CN202641653U - Battery replacing robot provided with movable temporary storage rack - Google Patents
Battery replacing robot provided with movable temporary storage rack Download PDFInfo
- Publication number
- CN202641653U CN202641653U CN 201220314785 CN201220314785U CN202641653U CN 202641653 U CN202641653 U CN 202641653U CN 201220314785 CN201220314785 CN 201220314785 CN 201220314785 U CN201220314785 U CN 201220314785U CN 202641653 U CN202641653 U CN 202641653U
- Authority
- CN
- China
- Prior art keywords
- battery box
- battery
- electric
- electric machine
- machine people
- 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
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to a battery replacing robot provided with a movable temporary storage rack. The battery replacing robot comprises a mechanical part and an electric control part, wherein the electric control part controls a battery replacing device to take down all battery boxes needed on one side of an electric bus once and place the battery boxes on a battery box temporary storage rack; a horizontal moving unit moves to a place where a battery is required to be replaced, a drained battery box is taken down from the electric bus through a battery box replacing device, and the battery box replacing device rotates to one side around a Y axis to lift or lower the drained battery box and place the drained battery box on the battery box temporary storage rack; and the battery box which is charged on the battery box temporary storage rack is taken down, returned to the original place by rotating, and then arranged in the electric bus, and the operation is repeated to finish the replacement of the battery boxes of the electric bus. By utilizing the battery replacing robot, all the battery boxes needed on one side of the electric bus are taken down once, so that long-range repeated operations of the battery replacing robot in a large space are avoided; and the battery replacing robot is simple in structure, and can be used for shortening the battery replacing time, reducing the space occupancy rate of a working area, and effectively improving the utilization ratio of land resources.
Description
Technical field:
The utility model relates to a kind of battery box and changes robot, especially a kind ofly changes the electric machine people with mobile pallet.
Background technology:
Change maturation and the electronlmobil of power technology along with electric vehicle charging and promote the use of on a large scale, electronlmobil will become the emphasis of Chinese Automobile Industry ' and energy development gradually.Present electric automobile energy supply mainly is divided into charging and changes two kinds of electricity, and there are the defectives such as wait time is long in charging, in order to solve the course continuation mileage of electronlmobil, with regard to present development form, battery-driven car to change electric scheme feasibility degree higher.
With regard to electric bus changes electricity, be subjected to the restriction of single case capacity of cell, often adopt many battery boxs to make up supply of electrical energy, because the battery box own wt is large, quantity is many, brought certain difficulty for the replacing of battery box, the replacing of battery box becomes the technical barrier of electric bus industrialized development.In order to solve this technical barrier, need a kind of battery box fast replacement system, in 7-8 minutes, finish whole replacings of battery pack.
At present, there is certain research in domestic relevant enterprise mechanism to the battery box replacing system of electric bus:
Chinese patent CN 101284524A has proposed the mode that electrical mechanisms Rotate 180 ° is changed in a kind of utilization, and to solve the replacing problem of battery box, still, this mode exists stroke far away, and working space is large, the weak points such as long operational time;
Chinese patent 200820078476.7 " a kind of registration device for replacement system of vehicle-mounted battery ", Chinese patent 200410090796.0 " a kind of Electric Transit truck system " etc., described application of installation also exists problems, as: some design plan just is in theory stage, change the battery box location often, it is long to change the battery box time; The extensibility of changing electric equipment is relatively poor, and the battery box of different vehicle can not be used same 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 CN 101890942A floor area is large, needs a plurality of robots or mechanism to cooperatively interact and finishes the electric task of changing.
Prior art makes some progress, but still has following problem:
(1), control complexity, fault rate and maintenance cost height.
Existing battery box substitute mode all is to adopt that multiple robot, many structures, polygamy close, locate more, many repetitive modes are finished battery box and changed, and this substitute mode must will cause the whole problems such as the electric system floor area is large, positioning accuracy request is high, replacing time length, complexity degree height of changing.Because the whole electric process that changes needs various mechanism to finish by the cooperation of complexity, makes the corresponding raising of fault rate and maintenance cost, is unfavorable for the popularization of electronlmobil.
(2), to change the electricity time long, it is low to change electrical efficiency;
Once can only transport battery box of replacing owing to change the electric machine people, self can not place battery box to be replaced near it, but need continuous shift position between battery box storage rack and electric vehicle to be changed, repeatedly alternately to change, extension along with the robot stroke, changing the electricity time will be more and more longer, thereby had a strong impact on the raising of changing electrical efficiency, caused obstacle for the popularization of electronlmobil.
(3) if the scheme that adopts many battery boxs once to transport, it is all larger to change electric machine people bulking value, how to solve the accurate control of changing electric machine National People's Congress inertia, how to improve the heavy weight electric reliability of changing of electric machine people and the efficient of changing, prior art can't address these problems.
The utility model content:
The purpose of this utility model just is to solve above technical matters, provide a kind of and changed the electric machine people with mobile pallet, it changes the electric task of changing that electric machine human world coordinated finishes and is integrated on the robot multiple, change the upper battery box pallet of installing of electric machine human body, the battery box of electricity to be changed is all placed on the battery box pallet, thereby effectively shortened the stroke when robot changes electricity, not only so that mechanism simple, shortened multiple changing electric machine people or inter-agency cooperation time and forced stroke time, so that the many structures of original multiple robot, polygamy closes, many location, multiple multiple mode of operation has changed single step into and has put in place, the accurate control problem of utilizing speed planning to solve to change electric machine National People's Congress inertia, change the electric machine people in changing electric process, can realize multi-shaft interlockedly, further improve the reliability that changes electric equipment and changed efficient.
For achieving the above object, the utility model adopts following technical scheme:
A kind of with mobile pallet change the electric machine people, it comprises mechanics and electric control system, wherein:
Mechanics is included in horizontal movement unit, bearing unit, the article carrying platform unit of X, Y, three artesian coordinates direction motions of Z; Described article carrying platform unit middle part hollow out, battery box more changing device are installed in the middle part of hollow out position; Also be provided with main console desk on the horizontal movement unit;
In at least one side of described horizontal movement unit the temporary shelf of battery box are set, battery box more changing device under electric control system control, disposablely get required whole charged battery box, the juxtaposition battery box moves to electric position to be changed on the temporary shelf of battery box; Take off weary battery box from vehicle, put weary battery box to the temporary shelf of battery box, after charged battery box takes off on the temporary shelf of battery box, be installed to the relevant position, so repeat to operate several times, finish battery box and change.
Described horizontal movement unit comprises that both sides are equipped with at least one group of roller, and roller is installed in the cross sill both sides and cooperates with the ground rail; Described ground rail is some row and evenly distributes, and is provided with spacing collision block in rail end, ground; Described roller links to each other with motor reducer simultaneously, and described motor reducer is arranged on the cross sill and with the horizontal motion servomotor and is connected; The horizontal motion servomotor then is connected with electric control system.
Described bearing unit mainly forms planer type structure by entablatrance and two root posts, and described entablatrance is provided with two groups of guide rollers, accompanies the sky rail that is installed on the charging shelf between two groups of guide rollers; Be equipped with on it rail for the wiping wire casing of equipment power-extracting with for the level of horizontal direction station addressing and recognize the location sheet; Described jacking system is the capstan winch of one group of driven by servomotor being provided with of two columns, lay winding wire ropes on the capstan winch, and the article carrying platform unit is provided with support and is connected with the lower end of steel rope; The location sheet of vertically recognizing that is provided with the vertical direction addressing at least one root post is used for longitudinally direction identification.
Described article carrying platform unit comprises objective table, objective table middle part hollow out, and battery box more changing device is installed in the middle part of hollow out; The both sides of objective table are provided with support, are provided with many group longitudinally guiding wheels in the support inboard, are provided with a plurality of position-limited wheels that match with bearing unit in the support outside.
Described battery box more changing device comprises and horizontally rotates platform, and it is circular slab, circular slab by gear reduction with horizontally rotate servo drive motor and be connected; Be provided with driving surface at circular slab, be provided with the battery box delivery device at driving surface, described battery box delivery device is provided with supporting traverse, and supporting traverse is connected with the battery box pallet; The battery box delivery device then comprises at least two parallel guide tracks, battery box delivery device drive motor battery box driver train and electromagnetism pushing hands, and the battery box driver train is pinion and rack; Battery box 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, and the position is corresponding with two circular iron blocks on the battery box; The pushing hands driving surface of described electromagnetism pushing hands also is provided with the release mechanism that matches with latching device on the case in the battery; Described guide track is arranged on battery box delivery device upper surface; Described guide track and battery box are complementary, the casing of described battery box for battery is placed in groups; Described supporting traverse two ends respectively are provided with at least one ultrasonic distance-measuring sensor; Horizontally rotating servo drive motor, battery box delivery device drive motor, magnetic chuck and described each sensor all is connected with electric part.
Described gear reduction comprises: intermeshing big gear wheel and miniature gears and retarder, big gear wheel is connected with circular slab, miniature gears is connected with reducer output shaft, retarder then with horizontally rotate servomotor and be connected, horizontally rotate servomotor and be connected with electric part.
Described release mechanism is the shift fork shape structure that unlocking motor drives, and arranges and is distributed in electromagnetism pushing hands driving surface two ends, cooperates to open charging rack or change the latching device on the case in the battery on the electric car.
Electric control system comprises host computer system, PLC logic controller, limit switch, emergency stop switch, servomotor, servo-driver, motor encoder, ultrasonic transduter, color mark sensor, opto-electronic pickup, DMP position transduser, wireless communication module I, wireless communication module II.Described host computer system comprises industrial computer and touch-screen, connects wireless communication module I by serial ports on the described industrial computer;
Described PLC logic controller is electrically connected with servo-driver, emergency stop switch, ultrasonic transduter, color mark sensor, opto-electronic pickup, DMP position transduser, passes through serial communication with host computer system, and the machine human motion is carried out logic control.
Described ultrasonic transduter is electrically connected with the PLC logic controller, for detection of the distance between electromagnetism pushing hands and the battery box;
Described color mark sensor is electrically connected with the PLC logic controller, for detection of the lockup state of battery;
Described DMP position transduser is electrically connected with the PLC logic controller, for detection of on electromagnetism pushing hands and the battery box charging rack and the deviation between the reflector of car body battery box Cang Chu, deviation data is fed back to the pushing hands of PLC control electromagnetism adjust attitude with accurate crawl and battery box is installed.
Described opto-electronic pickup is electrically connected with the PLC logic controller, uses in conjunction with the addressing sheet, is used for the motion positions and the acceleration and deceleration control that realizes X, Y-direction motion of robot in X-direction and Y-direction realized the accurate control at a high speed of large inertia robot.
Described emergency stop switch is electrically connected with the PLC logic controller, is used for the emergent stopping that is in an emergency at robot.
Described power-driven mechanism comprises 5 servo-drivers, the servo-driver of described 5 motors respectively with horizontal movement unit, be connected the servomotor that horizontally rotates platform and connect in the article carrying platform unit with bearing unit, the axle of described each servomotor is provided with coder, and the signal output part of coder is connected with the PLC logic 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 logic controller;
On described wireless communication module I and the wireless communication module II industrial computer and wireless joystick respectively at host computer system, be used for the transmission over radio of data between the two.
A kind of method for electrically that changes that changes the electric machine people with mobile pallet:
1) initialization: after system powers on, issue reset instruction by host computer system or main console desk or wireless remote controller, seek zero after triggering limit switch with each axle that changes the electric machine people of mobile pallet, get back to origin position;
2) get battery box on the charging shelf unit: the PLC logic controller moves to the coordinate points position according to the coordinate of the battery box that is full of electricity that receives along X, Y-axis, horizontally rotate+180 ° or-180 ° of platform rotations, adjust battery box pallet attitude according to DMP position transduser, ultrasonic transduter signal, the magnetic chuck in the article carrying platform unit in the electromagnetism pushing hands is taken off the battery box of substituting the bad for the good on the charging rack shelf; Horizontally rotate+90 ° or-90 ° of platform rotations, the PLC logic controller changes the electric machine people according to coordinate points and the opto-electronic pickup control of storage, adjust battery box pallet attitude according to DMP position transduser, ultrasonic transduter signal, accurately battery box is sent on the temporary shelf of battery box, repetitive process, the required all batteries case of a side of picking up the car, after required battery box is filled the temporary shelf of battery box, changing the electric machine people moves along the x axle, simultaneously, horizontal rotation apparatus is along y axle automatic rotation to changing electric initial condition.
2) unload and change electric vehicle battery box: vehicle safety stop specify change electric zone after, changing the electric machine people crosses host computer system according to the coordinate points information exchange of storage or changes electric machine people main console desk or wireless remote controller is moved horizontally to the setting of appointment, adjust battery box pallet attitude according to DMP position transduser, ultrasonic transduter signal, accurately battery tray is reached and the concordant position of docking of car body battery compartment; Simultaneously, the rotary angle position signal that horizontally rotates platform is delivered to the storage of PLC logic controller, judge and be confirmed whether that release finishes 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, horizontally rotate+90 ° or-90 ° position signals of platform rotation and deliver to the storage of PLC logic controller, the PLC logic controller changes the electric machine people according to coordinate points and the opto-electronic pickup control of storage, according to the DMP position transduser, the ultrasonic transduter signal is adjusted the battery tray attitude, accurately battery box is sent on the temporary battery box shelf;
3) battery is installed: the position that the electric machine people rotates to the car body battery compartment is changed in the control of PLC logic controller, the attitude that platform is adjusted battery tray that horizontally rotates according to storage, battery box is installed in the battery compartment, finish according to the judgement of color mark sensor detection signal and affirmation locking, PLC logic controller control magnetic chuck dead electricity, magnetic chuck and battery break away from, and the electromagnetism pushing hands is retracted fixing along objective table, and single case battery changes electricity and finishes; Repetitive process, until change all weary batteries, mobile scratch pad changes the electric machine people and gets back to the initial point standby.
The beneficial effects of the utility model are:
1, will change the task that multiple robot in the electric process, multimachine structure coordinated finish focuses on the robot, change at least one side of electric machine people with the battery box pallet, quantity that can the required battery box of disposable power taking electric bus one side places on self, avoided changing remote repetitive operation in the electric machine people large space, shortened and changed the electricity time.
2, change electricity time weak point, change the electrical efficiency height.Change the electric machine people and can realize multi-shaft interlockedly in changing electric process, horizontal movement unit and horizontal rotation apparatus move simultaneously, have shortened and have changed the electricity time, have improved and have changed electrical efficiency.
3, utilize speed planning to solve the accurate control problem of large inertia.
The opto-electronic pickup that changes the electric machine people is electrically connected with the PLC logic controller, use in conjunction with the addressing sheet, be used for the motion positions and the acceleration and deceleration control that realizes X, Y-direction motion of robot in X-direction and Y-direction realized the accurate control at a high speed of large inertia robot.
The utility model Tape movement pallet changes the electric machine people and makes that whole to change the electric current journey time shorter, and mechanism more simplifies, and efficient is high, has reduced the space hold rate of work area, has effectively improved the degree of utilization of land resources; 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 the quick-replaceable to variety classes electric bus power battery box.
Description of drawings:
Fig. 1 is that the utility model changes the electric system structural representation;
What Fig. 2 was the utility model with mobile pallet changes electric machine people scheme drawing;
Fig. 3 is the electric machine people article carrying platform backsight structural representation that changes of the present utility model;
Fig. 4 is the utility model article carrying platform unit;
Fig. 5 battery box is kept in the shelf scheme drawing;
Fig. 6 is that the utility model changes electric machine people control system scheme drawing;
Fig. 7 is the utility model main console desk scheme drawing.
Fig. 8 is for changing electric current journey scheme drawing.
Wherein 1, change electric machine people, 2 with mobile pallet, the charging shelf unit, 3, change electric bus, 101, horizontal movement unit, 102, bearing unit, 103, the article carrying platform unit, 4, the ground rail, 5, spacing collision block, 6, support, 7, roller, 8, cross sill, 9, main console desk, 10, objective table, 11, release mechanism, 12, battery box is kept in shelf, 14, retarder, 15, it rail, 16, entablatrance, 17, column, 18, guide roller, 19, the battery box delivery device, 20, supporting traverse, 21, horizontally rotate platform, 22, guide track, 23, the battery box driver train, 24, the battery box delivery device drives servomotor, 25, the electromagnetism pushing hands, 26, magnetic chuck, 27, ultrasonic transduter, 28. longitudinally guiding wheel, 501. host computer system, 502. PLC logic controllers, 503. limit switches, 504. servomotor, 505. servo-driver, 506. motor encoders, 507. emergency stop switchs, 508. ultrasonic transduter, 509. color mark sensor, 510. opto-electronic pickups, 511.DMP position transduser, 512. wireless communication module I, 513 wireless communication module II.
The specific embodiment:
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.
As shown in Figure 1, it comprises that the rechargeable battery case places the charging shelf unit 2 on top, match with charging shelf unit 2 with mobile pallet change electric machine people 1, move along charging shelf unit 2 length directions with the electric machine people 1 that changes of mobile pallet; Change electric machine people 1 required all batteries case of disposable power taking electric bus one side from the charging shelf unit 2 with mobile pallet, move to electric bus along X-direction and change electric position, by cooperatively interacting of a plurality of sensors, take off the weary battery that needs replacing from electric bus, the electric machine people 1 that changes with mobile pallet rotates+90 ° or-90 °, the battery box that weary battery is placed into is kept on the shelf 12, according to PLC logic controller 502 storing coordinates apart from rising or descending, after the rechargeable battery case has taken off on the temporary shelf 12 of battery box, rotate+90 ° or-90 ° of returns, change by the battery box that a plurality of sensor adjustment are finished electric bus to the replacing position.
Fig. 2 represents that the utility model changes electric machine people structural representation with mobile pallet, the horizontal movement unit 101 that mechanics is provided with among the figure, article carrying platform unit 103 and bearing unit 102, horizontal movement unit 101 comprises that both sides all have the roller 7 of wheel rim, the ground rail 4 that is connected with cross sill 8, rail 4 ends in described ground are provided with spacing collision block 5, and described roller 7 links to each other with motor reducer 14, and described retarder 14 is arranged on the cross sill 8 and with the horizontal motion servomotor and is connected.
Electric control system comprises: the data acquisition unit, the power-driven mechanism that are connected with host computer system 501, wireless communication module I 512, power-driven mechanism is connected with horizontal movement unit 101, bearing unit 102 and article carrying platform unit in the mechanics, battery box more the driving device in the changing device be connected;
Among Fig. 3,4, described battery box driver train 23 comprise be arranged on objective table 10 horizontally rotate platform 21, objective table is provided with battery box delivery device 19 below 10 sides, described battery box delivery device 19 is provided with rack beam 20; Rack beam 20 with establish the battery box pallet and be connected.Among Fig. 4, objective table 10 two ends are provided with support 6, and described support 6 is provided with many group longitudinally guiding wheels 28.
Described battery box delivery device 19 comprises that guide track 22, battery box delivery device drive servomotor 24 and electromagnetism pushing hands 25; The battery box delivery device drives servomotor 24 and is connected with the pinion and rack that is provided with separately respectively with electromagnetism pushing hands 25, be equipped with two circular electromagnetic chunks 26 on the pushing hands driving surface of electromagnetism pushing hands 25, be distributed in the driving surface two ends, the position is corresponding with two circular iron blocks on the interior case of battery; The pushing hands driving surface of described electromagnetism pushing hands 25 also is provided with the release mechanism 11 that matches with latching device on the case in the battery.Described guide track 22 is arranged on battery box delivery device 19 upper surfaces;
Described release mechanism 11 is unlocking motor shift fork shape structure, arranges to be distributed in electromagnetism pushing hands 25 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;
Among Fig. 6, electric system comprises: the servo-driver 505 of host computer system 501, PLC logic controller 502, limit switch 503,5 motors, motor encoder 506, emergency stop switch 507, ultrasonic transduter 508, color mark sensor 509, opto-electronic pickup 510, DMP position transduser 511.Wherein:
Host computer system 501 comprises industrial computer and software system, main frame adopts the X86 industrial computer series, and windows XP operating system, main control software system adopt the Visual C Plus Plus to write, software is realized the multithreading issued transaction, and operating personal can operate main control computer with touch-screen;
Siemens PLC C 300 type logic controllers are core components of whole control system, communicate by wireless network and host computer system 501, by the signal synthesis of ultrasonic transduter 508, color mark sensor 509, opto-electronic pickup 510, DMP position transduser 511 signals is judged each respective drive motor is controlled.
Data acquisition unit is ultrasonic transduter 508, opto-electronic pickup 510, color mark sensor 509, DMP position transduser 511.
Ultrasonic transduter 508, color mark sensor 509, DMP position transduser 511 are installed in the electromagnetism pushing hands 25, and opto-electronic pickup 510 is installed on entablatrance 16 and the column 17, are used for robot X-axis and the axial location of y.
Limit switch 503 is used for the reference mechanical zero of each kinematic axis.When can monitoring running current, the motor rotation blockage of corresponding servomotor 504 or surpass rated load, nominal load, each servo-driver 505 can report to the police to controller.When system breaks down, kinetic control system can to faulty condition autonomous judge processing, and the fault content is reported Monitor Computer Control System.Emergency stop switch 507 mainly is the operating emergency situation of equipment to be carried out urgency stop, and priority is first.
Change the rack beam 20 that comprises on electric machine people's the battery box driver train 23, horizontally rotate platform 21, battery box delivery device 19 with mobile pallet, battery box delivery device 19 drives by battery box delivery device drive motor.
Described limit switch 503 is connected with PLC logic controller 502, is separately positioned on horizontal movement unit, the zero-point positioning place of working in article carrying platform unit 103 and the bearing unit 102, and connect with corresponding each servomotor 504 contact.
Main console desk 9 comprises cabinet, described cabinet inner bottom part is equipped with industrial computer, the cabinet front first half is provided with resistive touch screen, the cabinet back side is equipped with wireless communication module II513, the below of touch-screen is equipped with running LED and scram button on the described cabinet, described resistive touch screen links to each other with industrial computer with wireless communication module II513, and described running LED links to each other with industrial computer by the level shifting circuit plate with scram button;
The cabinet back side is provided with cabinet body door, and cabinet body door is provided with rain-proof lock;
Industrial computer is connected with resistive touch screen by the VGA interface;
Wireless communication module II513 communicates by letter with industrial computer by network interface;
Wireless communication module II513 and wireless communication module I512 adopt wireless network or CDMA module or the EDGE module of IEEE 802.11 standards of WiFi.
Host computer system 501 also can be provided with wireless remote controller, and described wireless remote controller comprises housing, is provided with eletric button on main supply switch, two two-dimentional rocking bars, start button, stop button, the servo-control unit at described housing; Be provided with master control board and wireless communication module II513 in the housing; Eletric button, wireless communication module II513 are connected with master control board on described main supply switch, two two-dimentional rocking bars, start button, stop button, the servo-control unit; Described master control board converts the direction information of two-dimentional rocking bar to electric signal, changes the electric machine human motion by wireless communication module II513 transmitting-receiving instruction control; Described housing is provided with status indicator lamp, and described status indicator lamp is connected with master control board; Described housing is provided with scram button, and described scram button is connected with master control board; Described housing is provided with emergency button;
Upper computer is provided with wireless communication module I512, described wireless communication module I512 and remote control equipment (RCE) wireless communication module II513 wireless telecommunications.
A kind of method for electrically that changes that changes the electric machine people with mobile pallet may further comprise the steps:
1) initialization: after system powers on, issue reset instruction by host computer system 501 or main console desk or wireless remote controller, seek zero after triggering limit switch 503 with each axle that changes the electric machine people of mobile pallet, get back to origin position;
Get the battery box on the charging shelf unit: PLC logic controller 502 changes the electric machine people along X according to the coordinate control of the battery box that is full of electricity that receives, Y direction moves to the coordinate points position, horizontally rotate+180 ° or-180 ° of platform 21 rotations, according to DMP position transduser 511, ultrasonic transduter 508 signals are adjusted the battery tray attitude, magnetic chuck 26 in the article carrying platform unit 103 in the electromagnetism pushing hands 25 is taken off the battery box that charging shelf unit 2 is full of, horizontally rotate+90 ° or-90 ° of platform 21 rotations, PLC logic controller 502 changes the electric machine people according to coordinate points and opto-electronic pickup 510 controls of storage, according to DMP position transduser 511, ultrasonic transduter 508 signals are adjusted battery box pallet attitude, accurately battery box is sent on the temporary battery box shelf 12, repetitive process, the required all batteries case of a side of picking up the car, after required battery box is filled the temporary shelf of battery box, changing the electric machine people moves along X-axis, simultaneously, horizontal rotation apparatus rotates to along Y-axis and changes electric initial condition.
2) unload and change the weary battery of electric vehicle: vehicle safety stop specify change electric zone after, the electric machine people 1 that changes with mobile pallet crosses the setting that host computer system 501 or robot main console desk or wireless remote controller are moved horizontally to appointment according to the coordinate points information exchange of storage, according to DMP position transduser 511, ultrasonic transduter 508 signals are adjusted battery box pallet attitude, accurately battery tray is reached and the concordant position of docking of car body battery compartment, simultaneously, the rotary angle position signal that horizontally rotates platform 21 is delivered to 502 storages of PLC logic controller, judge and be confirmed whether that release finishes according to color mark sensor 509 feedback signals, after the release success, utilize that the magnetic chuck in the electromagnetism pushing hands 25 26 takes out battery in the article carrying platform unit 103 from the battery compartment of car body, horizontally rotate+90 ° or-90 ° position signals of platform 21 rotations and deliver to PLC logic controller storage 502, PLC logic controller 502 is controlled the mobile electric machine people that changes according to coordinate points and the opto-electronic pickup 510 of storage, according to DMP position transduser 511, ultrasonic transduter I508 signal is adjusted the battery tray attitude, accurately battery box is sent on the temporary shelf 12 of battery box;
3) battery is installed: 502 controls of PLC logic controller are moved and are changed the position that the electric machine people rotates to the car body battery compartment, the attitude that platform 21 is adjusted the battery box pallet that horizontally rotates according to storage, battery box is installed in the battery compartment, finish according to the judgement of color mark sensor 509 detection signals and affirmation locking, PLC logic controller 502 control magnetic chucks 26 dead electricity, magnetic chuck 26 breaks away from battery box, and the electromagnetism pushing hands is retracted fixing along objective table 10, and single case battery box changes electricity and finishes; Repetitive process until change all weary battery boxs, is got back to the initial point standby with the mobile temporary electric machine people that changes.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (9)
- One kind with mobile pallet change the electric machine people, it comprises mechanics and electric control system, wherein:Described mechanics is included in horizontal movement unit, bearing unit, the article carrying platform unit of X, Y, three artesian coordinates direction motions of Z; Described article carrying platform unit middle part hollow out, battery box more changing device are installed in the middle part of hollow out position; Also be provided with main console desk on the horizontal movement unit;In at least one side of described horizontal movement unit the temporary shelf of battery box are set, battery box more changing device under electric control system control, disposablely get required whole charged battery box, the juxtaposition battery box moves to electric position to be changed on the temporary shelf of battery box; Take off weary battery box from vehicle, put weary battery box to the temporary shelf of battery box, after charged battery box takes off on the temporary shelf of battery box, be installed to the relevant position, so repeat to operate several times, finish battery box and change.
- As claimed in claim 1 with mobile pallet change the electric machine people, it is characterized in that the both sides of described horizontal movement unit are equipped with at least one group of roller, roller is installed in the cross sill both sides and cooperates with the ground rail; Described ground rail is some row and evenly distributes, and is provided with spacing collision block in rail end, ground; Described roller links to each other with motor reducer simultaneously, and described motor reducer is arranged on the cross sill and with the horizontal motion servomotor and is connected; The horizontal motion servomotor then is connected with electric control system.
- 3. as claimed in claim 1ly change the electric machine people with mobile pallet, it is characterized in that, described bearing unit mainly forms planer type structure by entablatrance and two root posts, described entablatrance is provided with two groups of guide rollers, accompanies the sky rail that is installed on the charging shelf between two groups of guide rollers; Be equipped with on it rail for the wiping wire casing of equipment power-extracting with for the level of horizontal direction station addressing and recognize the location sheet; Described jacking system is the capstan winch of one group of driven by servomotor being provided with of two columns, lay winding wire ropes on the capstan winch, and the article carrying platform unit is provided with support and is connected with the lower end of steel rope; The location sheet of vertically recognizing that is provided with the vertical direction addressing at least one root post is used for longitudinally direction identification.
- As claimed in claim 1 with mobile pallet change the electric machine people, it is characterized in that described article carrying platform unit comprises objective table, objective table middle part hollow out, battery box more changing device is installed in the middle part of hollow out; The both sides of objective table are provided with support, are provided with many group longitudinally guiding wheels in the support inboard, are provided with a plurality of position-limited wheels that match with bearing unit in the support outside.
- As claimed in claim 1 with mobile pallet change the electric machine people, it is characterized in that described battery box more changing device comprises and horizontally rotate platform, it is circular slab, circular slab by gear reduction with horizontally rotate servo drive motor and be connected; Be provided with driving surface at circular slab, be provided with the battery box delivery device at driving surface, described battery box delivery device is provided with supporting traverse, and supporting traverse is connected with the battery box pallet; The battery box delivery device then comprises at least two parallel guide tracks, battery box delivery device drive motor battery box driver train and electromagnetism pushing hands, and the battery box driver train is pinion and rack; Battery box 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, and the position is corresponding with two circular iron blocks on the battery box; The pushing hands driving surface of described electromagnetism pushing hands also is provided with the release mechanism that matches with latching device on the case in the battery; Described guide track is arranged on battery box delivery device upper surface; Described guide track and battery box are complementary, the casing of described battery box for battery is placed in groups; Described supporting traverse two ends respectively are provided with at least one ultrasonic distance-measuring sensor; Horizontally rotating servo drive motor, battery box delivery device drive motor, magnetic chuck and described each sensor all is connected with electric part.
- 6. as claimed in claim 5ly change the electric machine people with mobile pallet, it is characterized in that, described gear reduction comprises: intermeshing big gear wheel and miniature gears and retarder, big gear wheel is connected with circular slab, miniature gears is connected with reducer output shaft, retarder then with horizontally rotate servomotor and be connected, horizontally rotate servomotor and be connected with electric part.
- 7. as claimed in claim 1ly change the electric machine people with mobile pallet, it is characterized in that described electric control system comprises host computer system, PLC logic controller, limit switch, emergency stop switch, servomotor, servo-driver, motor encoder, ultrasonic transduter, color mark sensor, opto-electronic pickup, DMP position transduser, wireless communication module I, wireless communication module II;Described host computer system comprises industrial computer and touch-screen, connects wireless communication module I by serial ports on the described industrial computer;Described PLC logic controller is electrically connected with servo-driver, emergency stop switch, ultrasonic transduter, color mark sensor, opto-electronic pickup, DMP position transduser, passes through serial communication with host computer system, and the machine human motion is carried out logic control.
- As claimed in claim 7 with mobile pallet change the electric machine people, it is characterized in that described ultrasonic transduter is electrically connected with the PLC logic controller, for detection of the distance between electromagnetism pushing hands and the battery box;Described color mark sensor is electrically connected with the PLC logic controller, for detection of the lockup state of battery;Described DMP position transduser is electrically connected with the PLC logic controller, for detection of on electromagnetism pushing hands and the battery box charging rack and the deviation between the reflector of car body battery box Cang Chu, deviation data is fed back to the pushing hands of PLC control electromagnetism adjust attitude with accurate crawl and battery box is installed;Described opto-electronic pickup is electrically connected with the PLC logic controller, uses in conjunction with the addressing sheet, is used for the motion positions of robot in X-direction and Y-direction;Described emergency stop switch is electrically connected with the PLC logic controller, is used for the emergent stopping that is in an emergency at robot.
- 9. as claimed in claim 7ly change the electric machine people with mobile pallet, it is characterized in that, described power-driven mechanism comprises 5 servo-drivers, the servo-driver of described 5 motors respectively with horizontal movement unit, be connected the servomotor that horizontally rotates platform and connect in the article carrying platform unit with bearing unit, the axle of described each servomotor is provided with coder, and the signal output part of coder is connected with the PLC logic 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 logic controller;On described wireless communication module I and the wireless communication module II industrial computer and wireless joystick respectively at host computer system, be used for the transmission over radio of data between the two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220314785 CN202641653U (en) | 2012-06-29 | 2012-06-29 | Battery replacing robot provided with movable temporary storage rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220314785 CN202641653U (en) | 2012-06-29 | 2012-06-29 | Battery replacing robot provided with movable temporary storage rack |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202641653U true CN202641653U (en) | 2013-01-02 |
Family
ID=47410804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220314785 Expired - Lifetime CN202641653U (en) | 2012-06-29 | 2012-06-29 | Battery replacing robot provided with movable temporary storage rack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202641653U (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700513A (en) * | 2012-06-29 | 2012-10-03 | 山东鲁能智能技术有限公司 | Battery replacement robot with mobile temporary storage frame and battery replacement method |
| CN104649027A (en) * | 2015-01-09 | 2015-05-27 | 常州先进制造技术研究所 | Light chain type lifting tilter |
| CN107369569A (en) * | 2017-08-11 | 2017-11-21 | 佛山市三水日明电子有限公司 | A kind of formation device of solid electrolyte/aluminum electrolytic capacitor |
| CN107424844A (en) * | 2017-08-11 | 2017-12-01 | 佛山市三水日明电子有限公司 | A kind of formation device of polymer solid aluminum electrolytic capacitor |
| CN107600862A (en) * | 2017-10-10 | 2018-01-19 | 江苏高科物流科技股份有限公司 | A kind of storage and take object space method |
| 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 |
| CN108313027A (en) * | 2018-02-11 | 2018-07-24 | 博众精工科技股份有限公司 | Automobile electrical changing station rotary conveying mechanism |
| CN108638083A (en) * | 2018-05-15 | 2018-10-12 | 中车青岛四方车辆研究所有限公司 | Rail vehicle overhauls auxiliary robot |
| CN108688625A (en) * | 2017-04-01 | 2018-10-23 | 上海电巴新能源科技有限公司 | Battery dress takes control system, electric vehicle to change electric control system and its method |
| CN109775281A (en) * | 2019-03-29 | 2019-05-21 | 北京新能源汽车股份有限公司 | Battery transfer device |
| CN109850456A (en) * | 2019-02-18 | 2019-06-07 | 重庆大学 | Building environment novel document delivery system |
| TWI664002B (en) * | 2017-02-07 | 2019-07-01 | 大陸商上海蔚來汽車有限公司 | Battery isolation device, charging and replacing station having the same, and battery isolation method |
| CN110154995A (en) * | 2018-11-27 | 2019-08-23 | 深圳微轨小滴科技有限公司 | A kind of device and method that intelligent carriage replaces battery automatically |
| CN111077167A (en) * | 2019-12-27 | 2020-04-28 | 四川国软科技发展有限责任公司 | Bearing saddle detection system |
| CN111823934A (en) * | 2019-03-29 | 2020-10-27 | 中立元(镇江)电动汽车加电科技有限公司 | Battery intelligent scheduling system for sharing battery replacement of electric cars of different models |
| CN112166538A (en) * | 2018-02-08 | 2021-01-01 | 阿勒特创新股份有限公司 | Opportunistic charging system for automated storage and retrieval systems |
| CN112721723A (en) * | 2021-02-08 | 2021-04-30 | 深圳精智机器有限公司 | Movable battery replacement station, battery replacement method, terminal and medium |
| WO2021237885A1 (en) * | 2020-05-25 | 2021-12-02 | 浙江康迪智能换电科技有限公司 | Battery replacement device for electric vehicle |
-
2012
- 2012-06-29 CN CN 201220314785 patent/CN202641653U/en not_active Expired - Lifetime
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700513B (en) * | 2012-06-29 | 2015-02-04 | 山东鲁能智能技术有限公司 | Battery replacement robot with mobile temporary storage frame and battery replacement method |
| US9650022B2 (en) | 2012-06-29 | 2017-05-16 | Shandong Luneng Intelligence Technology Co., Ltd | Battery replacement robot with mobile storage rack and battery replacement method |
| CN102700513A (en) * | 2012-06-29 | 2012-10-03 | 山东鲁能智能技术有限公司 | Battery replacement robot with mobile temporary storage frame and battery replacement method |
| CN104649027A (en) * | 2015-01-09 | 2015-05-27 | 常州先进制造技术研究所 | Light chain type lifting tilter |
| 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 |
| 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 |
| TWI664002B (en) * | 2017-02-07 | 2019-07-01 | 大陸商上海蔚來汽車有限公司 | Battery isolation device, charging and replacing station having the same, and battery isolation method |
| CN108688625A (en) * | 2017-04-01 | 2018-10-23 | 上海电巴新能源科技有限公司 | Battery dress takes control system, electric vehicle to change electric control system and its method |
| CN107369569A (en) * | 2017-08-11 | 2017-11-21 | 佛山市三水日明电子有限公司 | A kind of formation device of solid electrolyte/aluminum electrolytic capacitor |
| CN107424844A (en) * | 2017-08-11 | 2017-12-01 | 佛山市三水日明电子有限公司 | A kind of formation device of polymer solid aluminum electrolytic capacitor |
| CN107600862A (en) * | 2017-10-10 | 2018-01-19 | 江苏高科物流科技股份有限公司 | A kind of storage and take object space method |
| CN107600862B (en) * | 2017-10-10 | 2019-07-12 | 江苏高科物流科技股份有限公司 | A kind of storage and take object space method |
| CN112166538A (en) * | 2018-02-08 | 2021-01-01 | 阿勒特创新股份有限公司 | Opportunistic charging system for automated storage and retrieval systems |
| CN108313027A (en) * | 2018-02-11 | 2018-07-24 | 博众精工科技股份有限公司 | Automobile electrical changing station rotary conveying mechanism |
| CN108638083A (en) * | 2018-05-15 | 2018-10-12 | 中车青岛四方车辆研究所有限公司 | Rail vehicle overhauls auxiliary robot |
| CN108638083B (en) * | 2018-05-15 | 2020-06-23 | 中车青岛四方车辆研究所有限公司 | Auxiliary robot for overhauling railway vehicle |
| CN110154995A (en) * | 2018-11-27 | 2019-08-23 | 深圳微轨小滴科技有限公司 | A kind of device and method that intelligent carriage replaces battery automatically |
| CN109850456A (en) * | 2019-02-18 | 2019-06-07 | 重庆大学 | Building environment novel document delivery system |
| CN111823934A (en) * | 2019-03-29 | 2020-10-27 | 中立元(镇江)电动汽车加电科技有限公司 | Battery intelligent scheduling system for sharing battery replacement of electric cars of different models |
| CN109775281A (en) * | 2019-03-29 | 2019-05-21 | 北京新能源汽车股份有限公司 | Battery transfer device |
| CN111077167A (en) * | 2019-12-27 | 2020-04-28 | 四川国软科技发展有限责任公司 | Bearing saddle detection system |
| CN111077167B (en) * | 2019-12-27 | 2023-10-31 | 四川国软科技集团有限公司 | Bearing saddle detecting system |
| WO2021237885A1 (en) * | 2020-05-25 | 2021-12-02 | 浙江康迪智能换电科技有限公司 | Battery replacement device for electric vehicle |
| CN112721723A (en) * | 2021-02-08 | 2021-04-30 | 深圳精智机器有限公司 | Movable battery replacement station, battery replacement method, terminal and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202641653U (en) | Battery replacing robot provided with movable temporary storage rack | |
| CN102700513B (en) | Battery replacement robot with mobile temporary storage frame and battery replacement method | |
| CN102602372B (en) | System and method for quickly replacing electric bus batteries | |
| CN202389352U (en) | Electric bus battery replacement robot system | |
| CN102490694B (en) | Electric bus battery quick-change robot system and quick-change method | |
| CN202491788U (en) | Quick replacing system of batteries of electric bus | |
| CN102849043B (en) | Electric bus power replacing robot system and method | |
| US8660692B2 (en) | Current alternating robot system and method of electric bus | |
| CN102358266B (en) | Emergency movable battery replacing vehicle and battery replacing method thereof | |
| CN105000001B (en) | A kind of chassis of electric passenger vehicle battery change system and change method for electrically | |
| CN104895369B (en) | Intelligent robot capable of moving automobiles in side directions | |
| CN102717778B (en) | Chassis battery change system for electric passenger cars and method of the system | |
| CN106013905A (en) | Intelligent control system of planar mobile stereoscopic garage | |
| CN110485780B (en) | Transverse moving trolley with swing arm type automatic leveling device for car type mechanical parking equipment | |
| CN202208283U (en) | Mobile power cell replacing vehicle for emergency | |
| CN102936972A (en) | Planar moving type stereo garage system | |
| CN203066554U (en) | Warehouse-type stereo garage | |
| CN202130434U (en) | Rapid replacement system based on rectangular-coordinates robot for chassis batteries of electric passenger vehicle | |
| CN102495612A (en) | Electrical automatic control system device of automatic guided vehicle adopting non-contact power supply technology | |
| CN201765504U (en) | Wheel pair 3-D storehouse control system | |
| CN102900258A (en) | Automatic car lengthways handling device | |
| CN202368545U (en) | Robot system for quickly changing batteries of electric buses | |
| CN214609638U (en) | Automatic storing and taking robot | |
| CN2693881Y (en) | Planar movement storage type mechanical parking equipment | |
| CN210714016U (en) | Transverse moving trolley with swing arm type automatic leveling device for car mechanical parking equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250101 Qilu Software Park building, Ji'nan hi tech Zone, Shandong, B-205 Patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130102 |
|
| CX01 | Expiry of patent term |