CN206812967U - Railway guidance type electricity changing robot, electric charging station - Google Patents
Railway guidance type electricity changing robot, electric charging station Download PDFInfo
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- CN206812967U CN206812967U CN201720534015.5U CN201720534015U CN206812967U CN 206812967 U CN206812967 U CN 206812967U CN 201720534015 U CN201720534015 U CN 201720534015U CN 206812967 U CN206812967 U CN 206812967U
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Abstract
It the utility model is related to and change electrical domain, and in particular to a kind of railway guidance type electricity changing robot, electric charging station.The utility model aims to solve the problem that changes the problem of electrical efficiency is low present in existing battery altering scheme.For this purpose, electricity changing robot of the present utility model includes body and is arranged at the battery transhipment portion and battery handling part of body, wherein, battery transhipment portion can make battery reach body；Wherein, battery handling part can be to be moved in a manner of close/remote body in the first direction, and the movement can make the target of close/remote electric car to be changed of battery change electric position；And in assembled state, battery handling part is set in a manner of not interfering battery transhipment portion.By battery handling part not interfere the set-up mode in battery transhipment portion so that the operating space increase of electricity changing robot, and then electricity changing robot can be made to reach positioning precision height, electricity smoothly effect is changed, shortens indirectly and changes the electric time, improve and change electrical efficiency.
Description
Technical field
It the utility model is related to and change electrical domain, and in particular to railway guidance type electricity changing robot, electric charging station.
Background technology
With the popularization of new-energy automobile, how to provide fast and effeciently energy supply for the insufficient automobile of energy turns into car
Advocate peace all big enterprises the problem of paying special attention to.By taking electric automobile as an example, one of electric energy supply scheme of current main-stream be battery more
Change scheme.Battery altering scheme is due to that can complete the replacing of electrokinetic cell in the very short time and use the longevity to electrokinetic cell
One of life does not influence significantly, therefore be the main direction of development of electric energy supply.In battery altering scheme, in electric automobile
It is a kind of changing electrically for main flow that bottom, which carries out changing electricity, and it is usually electrically to be completed in special electric charging station to change.Specifically
For, charging and conversion electric frame is configured with electric charging station and changes level platform, and in charging and conversion electric frame and the delivery changed between level platform
The electricity changing robot of full electricity/power shortage battery, such as piler/railway guidance car (Rail Guided Vehicle, RGV).Change motor
Device people is by way of charging and conversion electric frame and changing between level platform on the track laid in advance back and forth travels, completing to change electricity to be stopped at
Electric automobile on platform changes the action of electrokinetic cell.
But above-mentioned electrically generally existing of changing changes the problem of electrical efficiency is low.The reason for causing this problem is：One side
Face, electricity changing robot reach electric automobile bottom or electrokinetic cell in charging and conversion electric frame when fetching and delivering position, because electricity side is changed in bottom
The operating space of formula is small, high to positioning accuracy request, causes each positioning time long, electrical efficiency is changed so as to reduce.It is another
Aspect, once completely changing in electric process, electricity changing robot needs changing the past with the fixed position of charging and conversion electric frame of level platform
Multiple walking (as reach change level platform, take power shortage battery away and remove change level platform, the full battery of delivery arrives again at and changes level platform
Deng), and be required for repositioning every time, thus cause because positioning number is excessive and add and changed needed for electric process indirectly
Time, change electrical efficiency so as to reduce.And increasing substantially, it is necessary to which same electric charging station is in list with electric automobile recoverable amount
Carry out changing the electric automobile showed increased of electricity in the period of position.In this case, the appearance of above mentioned problem, not only causes electricity
The stand-by period increase of car owner when electrical automobile changes electricity, service experience is poor, and also limit the efficiency of service of service provider, unfavorable
Electric service is changed in service provider's offer high quality.
Correspondingly, this area needs a kind of new railway guidance type electricity changing robot to solve the above problems.
Utility model content
It has been to change electric effect present in the existing battery altering scheme of solution to solve above mentioned problem of the prior art
The problem of rate is low, the utility model provide a kind of railway guidance type electricity changing robot, the electricity changing robot include body and
The battery transhipment portion and battery handling part of the body are arranged at, wherein, the battery transhipment portion can make described in battery arrival
The setting position of electricity changing robot；Wherein, the battery handling part can be with the first direction with close/remote body
Mode moves, and the movement can make the target of close/remote electric car to be changed of the battery change electric position；And what is assembled
Under state, the battery handling part is set in a manner of not interfering the battery transhipment portion.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the battery handling part turns with the battery
Fortune portion can produce relative displacement in said first direction, and the relative displacement can at least make the battery transhipment portion and described
Battery handling part alternately contacts the battery.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the battery transhipment portion consolidates with the body
Fixed connection, the battery handling part can be by the first direction in a manner of close/remote body relative to the batteries
Move in transhipment portion.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the battery handling part includes：Add unblock
Mechanism, described plus unlocking mechanism can make the battery lock/disengage the electric car to be changed；And lifting mechanism, the act
Current potential can be changed to make the battery reach the target in a manner of close/remote body in the first direction by rising mechanism
Put.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the lifting mechanism includes：Drive mechanism：
It is fixedly connected on the body, and the drive mechanism can be in the first direction in a manner of close/remote body
It is mobile；Lifting platform：It is fixedly connected on the drive mechanism, and the lifting platform has some receiving holes, the receiving
Hole allows the part in the battery transhipment portion to be accommodated therein.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the battery transhipment portion includes some rollers
Group and/or some roller groups, and some roller groups and/or some roller groups are fixedly connected with the body.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the electricity changing robot is also configured with spacing
Portion, the limiting section can make the battery be in the setting position.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the limiting section includes being arranged at described
Some groups of gib blocks and several limited blocks on ground near body and/or the track and/or the track, wherein, institute
The movement of the battery in a second direction can be limited by stating some groups of gib blocks；Wherein, several described limited blocks can make
The battery is in the setting position along third direction.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the electricity changing robot also includes positioning
Portion, the location division can complete electricity changing robot positioning in orbit and the battery in the electricity changing robot
On positioning.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the location division includes the first positioning unit
With the second positioning unit, wherein, first positioning unit can make the electricity changing robot be in the target to change electric position
Projected position；Wherein, second positioning unit can make the battery handling part be in the target to change electric position.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, first positioning unit is is arranged at
State the mechanical locators and/or alignment sensor of the bottom of body；Second positioning unit loads and unloads to be arranged at the battery
Several alignment pins in portion.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the electricity changing robot also includes control
Portion, the control unit can at least obtain the current location information of the electricity changing robot.
In the optimal technical scheme of above-mentioned railway guidance type electricity changing robot, the electricity changing robot also includes walking
Portion, the running part are arranged at the body, and the running part can drive the electricity changing robot to be moved on default track,
The movement can at least make the electricity changing robot reach with the target projected position that to change electric position corresponding, and in institute
In the case of stating electricity changing robot and be in the projected position, the battery handling part can change current potential in the target and be set to institute
State electric car to be changed and change the battery.
The utility model additionally provides a kind of electric charging station, and the track that the electric charging station includes described in foregoing any one is led
Draw type electricity changing robot.
It will be appreciated to those of skill in the art that in optimal technical scheme of the present utility model, railway guidance type changes
Electric machine people includes body and is arranged at the battery transhipment portion and battery handling part of body, wherein, battery transhipment portion can make
Battery reaches body, and battery handling part can be to be moved in a manner of close/remote body in the first direction, and the movement can make
The target of close/remote electric car to be changed of battery changes electric position.In assembled state, battery handling part is not to interfere battery
The mode in transhipment portion is set.By battery handling part not interfere the set-up mode in battery transhipment portion so that electricity changing robot
Operating space increases, and then electricity changing robot can be made to reach positioning precision height, changes electricity smoothly effect, shortens indirectly and change electricity
Time, improve and change electrical efficiency.
Scheme 1, a kind of railway guidance type electricity changing robot, it is characterised in that the electricity changing robot include body and
The battery transhipment portion and battery handling part of the body are arranged at,
Wherein, the battery transhipment portion can make the setting position of the battery arrival electricity changing robot；
Wherein, the battery handling part can be to be moved in a manner of close/remote body in the first direction, the shifting
Kinetic energy enough makes the target of close/remote electric car to be changed of the battery change electric position；And
In assembled state, the battery handling part is set in a manner of not interfering the battery transhipment portion.
Scheme 2, the railway guidance type electricity changing robot according to scheme 1, it is characterised in that the battery handling part with
The battery transhipment portion can produce relative displacement in said first direction, and the relative displacement at least can turn the battery
Fortune portion and the battery handling part alternately contact the battery.
Scheme 3, the railway guidance type electricity changing robot according to scheme 2, it is characterised in that the battery transhipment portion with
The body is fixedly connected, the battery handling part can by the first direction by close to/away from relative in a manner of the body
Moved in the battery transhipment portion.
Scheme 4, the railway guidance type electricity changing robot according to scheme 3, it is characterised in that the battery handling part bag
Include：
Add unlocking mechanism, described plus unlocking mechanism can make the battery lock/disengage the electric car to be changed；And
Lifting mechanism, the lifting mechanism can be made described by the first direction in a manner of close/remote body
Battery reaches the target and changes electric position.
Scheme 5, the railway guidance type electricity changing robot according to scheme 4, it is characterised in that the lifting mechanism bag
Include：
Drive mechanism：It is fixedly connected on the body, and the drive mechanism can be in the first direction with close/remote
Mode from the body moves；
Lifting platform：It is fixedly connected on the drive mechanism, and the lifting platform has some receiving holes, the appearance
Receiving hole allows the part in the battery transhipment portion to be accommodated therein.
Scheme 6, the railway guidance type electricity changing robot according to scheme 3, it is characterised in that the battery transhipment portion bag
Some roller groups and/or some roller groups are included, and some roller groups and/or some roller groups are consolidated with the body
Fixed connection.
Scheme 7, the railway guidance type electricity changing robot according to scheme 6, it is characterised in that the electricity changing robot is also
Limiting section is configured with, the limiting section can make the battery be in the setting position.
Scheme 8, the railway guidance type electricity changing robot according to scheme 7, it is characterised in that the limiting section includes setting
Some groups of gib blocks being placed on the ground near the body and/or the track and/or the track are spacing with several
Block,
Wherein, some groups of gib blocks can limit the movement of the battery in a second direction；
Wherein, several described limited blocks can make the battery be in the setting position along third direction.
Scheme 9, the railway guidance type electricity changing robot according to scheme 7, it is characterised in that the electricity changing robot is also
Including location division, the location division can complete electricity changing robot positioning in orbit and the battery changes described
Positioning on electric machine people.
Scheme 10, the railway guidance type electricity changing robot according to scheme 9, it is characterised in that the location division includes
First positioning unit and the second positioning unit,
Wherein, first positioning unit can make the electricity changing robot be in the projection position that the target changes electric position
Put；
Wherein, second positioning unit can make the battery handling part be in the target to change electric position.
Scheme 11, the railway guidance type electricity changing robot according to scheme 10, it is characterised in that first positioning is single
Member is the mechanical locators and/or alignment sensor for the bottom for being arranged at the body；
Second positioning unit is several alignment pins for being arranged at the battery handling part.
Scheme 12, the railway guidance type electricity changing robot according to any one of scheme 1 to 11, it is characterised in that institute
Stating electricity changing robot also includes control unit, and the control unit can at least obtain the current location information of the electricity changing robot.
Scheme 13, the railway guidance type electricity changing robot according to scheme 12, it is characterised in that the electricity changing robot
Also include running part, the running part is arranged at the body, and the running part can drive the electricity changing robot default
Moved on track, the movement can at least be such that the electricity changing robot reaches and the target projection position that to change electric position corresponding
Put, and
In the case of the electricity changing robot is in the projected position, the battery handling part can be in the target
Change current potential and be set to the electric car replacing to be changed battery.
Scheme 14, a kind of electric charging station, it is characterised in that the electric charging station includes any one of aforementioned schemes 1 to 13
Described railway guidance type electricity changing robot.
Brief description of the drawings
Fig. 1 is the structural representation of railway guidance type electricity changing robot of the present utility model；
Fig. 2 is the schematic diagram of Fig. 1 vertical view；
Fig. 3 A are the schematic diagrames that railway guidance type electricity changing robot of the present utility model is in transhipment state；
Fig. 3 B are the schematic diagrames that railway guidance type electricity changing robot of the present utility model is in landing state；
Fig. 4 is the schematic flow sheet for changing method for electrically of railway guidance type electricity changing robot of the present utility model.
Reference numerals list
10th, railway guidance type electricity changing robot；11st, body；121st, driving wheel；122nd, driven pulley；131st, gib block；132、
Limited block；141st, alignment pin；151st, unlocking mechanism is added；152nd, scissors bogie；153rd, lifting platform；154 receiving holes；161st, move
Power roller；162nd, unpowered roller；20th, electrokinetic cell.
Embodiment
Preferred embodiment of the present utility model described with reference to the accompanying drawings.It should be understood by those skilled in the art that
It is that these embodiments are used only for explaining technical principle of the present utility model, it is not intended that limit protection of the present utility model
Scope.For example, although two alignment pins in accompanying drawing are arranged on battery handling part, its quantity and set location are non-one one-tenth
Constant, those skilled in the art can make adjustment to it as needed, to adapt to specific application scenario.Such as alignment pin also
It is first-class body can be arranged on.
It should be noted that in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the direction of instruction such as " level ", " interior ", " outer " or the term of position relationship are closed based on direction shown in the drawings or position
System, this is intended merely to facilitate description, rather than instruction or hint described device or element must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In addition it is also necessary to explanation, in description of the present utility model, unless otherwise clearly defined and limited, art
Language " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or
It is integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together, can also be by between intermediary
Connect connected, can be the connection of two element internals.To those skilled in the art, can understand as the case may be above-mentioned
Concrete meaning of the term in the utility model.
With reference first to Fig. 1 and Fig. 2, Fig. 1 is the structural representation of railway guidance type electricity changing robot of the present utility model；Figure
2 be the schematic diagram of Fig. 1 vertical view.As shown in figure 1, using change be electrically bottom change electricity electric automobile change electrokinetic cell as
Example, railway guidance type electricity changing robot 10 (hereinafter referred to as electricity changing robot 10) of the present utility model mainly include body 11, OK
Walk portion, limiting section, location division, battery handling part, battery transhipment portion, control unit and power supply.Wherein, running part can pass through
Scrolling bands in orbit are moved electricity changing robot 10 and moved, and the movement can at least be such that electricity changing robot 10 reaches and electric car to be changed
Target change the corresponding projected position of electric position.Limiting section can make battery be in the setting position of electricity changing robot 10.
Location division can complete the positioning of the positioning in orbit of electricity changing robot 10 and battery in electricity changing robot 10.Such as make just
Accurately it is parked in that target changes the projected position of electric position or charging and conversion electric frame fetches and delivers position in mobile electricity changing robot 10.Battery
Handling part can be in the case of electricity changing robot 10 be in projected position, with the first direction with close/remote body 11
Mode, complete to change the action of electrokinetic cell for electric electric automobile to be changed.It can complete to move fetching and delivering position in battery transhipment portion
Transhipment of the power battery between electricity changing robot 10 and charging and conversion electric frame, and then the setting position of electrokinetic cell arrival body 11 can be made
Put.Preferably, battery handling part and battery transhipment portion are set in a manner of non-interference.As battery transhipment portion spatially with electricity
Pond handling part is spatially set in a manner of partially overlapping, and the set-up mode makes electrokinetic cell in battery transhipment portion and electricity
Although movement locus in the department of assembly of pond has intersection but does not influence electrokinetic cell in battery transhipment portion and battery department of assembly
Independently moving.Control unit can then be realized and each part mentioned above is automatically controlled so that entirely change electric process accurate positioning, act
It is quick smooth.
It should be noted that in this preferred embodiment, it can more move for electric automobile that target, which changes electric position,
The position of power battery, it can be the position that electricity changing robot 10 exchanges electrokinetic cell with charging and conversion electric frame to fetch and deliver position.As target is changed
Electric position can be installation site of the electrokinetic cell in electric car body of electric automobile, and the battery of electricity changing robot 10
Handling part can smoothly complete to unload the electrokinetic cell in power shortage state from the installation site or will in the installation site
Electrokinetic cell in full power state is fixed on the action of the installation site.It can be with being carried on charging and conversion electric frame such as to fetch and deliver position
The delivery platform of horizontal transport mechanism (such as conveyer belt or roller) close to position, electricity changing robot 10 reach the position feelings
Under shape, battery transhipment portion can be connected with the platform and be in same level.In these cases, battery transhipment portion can incite somebody to action
Electrokinetic cell in power shortage state is transported to delivery platform, so delivery platform by transport mechanism by power shortage state
Electrokinetic cell, which is delivered in charging and conversion electric frame, to be charged；Or charging and conversion electric frame can be by delivery platform by full power state
Electrokinetic cell is delivered to battery transhipment portion and then battery transhipment portion makes this be in the electrokinetic cell of full power state and reach to change electric machine
The setting position of people 10.Wherein, setting position can be stand of the electrokinetic cell in electricity changing robot 10, and this parks position
Put so that the relative position that electrokinetic cell parks afterwards with electricity changing robot 10 is fixed.First direction can be the side of general vertical
To (Z-direction in Fig. 1), battery department of assembly can be reached target along the direction of general vertical in a manner of rise/fall and change electricity
Position or the above-mentioned position spatially to be partially overlapped with battery transhipment portion.
That is, under the control of control unit, electricity changing robot 10 can be led under the cooperation of running part and location division
Cross and be layed in the mode changing on the track below level platform between charging and conversion electric frame and move back and forth, accurately arrive at target and change electricity
The projected position of position or charging and conversion electric frame fetch and deliver position, then complete to be electronic vapour by battery handling part and battery transhipment portion
Car changes the action of electrokinetic cell.Wherein, battery handling part can change electric position in above-mentioned target and complete to tear open from electric automobile
Unload action of the electrokinetic cell of electrokinetic cell or installation in full power state in power shortage state to electric automobile, battery transhipment
Portion can complete the electrokinetic cell in power shortage state being moved to charging and conversion electric frame fetching and delivering position, or by full power state
The action for the setting position that electrokinetic cell is moved in electricity changing robot 10.As can be seen that due to control of the control unit to each several part
System, and battery handling part is not to interfere the set-up mode in battery transhipment portion so that electricity changing robot 10 is entirely changing electric process
In add and change electric space, and then be easier to reach electricity changing robot 10 that positioning precision is high, changes electronic work smoothly effect, enter
And shorten and change the electric time, improve and change electrical efficiency.
Specifically, as depicted in figs. 1 and 2, railway guidance type electricity changing robot 10 mainly include body 11, running part,
Limiting section, location division, battery handling part, battery transhipment portion, control unit and power supply.Wherein, power supply can be to change motor
The offer electric energy of device people 10, such as power supply can be provided by the power supply mode of battery unpowered line for electricity changing robot 10
Electric energy, or the power supply mode that cable by being connected with power network etc. has supply lines are powered for electricity changing robot 10.Wherein, body 11
It can be the generally rectangular structure of the profile being welded by I-steel.Had the advantage that using this material, body
11 in the course of the work because the high-strength characteristic of material will not deform upon substantially, can reduce its that set on body 11
The operating error of his each several part, make the positioning of electricity changing robot 10 and action more accurate.Certainly, the material and shape of body 11
Not unique, those skilled in the art can make to it according to different application environments and be adjusted flexibly, as long as the adjustment can
Meet that body 11 is not likely to produce the condition of deformation at work.As body 11 can also by sheet metal component or stainless steel square tube,
Angle steel is welded.
With continued reference to Fig. 1 and Fig. 2, running part can be provided in several rail wheels of the lower section of body 11, and the rail
The track that road wheel and being laid on changes below level platform between charging and conversion electric frame matches.Preferably, several rail wheels can make
With the set-up mode of four four driven pulleys 122 of band of driving wheel 121, such set-up mode can be overcome because track injustice is drawn
The defects of driving force deficiency risen, so as to improve the riding stability of electricity changing robot 10, and then improve and change electrical efficiency.This area
Technical staff can enter according to actual application environment, it is understood that the set-up mode and quantity of above-mentioned rail wheel are not unique
Row adjustment.
Limiting section can complete electrokinetic cell and the positioning in delivery platform or battery transhipment portion.Specifically, electric machine is being changed
In the case that position is fetched and delivered in the arrival of people 10, the electrokinetic cell in power shortage state can pass through under the transport in battery transhipment portion
Spacing arrival charging and conversion electric frame of the limiting section in electrokinetic cell direction of advance, and the electrokinetic cell in full power state can be
Under the transport in battery transhipment portion, pass through the spacing setting position in electricity changing robot 10 of limiting section.Side as shown in Figure 1
Position, it is preferable that limiting section includes one group of two gib block 131 and two limited blocks 132, wherein, reached in electricity changing robot 10
In the case of fetching and delivering position, (i.e. Y-direction in Fig. 1) is respectively arranged at a left side for body 11 to two gib blocks 131 in a second direction
On front end and the ground of right front ends, it is used for limitation of the electrokinetic cell in second direction, to ensure electrokinetic cell along third direction
Without departing from electricity changing robot 10 when (i.e. X-direction in Fig. 1) is mobile.Two limited blocks 132 are then arranged at body along third direction
11 rear end, it is used for positioning of the electrokinetic cell in electricity changing robot 10, to ensure the electrokinetic cell essence in full power state
Really it is in setting position.Just because of this setup of gib block 131 and limited block 132 so that electrokinetic cell can
The accurate positioning in electricity changing robot 10, so as to improve positioning precision of the electrokinetic cell in electricity changing robot 10.Although this
The embodiment of gib block 131 and limited block 132 as limiting section is used in embodiment, but this is not intended to limit this
The protection domain of utility model, those skilled in the art can adjust according to concrete application condition to its form and quantity.
Such as in the case of electricity changing robot 10 reaches and fetches and delivers position, gib block 131 can also be arranged near electricity changing robot 10
On guide rail, or directly it is directed to bar 131 and is arranged on the body of electricity changing robot 10.Similarly, arrived in electricity changing robot 10
Up in the case of fetching and delivering position, guide pad 132 can also be arranged on the guide rail near electricity changing robot 10 or on ground.
Location division mainly includes the first positioning unit and the second positioning unit, wherein：
1) the first positioning unit can complete the positioning in orbit of electricity changing robot 10, that is, the first positioning unit can
So that electricity changing robot 10 in orbit in above-mentioned projected position or it is above-mentioned fetch and deliver position, and reach projected position or taking
After sending position, electricity changing robot 10 can carry out next step positioning.Preferably, the first positioning unit can be disposed on body 11
Bottom mechanical locators (such as alignment pin, figure not shown in) and alignment sensor (such as infrared sensor or Quick Response Code sensor,
Not shown in figure) Dual positioning.Pass through mechanical locators and the Dual positioning of alignment sensor so that electricity changing robot 10 can be with
The projected position of electric position is accurately changed in target.
2) the second positioning unit can complete the positioning of battery handling part and electric electric automobile to be changed, that is, second determines
Bit location can be that battery handling part is in target and changes electric position.In the case of electric position is changed in the target, battery handling
Portion can smoothly unload the electrokinetic cell in power shortage state from the vehicle body of electric automobile or will be dynamic in full power state
Power battery is attached to the vehicle body of electric automobile.Preferably, the second positioning unit can be provided in two on battery handling part
Alignment pin 141, correspondingly, the positioning hole that connection is matched with the alignment pin 141 is provided with the vehicle body of electric automobile, by fixed
The mating connection of position pin 141 and positioning hole, can make battery handling part accurately reach target and change electric position.Certainly, second is fixed
The concrete form and quantity of bit location are not unique, and those skilled in the art can be adjusted according to concrete application environment, such as
Second positioning unit can also be realized by modes such as vision positioning sensor, laser positioning sensor or infrared alignment sensors
(now needing to mount corresponding telltale mark on the vehicle body of electric automobile).
In a kind of more preferably embodiment, electric position can also be changed with target for the first time in the second positioning unit and carried out
(positioning during electrokinetic cell in power shortage state is unloaded during positioning in battery handling part), records the position of battery handling part
Information, after the completion of being positioned such as control unit in battery handling part, the positional information of now a certain fixing point on battery handling part is obtained,
And temporarily preserve the positional information, then changed for the second time with target in the second positioning unit (i.e. electric when electric position is positioned
The positioning of electrokinetic cell and electric automobile of the carrying of pond handling part in full power state), directly believed using above-mentioned temporary position
Breath can complete the fast positioning of battery handling part.The reason for fast positioning can be realized is：Electricity changing robot 10, which unloads, to be in
The action of the electrokinetic cell of electrokinetic cell and installation in full power state of power shortage state is all to change electric position in target to complete,
And the position positioned twice does not have difference.That is, positioned by the way that the location information of first time positioning is used for into second
Mode, positioning number is directly reduced in electric process is changed, also just have correspondingly once change in electric process when changing electricity
Between, and then improve and change electrical efficiency.
With continued reference to Fig. 1 and Fig. 2, battery handling part includes plus unlocking mechanism 151 and lifting mechanism.Wherein, lifting mechanism
Can (Z-direction in Fig. 1) in the first direction relative to battery transhipment portion move by way of lifting power battery so that
Electrokinetic cell reaches target and changes electric position, adds unlocking mechanism 151 then to make after electrokinetic cell arrival target changes electric position
Power battery locks/disengage electric car body.Battery transhipment portion is fixedly connected with body 11, and battery transhipment portion can pass through
The rotation of itself makes electrokinetic cell change motor along third direction direction (X-direction in Fig. 1) disengaging electricity changing robot 10 or arrival
The setting position of device people 10.Preferably, lifting mechanism can include lifting platform 153 and the lifting platform can be made to realize act
The drive mechanism of function is risen, such as scissors bogie 152.Wherein, it is used to place electrokinetic cell (i.e. power electric on lifting platform 153
Pond is in setting position), scissors bogie 152 then can be by lifting platform 153 together with the electrokinetic cell one on lifting platform 153
With lifting electric position is changed up to reaching target.Preferably, battery transhipment portion can be the group of some roller groups and some roller groups
To close, each of which roller group includes several power rollers 161, and each roller group includes several unpowered rollers 162,
By the driven of the driving of power roller 161 and unpowered roller 162, electrokinetic cell can depart from electricity changing robot 10 and reach
Delivery platform or the setting position that electricity changing robot 10 is reached from delivery platform.
It may occur to persons skilled in the art that the setting form in battery handling part and battery transhipment portion be not one one-tenth not
Become, if drive mechanism is in addition to scissors bogie, rigid link chain or turbine and worm etc. can also be replaced by and realize lifting function, such as
Power roller and unpowered roller can also be replaced by the translation functions that crawler belt etc. realizes battery.
Referring next to Fig. 1, Fig. 3 A and Fig. 3 B, Fig. 3 A be railway guidance type electricity changing robot of the present utility model be in turn
The schematic diagram of fortune state；Fig. 3 B are the schematic diagrames that railway guidance type electricity changing robot of the present utility model is in landing state.Such as
It is preceding described, because battery handling part and battery transhipment portion all refer to electrokinetic cell 20 and moved, the coupling on forms of motion be present, i.e.,
Battery handling part mainly (Z-direction in Fig. 1) lifting power battery 20, battery transhipment portion on the direction of general vertical are main
It is that (X-direction in Fig. 1) translates electrokinetic cell 20 in a generally horizontal direction, it is possible to which battery handling part and battery are turned
Fortune portion carries out mobile decoupling, to reduce the space hold of electricity changing robot 10, electricity changing robot 10 is had enough operating spaces
Electronic work is changed in completion, so as to which electrical efficiency is changed in lifting indirectly.As shown in figure 1, some receiving holes are offered on lifting platform 153
154, and one group of the receiving hole 154 permission battery transhipment portion or several groups of roller groups or roller group are accommodated therein.Such one
Come, when where plane where battery handling part drops to battery transhipment portion below plane, battery transhipment portion can carry power
Battery 20, and electrokinetic cell 20 is moved (reference picture 3A) in a generally horizontal direction；When battery handling part institute in the plane
When rising to more than plane where battery transhipment portion, battery handling part can carry electrokinetic cell 20, and by electrokinetic cell 20 along big
Cause vertical direction to be lifted to target and change electric position (reference picture 3B).That is, battery handling part can with battery transhipment portion
Relative displacement is produced in a first direction, and the relative displacement can make battery transhipment portion and battery handling part alternately contact power electric
Pond 20.As can be seen that the setting by above-mentioned some receiving holes 154 so that battery handling part can be by being decreased below electricity
The set-up mode in pond transhipment portion, space hold of the electricity changing robot 10 on vertical direction (Z-direction in Fig. 1) is reduced, is made
Obtaining electricity changing robot 10 has bigger operating space to complete to change electronic work, and then is lifted indirectly and change electrical efficiency.
Control unit removes the accurate control that can be realized to each part mentioned above so that entirely changes electric process accurate positioning, acts
It is smooth outer, also there is the function of obtaining positional information.As it was previously stated, control unit can reach target for the first time in battery handling part
When changing electric position, the positional information of battery handling part is recorded, so that the second primary cell handling part is not required to resetting just
Target can directly be reached and change electric position.By way of being used to second position by the location information of first time positioning, changing
Directly reduce positioning number in electric process, also just have correspondingly and once change changing the electric time in electric process, and then improve
Change electrical efficiency.Preferably, control unit can be arranged on body 11.Certainly, the set location of control unit can not also change
On electric machine people 10, operation room can also be such as arranged on, the work of electricity changing robot 10 is then controlled by modes such as radio communications
Make etc..
In addition, for ease of manufacturing track leading type electricity changing robot 10, the manufacturing cost of electricity changing robot 10, this reality are saved
Can accordingly be transformed on the basis of existing railway guidance car (RGV) with new track leading type electricity changing robot 10 and
Come.Specifically, on the basis of existing RGV, retain its body, power supply and running part, increase location division, battery handling part and
Battery transhipment portion, and upgrade the function of control unit, make it have outside the function of obtaining positional information, additionally it is possible to complete to entirely changing
Electric process automatically controls, and so as to both save manufacturing cost, can realize the utility model again.
Further, can also be in mode of operation to electricity changing robot in order to improve the universality of electricity changing robot 10
10 are classified, and the mode of operation of electricity changing robot 10 is divided into automatic mode, semiautomatic-mode and manual mode.Wherein, exist
Under automatic mode, control unit can control electricity changing robot 10 to complete entirely to change electric current journey.In semi-automatic mode, operating personnel
By confirming that each step action is completed, such as previous step is confirmed by way of clicking on the Next button on human-computer interaction interface
Operating procedure is errorless, and then completes entirely to change electric current journey.In a manual mode, operating personnel's manual operation electricity changing robot 10
Action, running part work or the lifting of control battery handling part are such as controlled, and then complete entirely to change electric current journey.
Referring to Fig. 4, Fig. 4 is the flow for the changing method for electrically signal of railway guidance type electricity changing robot of the present utility model
Figure.As shown in figure 4, the utility model additionally provide a kind of railway guidance type electricity changing robot change method for electrically, this method is main
Including：
S100, make electrokinetic cell handling part be in target to change electric position.
S200, battery handling part make the electrokinetic cell in power shortage state depart from electric car to be changed.
S300, battery handling part electrokinetic cell of the carrying in full power state arrive again at target and change electric position.
S400, battery handling part make the electrokinetic cell in full power state be fixed on electric car to be changed.
Wherein, S100 may further include again：
S110, electricity changing robot 10 reach the projected position that target changes electric position；
S120, location division make battery handling part to change current potential in target in a manner of away from body 11 in the first direction
Put；
S130, the current location information for obtaining electricity changing robot 10.
Wherein, S300 may further include again：
S310, electricity changing robot 10 arrive again at projected position；
S320, based on current location information, battery handling part to locate again in a manner of away from body 11 in the first direction
Electric position is changed in target.
Wherein, first direction can be the direction (Z-direction in Fig. 1) of general vertical.
Using using railway guidance type electricity changing robot 10 of the present utility model be electric electric automobile to be changed change electricity as
Example, once completely changing electric process can be：
S1：Electric automobile to be changed stops changing level platform to electric charging station.
S2：Electricity changing robot 10 moves under the rolling of running part from initial position zero load along definitive orbit, passes through machinery
Keeper and position sensor position to the target with electric automobile and change the corresponding projected position of electric position.
S3：Lifting platform 153 rises under the driving of scissors bogie 152, and is positioned to target and changed using alignment pin 141
Electric position, control unit record the positional information of now lifting platform 153.
S4：Unlocking mechanism 151 is added the electrokinetic cell in power shortage state is departed from electric automobile, in lifting platform 153
Setting position.
S5：Electrokinetic cell of the carrying of electricity changing robot 10 in power shortage state moves under the rolling of running part along definitive orbit
It is dynamic, positioned by mechanical locators and position sensor to charging and conversion electric frame and fetch and deliver position.
S6：It is flat that electrokinetic cell in power shortage state is transported to conveying by battery transhipment portion under the guiding of gib block 131
The platform and then electrokinetic cell is transported to charging and conversion electric frame by delivery platform.
S7：The electrokinetic cell in full power state on charging and conversion electric frame, and logical gib block 131 are transported by battery transhipment portion
Guiding and the spacing electrokinetic cell made in full power state of limited block 132 be in the setting position of lifting platform 153.
S8：Electricity changing robot 10 moves under the rolling of running part along definitive orbit, is passed by mechanical locators and position
Sensor is repositioned to projected position.
S9：Based on the positional information of control unit record, make electrokinetic cell of the carrying of lifting platform 153 in full power state again
Secondary arrival target changes electric position.
S10：The vehicle body for adding unlocking mechanism 151 to make the electrokinetic cell in full power state be fixed on electric automobile.
S11：Electricity changing robot 10 moves back to initial position.
It should be noted that initial position can be a certain fixed position in electric charging station, electricity service is not being changed
Under situation, electricity changing robot 10 can rest on the fixed position.In the case of electricity service change, electricity changing robot 10 from
Electric service is changed in fixed position offer of setting out.
The utility model additionally provides a kind of electric charging station, and the electric charging station changes electricity including at least foregoing railway guidance type
Robot 10, and the electricity changing robot 10 can be in the electric charging station according to above-mentioned railway guidance type electricity changing robot 10
Method for electrically is changed to complete to change the action of electrokinetic cell for electric electric automobile to be changed.
In summary, railway guidance type electricity changing robot 10 of the present utility model, electric charging station and change in method for electrically, track
Guided electricity changing robot 10 mainly includes body 11 and the running part being arranged on this, limiting section, location division, battery dress
Unload portion, battery transhipment portion, control unit and power supply.Running part includes four driving wheels 121 and four driven pulleys 122, spacing
Portion includes gib block 131 and limited block 132, location division include mechanical locators and position sensor (the first positioning unit), with
And machinery positioning pin 141 (the second positioning unit), battery handling part includes plus unlocking mechanism 151, bogie and lifting platform
153, there is receiving hole 154 on lifting platform 153.Battery transhipment portion includes some roller groups and some roller groups, and roller
A part of receiving hole 154 can be contained in group and roller group.Control unit can be by accurately being controlled other each portions
Mode, make entirely to change electric process and be automatically performed, and control unit can also record battery handling part and change current potential in target
Positional information when putting.Control and the set-up mode of driving wheel 121 and driven pulley 122 by control unit, make to change electric machine
The smooth ride in electric process is changed of people 10, accurate positioning.Setting and power rollers set by control unit record position information
The grade set-up mode of receiving hole 154 can be contained in a part of in return idler group, increase electricity changing robot 10 changes electricity
Space, and then shorten and change the electric time, improves and changes electrical efficiency, and be advantageous to that service provider provides the user high quality changes electric clothes
Business.
So far, combined preferred embodiment shown in the drawings describes the technical solution of the utility model, still, this
Art personnel are it is easily understood that the scope of protection of the utility model is expressly not limited to these embodiments.
On the premise of principle of the present utility model, those skilled in the art can make equivalent change to correlation technique feature
Or replace, the technical scheme after these are changed or replaced it is fallen within the scope of protection of the utility model.
Claims (14)
1. a kind of railway guidance type electricity changing robot, it is characterised in that the electricity changing robot includes body and is arranged at institute
The battery transhipment portion and battery handling part of body are stated,
Wherein, the battery transhipment portion can make the setting position of the battery arrival electricity changing robot；
Wherein, the battery handling part can be to be moved in a manner of close/remote body in the first direction, the movement energy
The target of close/remote electric car to be changed of the battery is enough set to change electric position；And
In assembled state, the battery handling part is set in a manner of not interfering the battery transhipment portion.
2. railway guidance type electricity changing robot according to claim 1, it is characterised in that the battery handling part with it is described
Battery transhipment portion can produce relative displacement in said first direction, and the relative displacement can at least make the battery transhipment portion
Alternately the battery is contacted with the battery handling part.
3. railway guidance type electricity changing robot according to claim 2, it is characterised in that the battery transhipment portion with it is described
Body is fixedly connected, and the battery handling part can be by the first direction in a manner of close/remote body relative to institute
State the movement of battery transhipment portion.
4. railway guidance type electricity changing robot according to claim 3, it is characterised in that the battery handling part includes：
Add unlocking mechanism, described plus unlocking mechanism can make the battery lock/disengage the electric car to be changed；And
Lifting mechanism, the lifting mechanism can be to make the battery in a manner of close/remote body in the first direction
Reach the target and change electric position.
5. railway guidance type electricity changing robot according to claim 4, it is characterised in that the lifting mechanism includes：
Drive mechanism：It is fixedly connected on the body, and the drive mechanism can be in the first direction with close/remote institute
The mode for stating body moves；
Lifting platform：It is fixedly connected on the drive mechanism, and the lifting platform has some receiving holes, the receiving
Hole allows the part in the battery transhipment portion to be accommodated therein.
6. railway guidance type electricity changing robot according to claim 3, it is characterised in that if the battery transhipment portion includes
Dry roller group and/or some roller groups, and some roller groups and/or some roller groups are fixed with the body and connected
Connect.
7. railway guidance type electricity changing robot according to claim 6, it is characterised in that the electricity changing robot also configures
Limited location portion, the limiting section can make the battery be in the setting position.
8. railway guidance type electricity changing robot according to claim 7, it is characterised in that the limiting section includes being arranged at
Some groups of gib blocks and several limited blocks on ground near the body and/or the track and/or the track,
Wherein, some groups of gib blocks can limit the movement of the battery in a second direction；
Wherein, several described limited blocks can make the battery be in the setting position along third direction.
9. railway guidance type electricity changing robot according to claim 7, it is characterised in that the electricity changing robot also includes
Location division, the location division can complete electricity changing robot positioning in orbit and the battery changes motor described
Positioning on device people.
10. railway guidance type electricity changing robot according to claim 9, it is characterised in that the location division includes first
Positioning unit and the second positioning unit,
Wherein, first positioning unit can make the electricity changing robot be in the projected position that the target changes electric position；
Wherein, second positioning unit can make the battery handling part be in the target to change electric position.
11. railway guidance type electricity changing robot according to claim 10, it is characterised in that first positioning unit is
It is arranged at the mechanical locators and/or alignment sensor of the bottom of the body；
Second positioning unit is several alignment pins for being arranged at the battery handling part.
12. the railway guidance type electricity changing robot according to any one of claim 1 to 11, it is characterised in that described to change
Electric machine people also includes control unit, and the control unit can at least obtain the current location information of the electricity changing robot.
13. railway guidance type electricity changing robot according to claim 12, it is characterised in that the electricity changing robot is also wrapped
Running part is included, the running part is arranged at the body, and the running part can drive the electricity changing robot in default track
Upper movement, the movement can at least make the electricity changing robot reach with the target projected position that to change electric position corresponding,
And
In the case of the electricity changing robot is in the projected position, the battery handling part can change electricity in the target
The battery is changed for the electric car to be changed in position.
14. a kind of electric charging station, it is characterised in that the electric charging station is included any one of preceding claims 1 to 13
Railway guidance type electricity changing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720534015.5U CN206812967U (en) | 2017-05-15 | 2017-05-15 | Railway guidance type electricity changing robot, electric charging station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720534015.5U CN206812967U (en) | 2017-05-15 | 2017-05-15 | Railway guidance type electricity changing robot, electric charging station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206812967U true CN206812967U (en) | 2017-12-29 |
Family
ID=60755666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720534015.5U Withdrawn - After Issue CN206812967U (en) | 2017-05-15 | 2017-05-15 | Railway guidance type electricity changing robot, electric charging station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206812967U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097762A (en) * | 2017-05-15 | 2017-08-29 | 上海蔚来汽车有限公司 | Railway guidance type electricity changing robot, electric charging station and change method for electrically |
| CN109515398A (en) * | 2018-08-14 | 2019-03-26 | 蔚来汽车有限公司 | Change electric installation |
| CN111873849A (en) * | 2020-07-17 | 2020-11-03 | 蓝谷智慧(北京)能源科技有限公司 | Battery replacement method for electric automobile |
-
2017
- 2017-05-15 CN CN201720534015.5U patent/CN206812967U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097762A (en) * | 2017-05-15 | 2017-08-29 | 上海蔚来汽车有限公司 | Railway guidance type electricity changing robot, electric charging station and change method for electrically |
| WO2018210017A1 (en) * | 2017-05-15 | 2018-11-22 | 上海蔚来汽车有限公司 | Rail guided battery replacing robot, battery charging and replacing station, and battery replacing method |
| CN109515398A (en) * | 2018-08-14 | 2019-03-26 | 蔚来汽车有限公司 | Change electric installation |
| CN111873849A (en) * | 2020-07-17 | 2020-11-03 | 蓝谷智慧(北京)能源科技有限公司 | Battery replacement method for electric automobile |
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| AV01 | Patent right actively abandoned |
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