CN202641651U - Underpan battery replacement system of power-driven passenger car - Google Patents
Underpan battery replacement system of power-driven passenger car Download PDFInfo
- Publication number
- CN202641651U CN202641651U CN 201220314358 CN201220314358U CN202641651U CN 202641651 U CN202641651 U CN 202641651U CN 201220314358 CN201220314358 CN 201220314358 CN 201220314358 U CN201220314358 U CN 201220314358U CN 202641651 U CN202641651 U CN 202641651U
- Authority
- CN
- China
- Prior art keywords
- battery
- platform
- passenger vehicle
- robot
- electric passenger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 135
- 238000012546 transfer Methods 0.000 claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims description 93
- 238000012937 correction Methods 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 23
- 238000013459 approach Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000003466 welding Methods 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000009471 action Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an underpan battery replacement system of a power-driven passenger car. The underpan battery replacement system of the power-driven passenger car comprises a rapid replacement robot, a battery replacement platform, a transfer platform, a backstage monitoring system, a stocker and a battery charging support. The transfer platform, the stocker and the battery charging support are all arranged on one side of the battery replacement platform. The rapid replacement robot is arranged between the battery replacement platform and the transfer platform. The power-driven passenger car can pass the battery replacement platform and is provided with a lock and stop mechanism corresponding to a battery box held by the rapid replacement robot. The backstage monitoring system is respectively connected with the rapid replacement robot and the stocker through industrial Ethernet. A mechanical positioning mechanism of the battery replacement platform is simple, precise in location and low in manufacture cost. A hydraulic hoisting mechanism is applied to the rapid replacement robot so that the whole replacement process is reliable and steady and at the same time the size of replacement equipment can be effectively reduced and the occupation area of the battery replacement system is saved. The transfer platform as an interactive bond of battery replacement between the rapid replacement robot and the stocker can further shorten the time spent in replacing a battery.
Description
Technical field
The utility model patent relates to a kind of electric automobile chassis battery replacing robot, particularly a kind of chassis of electric passenger vehicle battery change system of electric passenger vehicle battery automatic clamping and placing.
Background technology
Electronlmobil is as a kind of new traffic tool, have the advantages such as " zero-emission ", energy source be wide, being to alleviate the important means that the China's oil resource is nervous, the urban atmospheric pollution problem is serious, is to advance transport development mode to change the effective carrier of propulsion energy-saving emission reduction work.Yet the hysteresis of battery technology and charging technique becomes the bottleneck of latent electricity electrical automobile industry development, and national governments and enterprise work hard and improve the supporting infrastructure service industry of electronlmobil.At present, the electric automobile energy supply mainly contains charging and changes two kinds of patterns of electricity.The charging duration that charging needs is longer, and large current charge is larger on the battery impact, and easily distributing net is produced harmonic pollution, and this pattern has larger drawback.In contrast to this, change electricity simple to operate, can realize that by specialized industrial robot electric energy is quick, efficient additional, simultaneously can utilize the concentrated charging of carrying out battery night, realized " peak-clipping and valley-filling " of electric load, improved the comprehensive utilization ratio of electrical equipment, obtained electronlmobil producer, battery enterprise and filled the generally approval of changing electric operator.
China national Department of Intellectual Property number of patent application is that the utility model patent of CN201110042565.2 discloses a kind of electric passenger vehicle dynamic battery fast-replacing system, the horizontal and vertical detent mechanism of this system adopts the positioning towed mode of motor, cause the system equipment high expensive, use simultaneously conveyer to carry out the transmission dispensing of electrokinetic cell, the battery transmission ﹠ distribution can expend the plenty of time on the one hand, because battery volume and quality are larger, easily occur in the transmission course to break away dangerous on the other hand.Number of patent application is that the utility model patent of CN201010297770.9 discloses the electric passenger vehicle battery replacement device and changed electric system, this system battery more changing device is the multi-shaft rotary industrial robot, its occupation area of equipment is larger, secondly, because battery quality is larger, cause mechanical arm output to support moment of torsion larger.Simultaneously more do not design battery lock mechanism in the changing device, equipment is in the integral-rotation process, and the landing phenomenon easily appears in battery, and then affects the normal service life of battery.
Application number is the battery change method that 201110091321.3 Chinese patent application discloses a kind of battery-driven car, battery change system and battery carrier thereof, this battery change system comprises fixing battery carrier, ferry bus, piler and manipulator, ferry bus is movably located among the battery carrier, be provided with the temporary position of battery at ferry bus, piler is located at battery carrier one side movably, manipulator is arranged at the battery carrier opposite side movably, the replacing method is: piler takes out has battery to move to the ferry bus place, to there be battery to be put on the ferry bus, manipulator takes out putting on the ferry bus without battery on the battery-driven car, ferry bus is carrying battery and is moving a station without battery, and with the manipulator contraposition, and manipulator will have electric cell apparatus in battery-driven car on the ferry bus.Patent of the present invention with ferry bus as the platform that has or not the battery transfer, the control system logic is more complicated on the one hand, increased the system cost input, ferry bus must repeatedly be located with piler and manipulator in course of action and be cooperated on the other hand, has strengthened the difficulty of battery altering location.
Therefore, a whole set of economy, stable electric passenger vehicle battery change system and replacing method need be provided, realize electric passenger vehicle fast, safety, energy recharge accurately, satisfy the daily demand of travelling of electric passenger vehicle, promote electronlmobil commercialization and industrialized development.
The utility model content
The purpose of this utility model is exactly in order to overcome the defects of prior art, a kind of quick, safe and reliable chassis of electric passenger vehicle battery change system to be provided.Can realize the accurate location of electric manned vehicle to be changed by the mechanical guide mechanism that changes the level platform, can realize that by wireless transport module Quick change robot and electric electric passenger vehicle to be changed are about the real-time Communication for Power of battery locking data message, make things convenient for Quick change robot to the electric passenger vehicle battery accurately, dismounting and installation, design by the two-stage type hydraulic telescopic machanism, effectively reduce body height and the volume of Quick change robot, saved the floor area of the system that changes, battery transmission by battery transfer platform is mutual, realized the linking of Quick change robot and piler battery altering, greatly shortened the time of changing the system battery Renewal process, satisfied electric passenger vehicle quick, the energy replenishes timely, can realize background monitoring system to the Real Time Monitoring of Quick change robot and piler running state by Industrial Ethernet, guarantee the accurate of electric vehicle charging electrical changing station battery altering process, safety and stable.
In order to realize foregoing, the technical scheme that the utility model patent adopts is:
A kind of chassis of electric passenger vehicle battery change system, it comprises Quick change robot, changes the level platform, transfer platform, background monitoring system, piler and charging rack, described transfer platform, piler and charging rack all are arranged at and change level platform one side; Described Quick change robot is arranged to be in and changes between level platform and the transfer platform, and described changing on the level platform can be passed through electric passenger vehicle, and described electric passenger vehicle is provided with the lockable mechanism corresponding with battery box that Quick change robot holds in the palm; Described background monitoring system links to each other with piler with Quick change robot respectively by Industrial Ethernet.
Described Quick change robot comprises the degree of freedom of X-axis, Z axis, three directions of R axle, is followed successively by straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism; Described straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism are connected successively, and connection arranges; Described straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism all link to each other with control system.
Described straight walking mechanism is positioned at the bottom of Quick change robot, comprises pulley, universal coupling, belt, the first servomotor, the first reductor and base; Pulley is arranged at the base bottom, and the first servomotor and the first reductor are arranged at base top; Wherein, two pulleys of front end are the robot engine installation, and two pulleys connect by one group of universal coupling; Two pulleys in rear end are hunting gear, and these two pulleys connect by another group universal coupling; The first servomotor is connected with supporting the first reductor expansion set, and the first reductor links to each other with pulley as engine installation by belt, realizes the power transmission of reductor and pulley by belt, and drive pulley is straight line moving on slide rail.
The first photoelectric switch is arranged in described straight walking mechanism lower end, described three the first photoelectric switchs cooperate with initial point catch and former and later two limit catch successively, offer PLC control system location switch signal, realize the former point search of robot and reset, and stop its operation of crossing the border; Described front limit catch, initial point catch and rear limit catch are arranged in order along the line slide rail of laying, and the initial point catch is positioned in the middle of the limit catch of front and back.
Described hydraulic lifting lifting mechanism is positioned at the top of straight walking mechanism base, comprises two hydraulically extensible cylinders; The one-level hydraulic actuating cylinder is positioned at the bottom of two-stage hydraulic cylinder, and after the one-level hydraulic actuating cylinder stretched out fully, two-stage hydraulic cylinder was carried out fore and aft motion; I and II hydraulic actuating cylinder one side is welding beam and be furnished with the anti-rotation beam respectively, and the anti-rotation beam cooperates with two anti-rotating holes on being positioned at one-level hydraulic actuating cylinder welding beam and base welding beam, prevents that battery is with the rotation in the hydraulic gear lifting process; I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar, coder, catch and the first approach switch; State catch and match with the first approach switch, the first approach switch is arranged at the bottom of one-level hydraulic actuating cylinder welding beam, and when the one-level hydraulic actuating cylinder stretches out fully, catch triggers the first approach switch, and two-stage hydraulic cylinder begins fore and aft motion; The tooth bar that is positioned on the two-stage hydraulic cylinder side meshes by gear and coder, obtains the two-stage hydraulic cylinder rise height by calculation code device revolution, and coder is connected with the PLC control system, and the PLC control system begins high-speed counting.
Described angle deviation correction mechanism is positioned at the upper end of hydraulic lifting mechanism, comprise mounting flange, large and small gear, the second servomotor and the second reductor, mounting flange are installed on the two-stage hydraulic cylinder of described hydraulic lifting mechanism, the second servomotor, the second reductor, large and small gear is arranged on the mounting flange successively, and miniature gears is installed in the second servomotor upper end, and big gear wheel is installed on the two-stage hydraulic cylinder, the engagement of size gear mechanism cooperates rotation with the second driven by servomotor.
Described big gear wheel lower end is furnished with catch, arranges three the second approach switchs on the mounting flange; Big gear wheel triggers rotation Derivative limit on the left or on the right, former reset on-off signal successively in rotary course.
Described angle deviation correction mechanism upper end is equipped with battery tray, and the big gear wheel rotation center is concentric with the battery tray center of gravity.Four limiting stoppers are installed on the battery tray, with four the projection couplings in electric electric passenger vehicle battery outer container to be changed bottom, can realize battery outer container fine position and reliable fixing.
Ultrasonic range finder sensor and DMP sensor are installed on the described battery tray; Ultrasonic range finder sensor is used for measuring battery tray to the distance on electric manned vehicle to be changed chassis; The DMP sensor cooperates with reflector on being installed on electric manned vehicle to be changed chassis, searches and calculates the reflector target position, obtains the level angle deviation of changing electric machine people and electric manned vehicle to be changed.
Described straight walking mechanism, hydraulic lifting mechanism interlock, when only having Quick change robot straightaway and vertical lifting to arrive desired location, the angle deviation correction mechanism just begins action, only has the battery tray on the angle deviation correction mechanism to produce a desired effect, and hydraulic lifting mechanism is just restarted.
Described straight walking mechanism, angle deviation correction mechanism adopt driven by servomotor, and drive motor is connected with corresponding coder, and each coder is connected with corresponding actuator; Actuator sends position pulse signal to servomotor, and coder returns the motor rotation information transmission that gathers to actuator, forms the control of mode position closed-loop.
Described control system is the core of Quick change robot action control, comprises touch-screen, wireless communication module, Omron PLC controller, A/D module, D/A module; Wireless communication module is by serial ports RS485 and touch panel communication, and the Omron PLC controller is by serial ports RS232 and touch panel communication, and touch-screen is communicated by letter with background monitoring system by Industrial Ethernet; Ultrasonic range finder sensor, DMP sensor, hydraulic proportional flow valve, each coder, approach switch, photoelectric switch all with PLC controller real-time data transport communication.
Described ultrasonic range finder sensor and DMP sensor are connected with A/D module in the control system, the analog signal of sensor collection is converted into digital signal, and sends control system to.
Described hydraulic proportional flow valve is connected with D/A module in the PLC control system, and the digital controlled signal of control system is converted into the analogue flow rate control information, realizes the speed control to hydraulic lifting mechanism.
Described each coder is connected with the A/D module of PLC control system, coder gathers the rise height of two-stage hydraulic cylinder single rack, obtain two-stage hydraulic cylinder lifting distance through calculating, this data feedback to control system, is formed the closed-loop control in the lifting process.
Described approach switch and photoelectric switch are connected with Omron PLC controller in the PLC control system, the end position information of each degree of freedom of real-time Transmission Quick change robot, the interrupt mode of Triggering Control System and high-speed counting pattern realize accurate, the quick action of Quick change robot in specialized range.
The described level platform that changes provides workplatform for the replacing of chassis of electric passenger vehicle battery, can carry 2.5 tons of load weights.Changing the level platform is the trapezoidal high platform structure of a hollow out, and the centre is left the oblong electric passenger vehicle and changed electric operation hole, and the whole metal solder that adopts consists of, and changing between level platform and the ground has leveling device.
The described level platform that changes comprises mechanical detent mechanism, comprises outer coarse positioning mechanism, precision positioning mechanism and V-type groove detent mechanism; Outer coarse positioning mechanism is arranged on the dual-side that changes level platform upper surface, and coarse positioning mechanism in outer is that a plastic roller embeds rigid track configuration, and its upper end is connected with the precision positioning mechanism contact; Precision positioning mechanism also adopts the same mechanical structure, can realize electric electric passenger vehicle grade longitudinal register to be changed; V-type groove detent mechanism is a low early and high after location structure, can realize tram body grade located lateral to be changed; V-type groove detent mechanism is arranged at the precision positioning mechanism inboard of the trapezoidal upper platform that changes the level platform; This machinery detent mechanism can realize that tram body prosthetic to be changed guides accurate positioning requirements, satisfies the chassis of electric passenger vehicle battery change system and changes electric demand.
Described lockable mechanism is quadruplet, comprises frame, motor, motor reducer, control desk, gear system; In frame motor is installed, motor is connected with gear system by motor reducer; Gear system comprises gear mesh and rotating shaft, gear mesh is to be connected to the motor gear of motor reducer mouth and the gear that is connected with rotating shaft, rotating shaft is connected with being connected with gear respectively, axle head in rotating shaft is provided with at least one axial limiter, rotating shaft is installed on the rotating shaft mount pad, and the rotating shaft mount pad is on frame; Be provided with two group of the 3rd approach switch at mount pad, the 3rd approach switch is connected with the lockable mechanism control desk.
Embed wireless communication module on the described lockable mechanism control desk, its wireless communication module can carry out quadruplet lockable mechanism lockup state data information transfer with wireless communication module in the Quick change robot, can issue the release of lockable mechanism automatic or manual and locking order by background monitoring system.
Described battery box comprises armor plate, battery and battery connector; Welding four U-shaped grooves in both sides are installed on the groove and are hung pin on the armor plate, hang the upper installing sleeve of pin, are convenient to the rotation of lockable mechanism latch hook and articulate; Armor plate is welded with guide finger on three angles, can play the effect of the spacing correction of battery box, realizes accurately putting in place of battery box.
Described transfer platform Turnoverplatform, it is welded as portal frame construction, satisfies the load-bearing requirement of battery weight; The inner both sides of described portal frame have been bolted respectively the L-type bearing beam, and the cell support plate is bolted on the L-type bearing beam; Four limiting stoppers are housed on the stay bearing plate, can realize battery box positional deviation correction and fixing.
Described background monitoring system is the core of whole battery change system, real time data by Industrial Ethernet and Quick change robot and piler is mutual, has the functions such as step action, abnormal condition processing and man-machine interaction of coordinating to change electric machine people and piler.
The control method of chassis of electric passenger vehicle battery change system may further comprise the steps:
1, power on, the former point search of chassis of electric passenger vehicle battery change system Quick change robot and piler resets;
2, vehicle reaches and changes the level platform, in conjunction with the traction of changing level platform machinery detent mechanism, realizes cross-car and accurately locates longitudinally;
3, piler takes off new battery from battery charging rack, moves to battery transfer platform one side and waits for; Detect in conjunction with the DMP sensor region, after Quick change robot is finished X/Y direction location, after the process that robot rises is utilized the output difference computing of the output of ultrasonic range finder sensor and hydraulic gear coder, input Comparative Examples flow valve as the PID controller carries out PID control, stops to rise when hydraulic gear is lifted to desired location;
4, the control desk of lockable mechanism is judged the state of 4 locks, and transmission release settling signal was to background monitoring system after release was finished;
5, Quick change robot takes off used batteries, adjusts different degree of freedom direction attitudes according to the fixed position, runs to transfer platform bottom along the X-axis guide rail, and weary battery is put on the transfer platform top layer;
6, the Robot Z axis drops to transfer platform bottom, and background monitoring system drives the piler action that is in wait state, will expire battery and be put on the Quick change robot battery tray;
7, piler takes off weary battery from transfer platform top, and it is put in the stationary battery charging rack unit, and then finishes withdrawing from initial point of piler and reset; Simultaneously, according to the car body position of background control system storage, detect in conjunction with DMP sensor and ultrasonic range finder sensor car body real-time position information, Quick change robot carries out the three degree of freedom mechanical servo, realizes that the fixed position accurately puts in place;
8, Quick change robot triggers the locking signal, and the complete rear Quick change robot of locking withdraws from, and finishes initial point and resets;
9, the battery altering process finishes, and vehicle sails out of and changes the electricity district.
The beneficial effects of the utility model are: change level platform machinery detent mechanism simple, and accurate positioning, and cheap; Hydraulic lifting mechanism applies in the Quick change robot, and whole Renewal process is reliable and stable, effectively reduces the more size of exchange device simultaneously, saves the actual floor area of replacing system; The transfer platform has further shortened the spent time of battery altering as the mutual tie of Quick change robot and piler battery altering.
Can realize the accurate location of electric manned vehicle to be changed by the mechanical guide mechanism that changes the level platform, can realize that by wireless transport module Quick change robot and electric electric passenger vehicle to be changed are about the real-time Communication for Power of battery locking data message, make things convenient for Quick change robot to the electric passenger vehicle battery accurately, dismounting and installation, design by the two-stage type hydraulic telescopic machanism, effectively reduce body height and the volume of Quick change robot, saved the floor area of the system that changes, battery transmission by battery transfer platform is mutual, realized the linking of Quick change robot and piler battery altering, greatly shortened the time of changing the system battery Renewal process, satisfied electric passenger vehicle quick, the energy replenishes timely, can realize background monitoring system to the Real Time Monitoring of Quick change robot and piler running state by Industrial Ethernet, guarantee the accurate of electric vehicle charging electrical changing station battery altering process, safety and stable.
Description of drawings
Fig. 1 is the structural representation of electric passenger vehicle battery change system among the utility model embodiment;
Fig. 2 is the system authority left view of Quick change robot;
Fig. 3 is the system authority front view of Quick change robot;
Fig. 4 is Quick change robot control system block diagram;
Fig. 5 is the structural representation that changes the level platform;
Fig. 6 is the structural representation of electric passenger vehicle lockable mechanism;
Fig. 7 is the structural representation of electric passenger vehicle battery box;
Fig. 8 is the structural representation of transfer platform.
Among the figure: 101, Quick change robot, 102, change the level platform, 103, electric passenger vehicle, 104, the transfer platform, 105, piler, 106, charging rack, 201, straight walking mechanism, 202, hydraulic lifting mechanism, 203, the angle deviation correction mechanism, 204, universal coupling, 205, tooth bar, 206, coder, 301, pulley, 302, belt, 303, the first servomotor, 304, the first reductor, 305, base, 306, the one-level hydraulic actuating cylinder, 307, two-stage hydraulic cylinder, 308, mounting flange, 309, large miniature gears, 310, the second servomotor, 311, the second reductor, 312, battery tray, 313, limiting stopper, 401, control system, 402, touch-screen, 403, wireless communication module, 404, the Omron PLC controller, 405, the A/D module, 406, the D/A module, 407, background monitoring system, 408, ultrasonic range finder sensor, 409, the DMP sensor, 410, the hydraulic proportional flow valve, 411, coder, 412, approach switch, 413, photoelectric switch, 501, outer coarse positioning mechanism, 502, precision positioning mechanism, 503, V-type groove detent mechanism, 504, roller, 601, support, 602, motor, 603, gear system, 604, gear mesh, 605, rotating shaft, 606, hook, 701, armor plate, 702, battery, 703, battery connector, 704, U-shaped groove, 705, guide finger, 801, bolt, 802, the cell support plate, 803, the L-type bearing beam.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
With reference to explanation accompanying drawing 1, the structural representation of electric passenger vehicle battery change system among the utility model embodiment, chassis of electric passenger vehicle battery change system and method comprise Quick change robot 101, change level platform 102, electric passenger vehicle 103, transfer platform 104, background monitoring system 407, piler 105 and charging rack 106 several component parts.
With reference to explanation accompanying drawing 2 and 3, system authority left view and the front view of Quick change robot, described Quick change robot 101 comprises the degree of freedom of X-axis, Z axis, three directions of R axle, is followed successively by straight walking mechanism 201, hydraulic lifting mechanism 202 and angle deviation correction mechanism 203.
Described straight walking mechanism 201 is positioned at the bottom of Quick change robot 101, comprises several parts such as pulley 301, universal coupling 204, belt 302, the first servomotor 303, the first reductor 304 and base 305; Two pulleys of front end are the robot engine installation, are connected with one group of universal coupling, and two pulleys in rear end are hunting gear; The first servomotor 303 is connected with supporting the first reductor 304 expansion sets, realizes the power transmission of the first reductor 304 and pulley 301 by belt, drive pulley 301 straight line moving on slide rail.
Described straight walking mechanism 301 lower ends are furnished with three photoelectric switchs, cooperate with initial point catch and former and later two limit catch successively, offer PLC control system 401 location switch signals, realize the former point search of robot and reset, and stop its operation of crossing the border; Described front limit catch, initial point catch and rear limit catch are arranged in order along the line slide rail of laying, and the initial point catch is positioned in the middle of the limit catch of front and back.
Described hydraulic lifting lifting mechanism 202 is positioned at the top of straight walking mechanism 201 bases, comprises two hydraulically extensible cylinders; One-level hydraulic actuating cylinder 306 is positioned at the bottom of two-stage hydraulic cylinder 307, and after one-level hydraulic actuating cylinder 306 stretched out fully, two-stage hydraulic cylinder 307 was carried out fore and aft motion; I and II hydraulic actuating cylinder one side is welding beam and be furnished with the anti-rotation beam respectively, and the anti-rotation beam cooperates with two anti-rotating holes on being positioned at one-level hydraulic actuating cylinder welding beam and base welding beam, prevents that battery is with the rotation in hydraulic gear 202 lifting process; I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar 205, coder 206, catch and the first approach switch; When one-level hydraulic actuating cylinder 306 stretches out fully, catch triggers the on-off signal of the first approach switch, two-stage hydraulic cylinder 307 beginning fore and aft motion; PLC control system 401 beginning high-speed counting patterns; The tooth bar 205 that is positioned on two-stage hydraulic cylinder 307 sides meshes by gear and coder 206, obtains two-stage hydraulic cylinder 307 rise heights by calculation code device 206 revolutions.
Described angle deviation correction mechanism 203 is positioned at the upper end of hydraulic lifting mechanism 202, comprises several parts such as mounting flange 308, large miniature gears 309, the second servomotor 310 and the second reductor 311.Mounting flange 308 is installed on the two-stage hydraulic cylinder 307, the second servomotor 310, the second reductor 311, large miniature gears 309 are arranged on the mounting flange 308 successively, miniature gears is installed in the second servomotor 310 upper ends, on the two-stage hydraulic cylinder 307 big gear wheel is installed, the engagement of size gear mechanism drives the cooperation rotation with the second servomotor 310.
Described big gear wheel lower end is furnished with catch, arranges three the second approach switchs on the mounting flange 308; Big gear wheel triggers rotation Derivative limit on the left or on the right, former reset on-off signal successively in rotary course, guarantee within the limits prescribed spinning movement of big gear wheel.
Described angle deviation correction mechanism 203 upper ends are equipped with battery tray 312, and the big gear wheel rotation center is concentric with battery tray 312 centers of gravity.312 are equipped with four limiting stoppers 313 on the battery tray, with four the projection couplings in electric electric passenger vehicle 103 battery outer containers to be changed bottom, can realize battery outer container fine position and reliable fixing.
Ultrasonic range finder sensor 408 and DMP sensor 409 are installed on the described battery tray 312; Ultrasonic range finder sensor 408 is used for measuring battery tray 312 to the distance on electric manned vehicle to be changed chassis; DMP sensor 409 cooperates with reflector on being installed on electric manned vehicle to be changed chassis, searches and calculates the reflector target position, obtains the level angle deviation of changing electric machine people 101 and electric manned vehicle to be changed.
Described straight walking mechanism 201, hydraulic lifting mechanism 202 interlocks, when only having Quick change robot 101 straightawaies and vertical lifting to arrive desired location, angle deviation correction mechanism 203 just begins action, only have the battery tray 312 on the angle deviation correction mechanism 203 to produce a desired effect, hydraulic lifting mechanism 202 is just restarted.
Described straight walking mechanism 201, angle deviation correction mechanism 203 adopt driven by servomotor, and drive motor is connected with corresponding coder, and each coder is connected with corresponding actuator; Actuator sends position pulse signal to servomotor, and coder returns the motor rotation information transmission that gathers to actuator, forms the control of mode position closed-loop.
With reference to explanation accompanying drawing 4, Quick change robot control system block diagram, described PLC control system 401 is the core of Quick change robot 101 action controls, comprises touch-screen 402, wireless communication module 403, Omron PLC controller 404, A/D module 405, D/A module 406 etc.; Wireless communication module 403 is communicated by letter with touch-screen 402 by serial ports RS485, and Omron PLC controller 404 is communicated by letter with touch-screen 402 by serial ports RS232, and touch-screen 402 is communicated by letter with background monitoring system 407 by Industrial Ethernet; Ultrasonic range finder sensor 408, DMP sensor 409, hydraulic proportional flow valve 410, each coder 411, approach switch 412, photoelectric switch 413 etc. are communicated by letter with PLC control system 401 real-time Data Transmission.
Described ultrasonic range finder sensor 408 is connected with the DMP sensor and is connected with A/D module 405 in the PLC control system 401, the analog signal of sensor collection is converted into digital signal, and sends PLC control system 401 to.
Described hydraulic proportional flow valve 410 is connected with D/A module 406 in the PLC control system 401, and the digital controlled signal of PLC control system 401 is converted into the analogue flow rate control information, realizes the speed control to hydraulic lifting mechanism 202.
Described coder is connected with the A/D module 405 of PLC control system 401, coder 411 gathers the rise height of two-stage hydraulic cylinder 307 single racks, obtain two-stage hydraulic cylinder 307 lifting distances through calculating, this data feedback to PLC control system 401, is formed the closed-loop control in the lifting process.
Described approach switch 412 is connected with photoelectric switch and is connected with Omron PLC controller 404 in the PLC control system 401, the end position information of real-time Transmission Quick change robot 101 each degree of freedom, trigger interrupt mode and the high-speed counting pattern of PLC control system 401, realize accurate, the quick action of Quick change robot 101 in specialized range.
The described level platform 102 that changes provides workplatform for the replacing of electric passenger vehicle 103 chassis batteries, can carry 2.5 tons of load weights.Changing level platform 102 is the trapezoidal high platform structure of a hollow out, and the centre is left oblong electric passenger vehicle 103 and changed electric operation hole, adopts metal welding techniques, between platform and the ground leveling device is arranged.
With reference to explanation accompanying drawing 5, change the structural representation of level platform, the described level platform 102 that changes comprises mechanical detent mechanism, comprises outer coarse positioning mechanism 501, precision positioning mechanism 502 and V-type groove detent mechanism 503; Outer coarse positioning mechanism 501 is connected with precision positioning mechanism 502 contacts, is that a plastic roller 504 embeds rigid track configuration, can realize electric electric passenger vehicle 103 grade longitudinal registers to be changed; V-type groove detent mechanism 503 is a low early and high after location structure, can realize tram body grade located lateral to be changed; This machinery detent mechanism can realize that tram body prosthetic to be changed guides accurate positioning requirements, satisfies electric passenger vehicle 103 chassis battery change systems and changes electric demand.
With reference to explanation accompanying drawing 6 and 7, the structural representation of the structural representation of electric passenger vehicle lockable mechanism and electric passenger vehicle battery box, described electric passenger vehicle 103 comprises lockable mechanism, battery box etc.
Described lockable mechanism is quadruplet, comprises frame 601, motor 602, motor reducer, control desk, gear system 603 and other mechanical connection mechanism; In frame 601 motor 602 is installed, motor 602 is connected with gear system 603 by motor reducer; Gear system 603 comprises gear mesh 604 and rotating shaft 605, gear mesh 604 is the motor gear that is connected to the motor reducer mouth and the gear that is connected with rotating shaft 605, rotating shaft 605 respectively with gear be connected 606 and be connected, axle head in rotating shaft 605 is provided with at least one axial limiter, rotating shaft 605 is installed on the rotating shaft mount pad, and the rotating shaft mount pad is on frame 601; Be provided with the nearly switch of two windings at mount pad, approach switch is connected with the lockable mechanism control desk.
Embed wireless communication module on the described lockable mechanism control desk, its wireless communication module can carry out quadruplet lockable mechanism lockup state data information transfer with wireless communication module in the Quick change robot, can issue the release of lockable mechanism automatic or manual and locking order by background monitoring system.
Described battery box comprises armor plate 701, battery 702 and battery connector 703; Welding four U-shaped grooves 704 in both sides are installed on the groove and are hung pin on the armor plate 701, hang the upper installing sleeve of pin, are convenient to the rotation of lockable mechanism latch hook and articulate; Armor plate is welded with guide finger 705 on three angles, can play the effect of the spacing correction of battery box, realizes accurately putting in place of battery box.
With reference to explanation accompanying drawing 8, the structural representation of transfer platform, described transfer platform 104 adopts the lead frame structure, satisfies the load-bearing requirement of battery weight; The L-type structure is fixed on the framework both sides by bolt 801, and cell support plate 802 is fixed on the L-type bearing beam 803 by bolt 801; Four limiting stoppers are housed on the stay bearing plate, can realize battery box positional deviation correction and fixing.
Described background monitoring system 407 is cores of whole battery change system, real time data by Industrial Ethernet and Quick change robot 101 and piler 105 is mutual, has the functions such as step action, abnormal condition processing and man-machine interaction of coordinating to change electric machine people 101 and piler 105.
The beneficial effects of the utility model are: change level platform machinery detent mechanism simple, and accurate positioning, and cheap; Hydraulic lifting mechanism applies in the Quick change robot, and whole Renewal process is reliable and stable, effectively reduces the more size of exchange device simultaneously, saves the actual floor area of replacing system; The transfer platform has further shortened the spent time of battery altering as the mutual tie of Quick change robot and piler battery altering.
Above exemplary illustration is not done concrete the restriction to protection domain of the present utility model, and the equivalents of its technical characterictic and/or obvious mode of texturing should drop within the protection domain of the present utility model.
Claims (10)
1. a chassis of electric passenger vehicle battery change system is characterized in that, it comprises Quick change robot, changes the level platform, transfer platform, background monitoring system, piler and charging rack, and described transfer platform, piler and charging rack all are arranged at and change level platform one side; Described Quick change robot is in and changes between level platform and the transfer platform, and described changing on the level platform can be passed through electric passenger vehicle, and described electric passenger vehicle is provided with the lockable mechanism corresponding with battery box that Quick change robot holds in the palm; Described background monitoring system links to each other with piler with Quick change robot respectively by Industrial Ethernet.
2. chassis of electric passenger vehicle battery change system as claimed in claim 1 is characterized in that, described Quick change robot comprises the degree of freedom of X-axis, Z axis, three directions of R axle, is followed successively by straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism; Described straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism are connected successively, and connection arranges; Described straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism all link to each other with control system.
3. chassis of electric passenger vehicle battery change system as claimed in claim 2 is characterized in that, described straight walking mechanism comprises pulley, universal coupling, belt, the first servomotor, the first reductor and base; Pulley is arranged at the base bottom, and the first servomotor and the first reductor are arranged at base top; Wherein, two pulleys of front end are the robot engine installation, and two pulleys connect by one group of universal coupling; Two pulleys in rear end are hunting gear, and these two pulleys connect by another group universal coupling; The first servomotor is connected with supporting the first reductor expansion set, and the first reductor links to each other with pulley as engine installation by belt.
4. chassis of electric passenger vehicle battery change system as claimed in claim 2 is characterized in that, described hydraulic lifting mechanism is positioned at the top of straight walking mechanism base, comprises two-stage hydraulic cylinder setting up and down and one-level hydraulic actuating cylinder; I and II hydraulic actuating cylinder one side is welding beam and be furnished with the anti-rotation beam respectively, and the anti-rotation beam cooperates with two anti-rotating holes on being positioned at one-level hydraulic actuating cylinder welding beam and base welding beam; I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar, coder, catch and the first approach switch, described catch matches with the first approach switch, the first approach switch is arranged at the bottom of one-level hydraulic actuating cylinder welding beam, and the tooth bar that is positioned on the two-stage hydraulic cylinder side meshes by gear and coder.
5. chassis of electric passenger vehicle battery change system as claimed in claim 2, it is characterized in that, described angle deviation correction mechanism is positioned at the upper end of hydraulic lifting mechanism, the angle deviation correction mechanism comprises mounting flange, greatly, miniature gears, the second servomotor and the second reductor, mounting flange is installed on the two-stage hydraulic cylinder of described hydraulic lifting mechanism, the second servomotor, the second reductor is large, miniature gears is arranged on the mounting flange successively, miniature gears is installed in the second servomotor upper end, big gear wheel is installed on the two-stage hydraulic cylinder, and big or small gear mechanism engagement cooperates rotation with the second driven by servomotor.Angle deviation correction mechanism upper end is equipped with battery tray, and the big gear wheel rotation center is concentric with the battery tray center of gravity; Four four limiting stoppers that projection is coupled bottom electric electric passenger vehicle battery outer container to be changed are installed on the battery tray; Ultrasonic range finder sensor and DMP sensor are installed on the described battery tray.
6. chassis of electric passenger vehicle battery change system as claimed in claim 2 is characterized in that, described control system is for comprising touch-screen, wireless communication module, PLC controller, A/D module, D/A module; Wireless communication module and touch panel communication, PLC controller and touch panel communication, touch-screen is communicated by letter with background monitoring system by Industrial Ethernet; The PLC controller is communicated by letter with ultrasonic range finder sensor, DMP sensor, hydraulic proportional flow valve, each coder, approach switch, photoelectric switch real-time Data Transmission respectively; Described coder is connected with the A/D module, and coder gathers the rise height of two-stage hydraulic cylinder single rack, obtains two-stage hydraulic cylinder lifting distance through calculating, and this data feedback to control system, is formed the closed-loop control in the lifting process; Described approach switch is connected with the PLC controller with photoelectric switch, the end position information of each degree of freedom of real-time Transmission Quick change robot, the interrupt mode of Triggering Control System and high-speed counting pattern.
7. chassis of electric passenger vehicle battery change system as claimed in claim 1 is characterized in that, the described level platform that changes is provided with mechanical detent mechanism, and described mechanical detent mechanism comprises outer coarse positioning mechanism, precision positioning mechanism and V-type groove detent mechanism; Outer coarse positioning mechanism is arranged on the dual-side that changes level platform upper surface, and coarse positioning mechanism in outer is that a plastic roller embeds rigid track configuration, and its inboard contact with precision positioning mechanism is connected; V-type groove detent mechanism is a low early and high after location structure, and V-type groove detent mechanism is arranged at the precision positioning mechanism inboard of the trapezoidal upper platform that changes the level platform.
8. chassis of electric passenger vehicle battery change system as claimed in claim 1 is characterized in that, described lockable mechanism is quadruplet, comprises frame, motor, motor reducer, control desk, gear system; Embed wireless communication module on the described lockable mechanism control desk, described wireless communication module can carry out quadruplet lockable mechanism lockup state data information transfer with wireless communication module in the Quick change robot, and issues the release of lockable mechanism automatic or manual and locking order by background monitoring system.
9. chassis of electric passenger vehicle battery change system as claimed in claim 1 is characterized in that, described battery box comprises armor plate, battery and battery connector; Welding four U-shaped grooves in both sides are installed on the groove and are hung pin on the armor plate, hang the upper installing sleeve of pin; Be welded with the guide finger of the effect of playing the spacing correction of battery box on three angles of armor plate.
10. chassis of electric passenger vehicle battery change system as claimed in claim 1, it is characterized in that, described transfer platform is Turnoverplatform, its welding is portal frame construction, the inner both sides of described portal frame have been bolted respectively the L-type bearing beam, have been bolted the cell support plate on the L-type bearing beam; Four limiting stoppers are housed on the cell support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220314358 CN202641651U (en) | 2012-06-29 | 2012-06-29 | Underpan battery replacement system of power-driven passenger car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220314358 CN202641651U (en) | 2012-06-29 | 2012-06-29 | Underpan battery replacement system of power-driven passenger car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202641651U true CN202641651U (en) | 2013-01-02 |
Family
ID=47410802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220314358 Expired - Lifetime CN202641651U (en) | 2012-06-29 | 2012-06-29 | Underpan battery replacement system of power-driven passenger car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202641651U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717778A (en) * | 2012-06-29 | 2012-10-10 | 山东电力集团公司电力科学研究院 | Chassis battery change system for electric passenger cars and method of the system |
| CN103078210A (en) * | 2013-01-15 | 2013-05-01 | 力帆实业(集团)股份有限公司 | Electric car electrode connector |
| CN105059263A (en) * | 2015-07-31 | 2015-11-18 | 谢子聪 | Mobile-based charging platform system for replacing power battery of electric passenger vehicle |
| CN105270354A (en) * | 2015-09-30 | 2016-01-27 | 王建排 | Quick central-positioned battery box assembling and disassembling system for electric automobile |
| CN107235300A (en) * | 2016-03-29 | 2017-10-10 | 上汽通用汽车有限公司 | A kind of front and rear lift master space automatic regulating device for AGV |
| WO2018068559A1 (en) * | 2016-10-12 | 2018-04-19 | 蔚来汽车有限公司 | Chassis-type battery swapping station and battery swapping method thereof for use in electric car |
| CN108382371A (en) * | 2018-03-23 | 2018-08-10 | 江西丹巴赫机器人股份有限公司 | New energy car battery Quick change robot system |
-
2012
- 2012-06-29 CN CN 201220314358 patent/CN202641651U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717778A (en) * | 2012-06-29 | 2012-10-10 | 山东电力集团公司电力科学研究院 | Chassis battery change system for electric passenger cars and method of the system |
| CN102717778B (en) * | 2012-06-29 | 2014-06-11 | 山东电力集团公司电力科学研究院 | Chassis battery change system for electric passenger cars and method of the system |
| CN103078210A (en) * | 2013-01-15 | 2013-05-01 | 力帆实业(集团)股份有限公司 | Electric car electrode connector |
| CN103078210B (en) * | 2013-01-15 | 2015-04-08 | 力帆实业(集团)股份有限公司 | Electric car electrode connector |
| CN105059263A (en) * | 2015-07-31 | 2015-11-18 | 谢子聪 | Mobile-based charging platform system for replacing power battery of electric passenger vehicle |
| CN105270354A (en) * | 2015-09-30 | 2016-01-27 | 王建排 | Quick central-positioned battery box assembling and disassembling system for electric automobile |
| CN107235300A (en) * | 2016-03-29 | 2017-10-10 | 上汽通用汽车有限公司 | A kind of front and rear lift master space automatic regulating device for AGV |
| WO2018068559A1 (en) * | 2016-10-12 | 2018-04-19 | 蔚来汽车有限公司 | Chassis-type battery swapping station and battery swapping method thereof for use in electric car |
| TWI732052B (en) * | 2016-10-12 | 2021-07-01 | 大陸商蔚來（安徽）控股有限公司 | Charging station for an electric vehicle and method for charging |
| CN108382371A (en) * | 2018-03-23 | 2018-08-10 | 江西丹巴赫机器人股份有限公司 | New energy car battery Quick change robot system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102717778B (en) | Chassis battery change system for electric passenger cars and method of the system | |
| CN202641651U (en) | Underpan battery replacement system of power-driven passenger car | |
| CN105000001B (en) | A kind of chassis of electric passenger vehicle battery change system and change method for electrically | |
| US8660692B2 (en) | Current alternating robot system and method of electric bus | |
| CN104828028A (en) | Electric vehicle battery pack replacement system composed of computer, Internet and multiple robots | |
| CN102358266B (en) | Emergency movable battery replacing vehicle and battery replacing method thereof | |
| CN102490694B (en) | Electric bus battery quick-change robot system and quick-change method | |
| CN106627513A (en) | Chassis type automatic electric automobile battery changing station | |
| CN202389352U (en) | Electric bus battery replacement robot system | |
| CN102431527B (en) | Application method of vehicle battery pack replacement device | |
| CN105946548A (en) | Automatic guiding type carrying device | |
| CN106627512A (en) | Full-automatic battery changing robot for electric automobile | |
| CN205768620U (en) | Homing guidance formula Handling device | |
| CN202208283U (en) | Mobile power cell replacing vehicle for emergency | |
| CN101649681B (en) | Storage-style parking device for finishing automobile exchange procedures by adopting trackless comb-body dolly | |
| CN102849043A (en) | Electric bus power replacing robot system and method | |
| CN110948206A (en) | Bogie assembling and forming process and bolster and side frame assembling machine | |
| CN202880754U (en) | Automatic automatic aligment control device of unwheeling machine compatible with two types of bullet trains of eight marshaling or sixteen marshaling | |
| CN201765504U (en) | Wheel pair 3-D storehouse control system | |
| CN102407832A (en) | Battery replacing platform system for positioning electric passenger vehicle | |
| CN202186365U (en) | Passenger car electricity-exchanging platform system capable of realizing automatic posture adjusting and car positioning | |
| CN203008461U (en) | Clamping arm vehicle-taking device | |
| CN201746280U (en) | Automatic alignment controller integrating pit frame machines and bodies of five motor train units | |
| CN102328636B (en) | Passenger vehicle electricity-changing platform system capable of realizing automatic attitude adjustment and vehicle positioning | |
| CN102874606B (en) | Automatic stacking device for manually-operated pallet truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee after: STATE GRID CORPORATION OF CHINA Patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee before: State Grid Corporation of China Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF SHANDONG ELECTRIC POWER Corp. |
|
| CP01 | Change in the name or title of a patent holder | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Denomination of utility model: Chassis battery change system for electric passenger cars and method of the system Granted publication date: 20130102 License type: Exclusive License Record date: 20191014 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Date of cancellation: 20210324 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130102 |
|
| CX01 | Expiry of patent term |