation base plate I, base plate II; Rotation base plate I is connected with feed screw nut through connecting rod; Feed screw nut is installed on the leading screw, and leading screw is connected with the horizontal drive motor, and the horizontal drive motor horizontally rotates around feathering axis through promoting connecting rod driven rotary base plate I.
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;
Said data acquisition unit comprises ultrasonic transduter, opto-electronic pickup, color mark sensor, DMP position transduser; Said ultrasonic transduter, 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 6 servo-drivers; The servo-driver of said 6 motors respectively with horizontal movement unit; Article carrying platform unit and bearing unit, horizontal rotary mechanism, the slanted angle regulating mechanism, the corresponding servomotor in the tripper connects; The axle of described each servomotor is provided with coder, and the signal output part of coder is connected with the PLC controller; In horizontal movement unit, the zero-point positioning of working in article carrying platform unit and bearing unit place is provided with limit switch simultaneously, and limit switch is connected with the PLC controller.
Said main console desk comprises cabinet; Said cabinet inner bottom part is equipped with industrial computer II; The cabinet front first half is provided with resistive touch screen, and the cabinet back side is equipped with wireless communication module II, and the below of touch-screen is equipped with running LED and scram button on the said cabinet; Said resistive touch screen links to each other through network interface with industrial computer II with wireless communication module II, and said running LED and scram button link to each other through level shifting circuit plate and industrial computer II's.
Said host computer system is also communicated by letter with the robot wireless remote controller.
A kind of employing electric bus fast changing battery system changes method for electrically, may further comprise the steps:
1) initialization: after system powers on, issue reset instruction through host computer system or main console desk or wireless remote controller, lifting mode seeks zero after changing each triggering limit switch of electric machine people, gets back to origin position;
2) unload battery: after the vehicle safety stop is specified and changed electric zone; Lifting mode changes the electric machine people is moved horizontally to appointment through host computer system or robot main console desk or wireless remote controller according to the coordinate points information of storage setting; 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 PLC controller storage, 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 changes electric machine people rising according to the coordinate points and the opto-electronic pickup control of storage, according to DMP position transduser, ultrasonic transduter I signal adjustment battery tray attitude, accurately battery is sent into the charging cabin; The PLC controller changes the electric machine people according to the coordinate points and the opto-electronic pickup control of storage then, according to DMP position transduser, ultrasonic transduter I signal adjustment battery tray attitude, the battery that is full of in another charging cabin is taken off;
4) battery is installed: PLC controller control lifting mode changes the position that the electric machine people drops to the 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, judge 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 battery changes electricity and accomplishes;
5) repetitive process 2), 3), 4), until changing all weary batteries, lifting mode changes the electric machine people and gets back to the initial point standby.
The utility model utilizes lifting mode to change the electric machine people and electrokinetic cell is exchanged between charging overhead baggage rack unit and electric bus, make 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 utility model rechargeable battery unit and car body are that vertical direction is arranged, have avoided the loaded down with trivial details action of battery rotation, and be simple for structure; Lifting mode changes electric machine people's application, has reduced the space hold rate of work area, has improved the degree of utilization of land resources effectively; Change the electric machine people and can carry out the attitude adjustment by power bus battery location; Automatically identification and quick, accurate, the safe electric bus battery is changed; Change that the electric process accuracy of positioning is high, relative shift is little, the position is accurate, realize quick replacing variety classes electric bus electrokinetic cell.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 changes electric machine people scheme drawing for the utility model battery;
Fig. 3 changes electric machine people article carrying platform unit backsight structural representation for the utility model;
Fig. 4 is the utility model article carrying platform unit slanted angle regulating mechanism front-view schematic diagram;
Fig. 5 A is the utility model article carrying platform unit horizontal rotating mechanism scheme drawing;
Fig. 5 B is the utility model article carrying platform unit horizontal rotating mechanism A-A scheme drawing;
Fig. 6 changes electric machine people control system scheme drawing for the utility model;
Fig. 7 is the charging overhead baggage rack unit structural representation of the utility model.
Wherein 1, lifting mode changes the electric machine people, 2, the charging overhead baggage rack unit, 3, control desk, 101. entablatrances, 102. days rails, 103. columns; 104. cross sill, 105. ground rails, 106. spacing collision blocks, 107. horizontal movement unit, 108. objective tables, 109. battery-operated mechanisms; 110. the electromagnetism pushing hands, 111. longitudinally guidings wheel, 112. release mechanisms, 113. magnetic chucks, case in 114. guide rollers, 201. batteries; 202. pressure sensor, 204. guide tracks, 205. ultrasonic ranging sensors, 206. slanted angle regulating mechanisms, 207. battery delivery devices, 208. battery delivery devices drive servomotor; 210. horizontal rotary mechanism, 211. supporting traverses, 301 inclination rotating shafts, 302. arc-shaped racks, 303. pitch drives servomotors, 401. rotation base plate I; 402. base plate II, 403. feathering axis, 404. horizontal drive servomotors, 405. leading screws, 406. feed screw nuts; 407. connecting rod, 501. host computer systems, 502.PLC controller, 503. limit switches, the linear running unit drives motor of 504.6 degree of freedom; 505.6 the servo-driver of individual motor, 506. motor encoders, 507. emergency stop switch I, 508. ultrasonic transduter I, 509. color mark sensors; 510. opto-electronic pickup, 511.DMP position transduser, 512. wireless communication module I, 513 wireless communication module II, 514 wireless communication module III; 601, electrokinetic cell 602, charging cabin, 603 charging frameworks;
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
As shown in Figure 1, it comprises that rechargeable battery places the charging overhead baggage rack unit 2 on top, and at least one lifting mode that is provided with that matches with charging overhead baggage rack unit 2 homonymies changes electric machine people 1, and the while lifting mode changes electric machine people 1 and moves along charging overhead baggage rack unit 2 length directions; Lifting mode changes electric machine people 1 and takes off the battery that needs replacing from electric bus; What give rise to charging overhead baggage rack unit top deposits the battery place; To wait that needing to change battery changes, and accomplishes the battery altering of electric bus with dropping to the battery altering position after rechargeable battery is got.
Expression the utility model changes electric machine people and article carrying platform unit backsight structural representation among Fig. 2, Fig. 3; 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 provided with on the cross sill 104 of bearing unit and with the horizontal motion servomotor and is connected.
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 among the wireless communication module I512, 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 114, accompanies the sky rail 102 that is installed on the charging shelf between said two groups of guide rollers 114; 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 103 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 103 respectively;
Among Fig. 3; Said battery-operated mechanism 109 comprises and objective table 108 bonded assembly horizontal rotary mechanisms 210; Objective table 108 sides are provided with slanted angle regulating mechanism 206, are provided with battery delivery device 207 below, and said battery delivery device 207 is provided with supporting traverse 211; Supporting traverse 211 is connected with the battery tray that is provided with.
Described battery delivery device 207 comprises that guide track 204, battery delivery device drive servomotor 208 and electromagnetism pushing hands 110; The battery delivery device drives servomotor 208 and 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 113 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 112 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 112 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. 4; 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 302 that is installed in left end on the objective table 108; The rotation of pitch drives servomotor 303 driven gears, gear arc-shaped rack engaged transmission, arc-shaped rack 302 drives objective table 108 and realizes banking motion around inclination rotating shaft 301 rotations; Titling axis 301 is installed on the rotation base plate I401.
Fig. 5 A; Among Fig. 5 B, horizontal rotary mechanism 210 comprises: horizontal drive servomotor 404, and it drives leading screw 405 and rotates; Leading screw 405 drives feed screw nut 406 horizontal rectilinear motions; Feed screw nut 406 is hinged with connecting rod 407, and connecting rod 407 is hinged with rotation base plate I401, 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. 6, electric 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 host computer system 501, PLC controller 502,503,6 motors of limit switch.Wherein:
Siemens PLC C300 type logic controller is the core component 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.
Vehicle safety stop appointment change electric zone after; Change the electric machine people and adjust 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 112 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.PLC controller 502 is according to coordinate points and the X of storage, opto-electronic pickup 510 signals on the Z-direction; The control lifting mode changes the relevant position that electric machine people 1 rises to charging overhead baggage rack unit 2; Weary battery is aimed at the sky charging cabin 602 in the charging overhead baggage rack unit 2, and battery tray is stretched out, and the electrically-charged weary battery of the needs that take off is put into charging cabin 602; Battery tray is regained in the magnetic chuck outage.PLC controller 502 is according to coordinate points and the X of storage, opto-electronic pickup 510 signals on the Z-direction; The control lifting mode changes electric machine people 1 parallel motion and aims at the battery that is full of electricity in the charging cabin 602 of charging overhead baggage rack unit; Accurately battery tray is reached the position concordant with the cabin 602 of charging; The rotary angle position signal of slanted angle regulating mechanism 206 and horizontal rotary mechanism 210 is delivered to 502 storages of PLC controller simultaneously, and release mechanism 112 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 113 produces electromagnetic attraction, and full battery is taken out from the charging cabin 602 of charging overhead baggage rack unit 2.PLC controller 502 control lifting modes change the position that electric machine people 1 descends and moves to the car body battery compartment, according to the slanted angle regulating mechanism 206 of storage and the rotation angle value of horizontal rotary mechanism 210, and adjustment pitch drives 206 and horizontal rotary mechanism 210; And then the attitude of adjustment battery tray, battery is installed in the Vehicular battery storehouse the most at last, and release mechanism 112 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 502 control magnetic chucks 113 dead electricity; Magnetic chuck 113 breaks away from battery box; The Y direction withdrawal, single case battery changes electricity and accomplishes, 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.
Battery delivery device 207 is arranged on the slanted angle regulating mechanism 206; It comprises guide track 204, magnetic chuck 113, release mechanism 112, utilizes guide track 204 to hold on battery; Simultaneously; Utilize magnetic chuck 113 absorption, and utilize battery delivery device 207 that electrokinetic cell is pushed the entering assigned address.
Pressure sensor 202 distributed and arranged are in supporting traverse 211 both sides, and simultaneously, ultrasonic ranging sensor 205 distributed and arranged are in pressure sensor 202 inboards,
Change in the supporting traverse 211 that comprises in the battery-operated mechanism of electric machine people, 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.
The diaxon rotating mechanism is installed, the attitude adjustment when realization is fetched and delivered battery to electric bus on the objective table 108.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.
Electromagnetism pushing hands similar on described electromagnetism pushing hands 110 and the piler; 2 ultrasonic ranging sensors 205 (measurement horizontal sextant angle); 2 pressure sensors 202, opto-electronic pickup 510 cooperate the reflector that is attached on the interior battery outer container of bus to measure slanted angle, and can realize fetching and delivering in the car in the cell process, follow bodywork height and change the realization lag function.
Said limit switch is connected with PLC controller 502, 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 each servomotor contact.
Main console desk comprises cabinet; Said cabinet inner bottom part is equipped with industrial computer II; The cabinet front first half is provided with resistive touch screen, and the cabinet back side is equipped with wireless communication module II513, and the below of touch-screen is equipped with running LED and scram button on the said cabinet; Said resistive touch screen links to each other with industrial computer II with wireless communication module II513, and said running LED and scram button link to each other through level shifting circuit plate and industrial computer II's;
The cabinet back side is provided with cabinet body door, and cabinet body door is provided with rainproof lock;
Industrial computer is connected with resistive touch screen through the VGA interface;
Wireless communication module II513 communicates by letter with industrial computer II through network interface;
Wireless communication module II513 and wireless communication module I512 adopt wireless network or the CDMA module or the EDGE module of IEEE 802.11 standards of WiFi.
Electric bus changes the method for electrically of electric machine robot system, and the described method for electrically that changes may further comprise the steps:
1) initialization: after system powers on, issue reset instruction through host computer system 501 or main console desk or wireless remote controller, 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; Lifting mode changes electric machine people 1 moves to appointment through host computer system 501 or robot main console desk or wireless remote controller according to the coordinate points information of storage setting; According to DMP position transduser 511, 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 502 storage; The release mechanism release; Judge and confirm whether release is accomplished, and after the release success, utilizes the magnetic chuck 113 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: PLC controller 502 is according to coordinate points and the X of storage, opto-electronic pickup 510 signals on the Z-direction; The control lifting mode changes the relevant position that electric machine people 1 rises to charging overhead baggage rack unit 2; Weary battery is aimed at the sky charging cabin 602 in the charging overhead baggage rack unit 2; Battery tray is stretched out, and the electrically-charged weary battery of the needs that take off is put into charging cabin 602, PLC controller 502 control magnetic chucks 113 dead electricity; Magnetic chuck 113 breaks away from battery, and electromagnetism pushing hands 110 is fixing along the objective table withdrawal; PLC controller 502 is according to coordinate points and the X of storage, opto-electronic pickup 510 signals on the Z-direction; The control lifting mode changes the battery that is full of electricity in the charging cabin 602 that electric machine people 1 aims at charging overhead baggage rack unit 2; Accurately battery tray is reached the position concordant with the cabin 602 of charging; The rotary angle position signal of slanted angle regulating mechanism 206 and horizontal rotary mechanism 210 is delivered to 502 storages of PLC controller simultaneously, and release mechanism 112 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 113 powers on, and magnetic chuck 113 produces electromagnetic attraction, and full battery is taken out from the charging cabin 602 of charging overhead baggage rack unit 2.
4) battery is installed: PLC controller 502 control lifting modes change the position that electric machine people 1 drops to the 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 release mechanism carries out the battery locking, judges and confirm the locking completion according to color mark sensor 509 detection signals; PLC controller 502 control magnetic chucks 113 dead electricity; Magnetic chuck 113 breaks away from battery, and electromagnetism pushing hands 110 is fixing along objective table 108 withdrawals, and single case battery changes electricity and accomplishes;
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 (9)
1. electric bus fast changing battery system; It is characterized in that; It comprises that rechargeable battery places the charging overhead baggage rack unit (2) on top; At least one lifting mode that is provided with that matches with charging overhead baggage rack unit (2) homonymy changes electric machine people (1), and lifting mode changes electric machine people (1) along the motion of charging overhead baggage rack unit (2) length direction simultaneously; Lifting mode changes electric machine people (1) and takes off the battery that needs replacing from electric bus; What give rise to charging overhead baggage rack unit top deposits the battery place; To wait that needing to change battery changes, and accomplishes the battery altering of electric bus with dropping to the battery altering position after rechargeable battery is got.
2. electric bus fast changing battery as claimed in claim 1 system is characterized in that said lifting mode changes electric machine people (1) and comprises robot body and main console desk (3), and wherein robot body comprises mechanics and electric control system:
Said mechanics comprises horizontal movement unit (107), article carrying platform unit and the bearing unit that moves in X, Y, three artesian coordinates directions of Z respectively; Said bearing unit is arranged on the horizontal movement unit (107), and said article carrying platform unit is arranged on the said bearing unit;
Described electric control system comprises: with host computer system (501) bonded assembly data acquisition unit, power-driven mechanism, wireless communication module I; Driving device in horizontal movement unit (107), bearing unit and the article carrying platform unit in described power-driven mechanism and the mechanics is connected;
Said main console desk (3) is set up wireless telecommunications through its wireless communication module II (513) that is provided with and wireless communication module I (512), accomplishes required action according to the information Control power-driven mechanism of data acquisition unit.
3. electric bus fast changing battery as claimed in claim 2 system; It is characterized in that; Said bearing unit comprises the gate-type structure of being made up of entablatrance (101), cross sill (104) and two root posts (103); Said entablatrance (101) is provided with two groups of guide rollers (114), and clamping has the sky rail (102) that is installed on the charging overhead baggage rack unit (2) between said two groups of guide rollers (114); Wiping wire casing that is used for the equipment power taking and the level that is used for the addressing of horizontal direction station are installed on the said sky rail (102) recognize the location sheet; Said two root posts (103) 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 (103) was provided with the vertical direction addressing vertically recognizes the location sheet.
4. electric bus fast changing battery as claimed in claim 2 system; It is characterized in that; Described horizontal movement unit (107) comprising: 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, and rail (105) end, ground is provided with spacing collision block (106); Said roller links to each other with motor reducer with follower rollers, and the cross sill (104) that said motor reducer is provided with bearing unit upward and with the horizontal motion servomotor is connected.
5. electric bus fast changing battery as claimed in claim 2 system; It is characterized in that; It is battery delivery device (207) that the battery-operated mechanism (109) that the article carrying platform unit comprises objective table (108) and which is provided with, said battery-operated mechanism (109) are provided with the said objective table of battery delivery device (207) (108) bottom, and battery delivery device (207) bottom is horizontal rotary mechanism (210); Objective table (108) side is provided with slanted angle regulating mechanism (206); Objective table (108) two ends are provided with support, and said support is provided with many group longitudinally guiding wheels (111), organize longitudinally guiding wheel (111) more and arrange along bearing unit two root posts (103) respectively.
6. electric bus fast changing battery as claimed in claim 5 system is characterized in that said battery delivery device (207) is provided with supporting traverse (211), and supporting traverse (211) is connected with battery tray; Battery delivery device (207) also 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 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 (110) also be provided with battery in the release mechanism that matches of latching device on the case; Said guide track setting (204) is at battery delivery device (207) upper surface; Said guide track (204) is complementary with the interior case of battery, the casing of case for battery is placed in groups in the said battery; Said supporting traverse (211) two ends respectively are provided with at least one ultrasonic ranging sensor (205) and at least one pressure sensor (202), and said pressure sensor (202) is positioned at ultrasonic ranging sensor (205) inboard;
Said slanted angle regulating mechanism comprises the gear arc-shaped rack (302) that is installed in objective table (108) one ends; The tilt drive motor that is connected with it (303); Said slanted angle regulating mechanism also is provided with titling axis (301); Titling axis (301) is installed on the rotation base plate I (401) of horizontal rotary mechanism, and tilt drive motor (303) driving objective table (108) carries out tilt operation around titling axis (301);
Said horizontal rotary mechanism comprises: rotation base plate I (401), base plate II (402); Rotation base plate I (401) is connected with feed screw nut (406) through connecting rod (405); Feed screw nut (406) is installed on the leading screw (405); Leading screw (405) is connected with horizontal drive motor (404), and horizontal drive motor (404) horizontally rotates around feathering axis (403) through promoting connecting rod (405) driven rotary base plate I (401).
7. electric bus fast changing battery as claimed in claim 2 system is characterized in that said host computer system (501) is industrial computer I and PLC controller (502), and said PLC controller (502) is communicated by letter through EPA with industrial computer I and is connected;
Said data acquisition unit comprises ultrasonic transduter (508), opto-electronic pickup (510), color mark sensor (509), DMP position transduser (511); Said ultrasonic transduter (508), color mark sensor (510), DMP position transduser (511) are installed in the electromagnetism pushing hands (110); Said 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;
Said power-driven mechanism comprises 6 servo-drivers (505); The servo-driver of said 6 motors (505) respectively with horizontal movement unit (107); Article carrying platform unit and bearing unit, horizontal rotary mechanism (210), slanted angle regulating mechanism (206), the corresponding servomotor in the tripper (112) connects; The axle of described each servomotor is provided with coder, and the signal output part of coder is connected with the PLC controller; In horizontal movement unit, the zero-point positioning of working in article carrying platform unit and bearing unit place is provided with limit switch simultaneously, and limit switch is connected with the PLC controller.
8. electric bus fast changing battery as claimed in claim 2 system; It is characterized in that; Said main console desk (3) comprises cabinet, and said cabinet inner bottom part is equipped with industrial computer II, and the cabinet front first half is provided with resistive touch screen; The cabinet back side is equipped with wireless communication module II (513); The below of touch-screen is equipped with running LED and scram button on the said cabinet, and said resistive touch screen links to each other through network interface with industrial computer II with wireless communication module II (513), and said running LED and scram button link to each other through level shifting circuit plate and industrial computer II's.
9. electric bus fast changing battery as claimed in claim 2 system is characterized in that said host computer system (501) is also communicated by letter with the robot wireless remote controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220106317XU CN202491788U (en) | 2012-03-20 | 2012-03-20 | Quick replacing system of batteries of electric bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220106317XU CN202491788U (en) | 2012-03-20 | 2012-03-20 | Quick replacing system of batteries of electric bus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202491788U true CN202491788U (en) | 2012-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220106317XU Expired - Fee Related CN202491788U (en) | 2012-03-20 | 2012-03-20 | Quick replacing system of batteries of electric bus |
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| Country | Link |
|---|---|
| CN (1) | CN202491788U (en) |
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| CN102602372A (en) * | 2012-03-20 | 2012-07-25 | 山东鲁能智能技术有限公司 | System and method for quickly replacing electric bus batteries |
| CN104512732A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Upper end support and guiding structure for stand columns of stocker |
| CN105235540A (en) * | 2015-09-30 | 2016-01-13 | 艾能特（苏州）能源技术有限公司 | Large-current quick charger applied to electric buses |
| CN105584465A (en) * | 2016-03-04 | 2016-05-18 | 上海电巴新能源科技有限公司 | Rapid battery replacement device and method for electric vehicle |
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| CN109987063B (en) * | 2017-12-29 | 2022-06-10 | 上海电巴新能源科技有限公司 | Battery replacing equipment for horizontally installing and taking battery and battery disassembling and installing method |
| CN109987063A (en) * | 2017-12-29 | 2019-07-09 | 上海电巴新能源科技有限公司 | Level dress takes the battery replacement device and battery roll, installation method of battery |
| CN114987271B (en) * | 2018-07-20 | 2023-06-27 | 奥动新能源汽车科技有限公司 | Battery changing control system and method |
| CN114987271A (en) * | 2018-07-20 | 2022-09-02 | 奥动新能源汽车科技有限公司 | Battery replacement control system and method |
| CN109703530A (en) * | 2018-12-11 | 2019-05-03 | 西安航天精密机电研究所 | Simple electrical changing station based on single track electricity changing robot and its change method for electrically |
| CN109808516A (en) * | 2019-01-11 | 2019-05-28 | 王宁豪 | A kind of artificial quick-change type general dynamic battery of new-energy automobile |
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