CN206812968U - Homing guidance type electricity changing robot and electric charging station - Google Patents
Homing guidance type electricity changing robot and electric charging station Download PDFInfo
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- CN206812968U CN206812968U CN201720534830.1U CN201720534830U CN206812968U CN 206812968 U CN206812968 U CN 206812968U CN 201720534830 U CN201720534830 U CN 201720534830U CN 206812968 U CN206812968 U CN 206812968U
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- changing robot
- electricity changing
- electric
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- homing guidance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
It the utility model is related to and change electrical domain, and in particular to a kind of homing guidance type electricity changing robot and electric charging station.The utility model aims to solve the problem that the problem of high electric system complexity, electricity changing robot very flexible are changed present in existing battery altering scheme.Electricity changing robot of the present utility model includes body and is arranged at running part and the battery handling part of body, running part can drive electricity changing robot to be moved in the range of setting, and the movement can at least be such that electricity changing robot reaches and the target of the electric car to be changed projected position that to change electric position corresponding；In the case of electricity changing robot is in projected position, battery handling part can be that electric car to be changed changes battery.Pass through control unit and the set-up mode of running part so that electricity changing robot, which need not lay guide rail, can complete positioning with electric car to be changed, add the flexibility of electricity changing robot, reduce system complexity.
Description
Technical field
It the utility model is related to and change electrical domain, and in particular to a kind of homing guidance type electricity changing robot and electric charging station.
Background technology
With the popularization of new-energy automobile, how the automobile effectively for energy deficiency provides fast and effectively energy supply
The problem of being paid special attention to as car owner and all big enterprises.By taking electric automobile as an example, the electric energy supply scheme of current main-stream includes filling
Electric scheme and battery altering scheme.Wherein battery altering scheme is the direct power shortage battery with full electric battery altering electric automobile.
Relative to charging scheme, battery altering scheme in the very short time due to that can complete to change and to the service life of electrokinetic cell
One of do not influence significantly, therefore be the main direction of development of electric energy supply.Battery altering scheme is usually in electric charging station
Interior completion, specifically, in electric charging station be configured with charging and conversion electric frame and change level platform, and charging and conversion electric frame and change level platform it
Between the full electricity/power shortage electrokinetic cell of delivery electricity changing robot, such as piler/railway guidance car (Rail Guided
Vehicle, RGV).Electricity changing robot is by charging and conversion electric frame and changing between level platform on the track laid in advance what is back and forth travelled
Mode, complete to be stopped at the action that the electric automobile changed on level platform changes electrokinetic cell.
But the problem of above-mentioned electricity changing robot is present is：Although default track can limit electricity changing robot with motion side
Motion on vertical direction, and ensure in the positioning precision that this side up, but this limitation mode also to change motor
The kinematic dexterity of device people is poor.Carry out correspondingly determining on level platform is changed moreover, above-mentioned limitation mode also needs to electric automobile
Position.That is, when changing electricity for electric automobile, it is necessary to which electric car to be changed is pin-pointed to and track pair on level platform is changed
Electric position is changed in the fixation answered, and is also pin-pointed to after this changes projected position corresponding to electric position in electricity changing robot, ability
Enough carry out changing electricity.As electric car to be changed the detent mechanism that is changed typically by being arranged on level platform of positioning with promote tire,
What the mode of wheel hub or vehicle body was realized, this just increase accordingly the design complexities for changing level platform, but also may be because
Detent mechanism promotes deviation caused by tire or wheel hub and vehicle is caused to damage.
Correspondingly, this area needs a kind of new homing guidance type electricity changing robot to solve the above problems.
Utility model content
It has been electricity changing robot present in solution battery altering scheme to solve above mentioned problem of the prior art
Very flexible, the problem of electric system complexity is high is changed, the utility model provides a kind of homing guidance type electricity changing robot, should
Homing guidance type electricity changing robot includes body and is arranged at running part and the battery handling part of the body, the running part
The electricity changing robot can be driven to be moved in the range of setting, the movement can at least make the electricity changing robot reach with
The target of electric car to be changed changes the corresponding projected position of electric position；The feelings of the projected position are in the electricity changing robot
Under shape, the battery handling part can be that the electric car to be changed changes battery.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the electricity changing robot also includes positioning
Portion, the location division can at least obtain the current location of the electricity changing robot and the target changes the relative position of electric position
Put.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the electricity changing robot also includes control
Portion, the control unit can at least be based on the relative position, make described to change electricity by way of controlling the running part to work
Robot reaches the projected position.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the location division includes：First positioning is single
Member, it can make the electricity changing robot be generally in the projected position；And second positioning unit, change electric machine described
In the case of people is generally in the projected position, second positioning unit can be by way of obtaining the relative position
The electricity changing robot is set to reach the projected position.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the positioning precision of second positioning unit
Not less than the positioning precision of first positioning unit.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, first positioning unit is is arranged at
State the magnetic stripe alignment sensor of body.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, second positioning unit is vision positioning
Device.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, it is single that the location division also includes the 3rd positioning
Member, it can make the battery handling part be in the target to change electric position in a manner of machinery positioning.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the 3rd positioning unit is can be with institute
State the alignment pin of electric vehicle match connection to be changed.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the battery handling part includes：Lifting machine
Structure, it can make the battery arrival target change electric position；And adding unlocking mechanism, it can change current potential in the target
Putting makes the battery lock/disengage the electric car to be changed.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the running part, which includes several, to be made
The electricity changing robot realizes the wheel construction of omnidirectional moving.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the wheel construction be spider gear, steering wheel or
Mecanum wheel.
In the optimal technical scheme of above-mentioned homing guidance type electricity changing robot, the running part can also be by driving
Stating the mode that electricity changing robot moves in the range of setting makes the electricity changing robot reach default emergency position.
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, homing guidance type changes
Electric machine people includes body and is arranged at running part and the battery handling part of body.Wherein, running part can band move motor
Device people is moved in the range of setting changes the corresponding projected position of electric position, battery department of assembly energy with the target of electric car to be changed
Enough in the case of electricity changing robot is moved to projected position, battery is changed for electricity changing robot.Electricity is moved by running part band
The set-up mode that robot moves in the range of setting so that electricity changing robot need not spread it is special set guide rail in the case of,
The positioning with electric car to be changed can be completed, the flexibility of electricity changing robot is added, reduces system complexity.
Scheme 1, a kind of homing guidance type electricity changing robot, it is characterised in that the electricity changing robot include body and
Running part and the battery handling part of the body are arranged at,
The running part can drive the electricity changing robot to be moved in the range of setting, and the movement can at least make institute
Electricity changing robot is stated to reach and the target of the electric car to be changed projected position that to change electric position corresponding；
In the case of the electricity changing robot is in the projected position, the battery handling part can be described to be changed
Electric car changes battery.
Scheme 2, the homing guidance type electricity changing robot according to scheme 1, it is characterised in that the electricity changing robot is also
Including location division, the location division can at least obtain the current location of the electricity changing robot and the target changes electric position
Relative position.
Scheme 3, the homing guidance type electricity changing robot according to scheme 2, it is characterised in that the electricity changing robot is also
Including control unit, the control unit can at least be based on the relative position, be made by way of controlling the running part to work
The electricity changing robot reaches the projected position.
Scheme 4, the homing guidance type electricity changing robot according to scheme 3, it is characterised in that the location division includes：
First positioning unit, it can make the electricity changing robot be generally in the projected position；And
Second positioning unit, in the case of the electricity changing robot is generally in the projected position, described second is fixed
Bit location can make the electricity changing robot reach the projected position by way of obtaining the relative position.
Scheme 5, the homing guidance type electricity changing robot according to scheme 4, it is characterised in that second positioning unit
Positioning precision be not less than first positioning unit positioning precision.
Scheme 6, the homing guidance type electricity changing robot according to scheme 4, it is characterised in that first positioning unit
To be arranged at the magnetic stripe alignment sensor of the body.
Scheme 7, the homing guidance type electricity changing robot according to scheme 4, it is characterised in that second positioning unit
For vision positioning device.
Scheme 8, the homing guidance type electricity changing robot according to scheme 4, it is characterised in that the location division also includes
3rd positioning unit, it can make the battery handling part be in the target to change electric position in a manner of machinery positioning.
Scheme 9, the homing guidance type electricity changing robot according to scheme 8, it is characterised in that the 3rd positioning unit
For the alignment pin that can be connected with the electric vehicle match to be changed.
Scheme 10, the homing guidance type electricity changing robot according to scheme 1, it is characterised in that the battery handling part
Including：
Lifting mechanism, it can make the battery arrival target change electric position；And
Add unlocking mechanism, it can change electric position in the target makes the battery lock/disengage the electric car to be changed.
Scheme 11, the homing guidance type electricity changing robot according to scheme 1, it is characterised in that the running part includes
Several can make the electricity changing robot realize the wheel construction of omnidirectional moving.
Scheme 12, the homing guidance type electricity changing robot according to scheme 11, it is characterised in that the wheel construction is poor
Speed wheel, steering wheel or Mecanum wheel.
Scheme 13, the homing guidance type electricity changing robot according to scheme 1, it is characterised in that the running part can also
It is enough the electricity changing robot is reached default answer by way of movement in the range of setting driving the electricity changing robot
Anxious position.
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 homing guidance type electricity changing robot of the present utility model；
Fig. 2 is the system diagram of the control closed loop of homing guidance type electricity changing robot of the present utility model；
Fig. 3 is the position view of the positioning telltale mark point of electric electric automobile bottom to be changed of the present utility model.
Reference numerals list
11st, body；12nd, spider gear；13rd, battery handling part；131st, unlocking mechanism is added；132nd, shearing type lifting mechanism structure；133、
Lifting platform；141st, vision positioning device；142nd, alignment pin；15th, control unit；2nd, electric automobile；3rd, telltale mark point.
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, it is four that although the spider gear of electricity changing robot, which sets quantity, in accompanying drawing, this non-one one-tenth of quantitative relation is not
Become, those skilled in the art can make adjustment to it as needed, to adapt to specific application scenario.
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.
Reference picture 1, Fig. 2 and Fig. 3, wherein, Fig. 1 is the structural representation of homing guidance type electricity changing robot of the present utility model
Figure, Fig. 2 is the system diagram of the control closed loop of homing guidance type electricity changing robot of the present utility model, and Fig. 3 is of the present utility model
The position view of the positioning telltale mark point of electric electric automobile bottom to be changed.As shown in figure 1, of the present utility model lead automatically
Draw type electricity changing robot (hereafter can be referred to as electricity changing robot in the description) be preferably adapted for chassis change electricity it is electronic
Automobile, the electricity changing robot mainly include body 11, running part, battery handling part 13, location division (not shown), control unit
15 and power supply unit (not shown).Wherein, running part can make electricity changing robot in the model of setting by the rolling of itself
Enclose interior movement.Location division can at least obtain the current location of electricity changing robot and the relative position of electric electric automobile 2 to be changed,
As location division can obtain the current location of electricity changing robot and the target of electric electric automobile 2 to be changed change it is relative between current potential
Position.Control unit 15 can at least be based on relative position control running part action, electricity changing robot is accurately reached target
The projected position of electric position is changed, and then under the projected position, control unit 15 can control battery handling part 13 to reach target and change
Electric position and the replacing that electrokinetic cell is carried out for electric electric automobile 2 to be changed.It should be noted that the scope of setting can be situated between
In the scope changed between level platform and charging and conversion electric frame in electric charging station, within the range, electricity changing robot can be without paving
If in the case of guide rail, reach optional position.It can be that the position of electrokinetic cell is changed for electric automobile 2 that target, which changes electric position,
Changing electric position such as target can be installation site of the electrokinetic cell in the vehicle body of electric automobile 2 of electric automobile 2, and change electric machine
The battery handling part 13 of people can smoothly complete the power in power shortage state is electric from the installation site in the installation site
Unload or be fixed on the electrokinetic cell in full power state the action of the installation site in pond.
As shown in Figure 2, that is to say, that under the control of control unit 15, control unit 15, running part and location division can be formed
One control closed loop, the control closed loop cause electricity changing robot often to adjust a position by the rolling of running part, and location division is just
The current location of an electricity changing robot can be obtained and preceding aim changes the relative position of electric position, control unit 15 passes through the phase
The position of a successive step electricity changing robot is scrolled into position control running part, until relative positional accuracy is determined in what is set
In the accuracy rating of position, i.e., it can be that electric electric automobile 2 to be changed smoothly changes electrokinetic cell that electricity changing robot, which accurately reaches,
Position, i.e., above-mentioned projected position.As can be seen that move electricity changing robot by running part, and running part, the and of control unit 15
Location division forms the setting of control closed loop, and electricity changing robot can be made to be precisely located in the case of guide rail is departed to target and changed
The projected position of electric position, realize the dynamic battery changing action of electric electric automobile 2 to be changed.Aforesaid way, which not only increases, to be changed
The kinematic dexterity of electric machine people so that electricity changing robot can depart from traditional double guide rails movement, eliminate the laying of guide rail
Difficulty, it is also greatly reduced the design complexities for changing level platform so that electric automobile 2 need not be accurately positioned on level platform is changed,
In the case of even without positioning, you can change electrokinetic cell, and then avoid detent mechanism to caused by the possibility of electric automobile 2
Damage.
Reference picture 1, specifically, homing guidance type electricity changing robot mainly include body 11 and are arranged on body 11
Running part, location division, battery handling part 13, control unit 15 and power supply unit.Wherein, power supply unit can be electricity changing robot
Electric energy is provided, such as power supply unit can provide electric energy by the power supply mode of battery unpowered line for electricity changing robot, or logical
The power supply mode that crossing cable being connected with power network etc. has supply lines is powered for electricity changing robot.Wherein, body 11 can be profile
Generally rectangular sheet metal structural.Had the advantage that using this material, body 11 is in the course of the work due to material
High-strength characteristic will not deform upon substantially, can reduce the operating error of other each several parts set on body 11, make to change
The positioning and action of electric machine people is more accurate.Certainly, the material and shape of body 11 are not unique, and those skilled in the art can
It is adjusted flexibly with being made according to different application environments to it, as long as the adjustment disclosure satisfy that body 11 is not likely to produce at work
The condition of deformation.Such as body 11 can also be welded by I-shaped steel part or stainless steel square tube, angle steel material.
With continued reference to Fig. 1, running part, which includes being installed on below body 11, electricity changing robot is realized omnidirectional moving
Several wheel constructions, the wheel construction can be by the omnidirectional moving of the scrolling realization electricity changing robot of itself, and then increases and change
The kinematic dexterity of electric machine people.Preferably, wheel construction can be mounted in 11 4 spider gears 12 of electricity changing robot body.
That is control unit 15 can be by controlling four spider gears 12 work, and then make electricity changing robot to move along a straight line and original place
The mode of rotation realizes omnidirectional moving, and then accurately reaches projected position.In addition to spider gear 12, wheel construction is also an option that rudder
Wheel or Mecanum wheel etc. can realize the wheel of omnidirectional moving, and setting quantity those skilled in the art of omni-directional wheel also may be used
To be adjusted based on concrete application environment.The characteristics of can realizing omnidirectional moving just because of spider gear 12 so that change motor
Device people still is able to navigate to target and changes electric position, and its motion spirit of electricity changing robot in the case where that need not lay guide rail
Activity greatly increases.
It is further preferred that due to limitation of the movement without guide rail of electricity changing robot, electricity changing robot can also be expanded
The function of electric secure context is being changed, the emergent position in setting range can also be reached under the drive of running part such as electricity changing robot
Put.That is, normally changing outside the predeterminated position of electric current journey, one electrokinetic cell when case of emergency occurs of setting faces
When processing position, the electrokinetic cell in abnormality is transported to the position in time for electricity changing robot, so as to in
The electrokinetic cell of abnormality makes timely disposal.One emergent position such as is set in a certain safer position of electric charging station
Put, and the emergency position is provided with the emergent sandbox for isolating electrokinetic cell, detects that certain is dynamic in system or attendant
In the case of power battery is in abnormality, electricity changing robot can will be in different under the control of control unit 15 or operating personnel
The electrokinetic cell of normal state is transported in the emergent sandbox in time, to isolate the battery that this is in abnormality, avoids changing to fill
Bring unpredictable consequence in power station.
Reference picture 1 and Fig. 3, it is fixed that location division includes the first positioning unit (not shown), the second positioning unit and the 3rd
Bit location.Wherein, the first positioning unit (is generally in the projection position for electricity changing robot in the coarse positioning of projected position
Put), the second positioning unit is used for fine positioning of the electricity changing robot in projected position, and the 3rd positioning unit is used to aid in the second positioning
Unit carries out fine positioning.That is, location division can complete being accurately positioned for electricity changing robot by way of Locate step by step,
And the positioning precision of the first positioning unit is less than the positioning precision of the second positioning unit.Preferably, the first positioning unit can be with
It is magnetic stripe alignment sensor, i.e., lays magnetic stripe on the ground of electricity changing robot walking, and under the body 11 of electricity changing robot
Surface sets magnetic stripe alignment sensor, and the thick fixed of electricity changing robot is carried out by way of magnetic stripe alignment sensor reads magnetic stripe
Position, makes electricity changing robot be generally in projected position.Preferably, the second positioning unit can be vision positioning device 141, that is, exist
The upper surface of electricity changing robot body 11 sets vision positioning camera, is set on the vehicle body or electrokinetic cell of electric automobile 2
Telltale mark point 3 (reference picture 3), obtained by way of vision positioning camera gathers telltale mark point 3 electricity changing robot with
Target changes the relative position of electric position, and then control unit 15 controls running part to be accurately positioned to projected position.Preferably, the 3rd is fixed
Bit location can be alignment pin 142, i.e., alignment pin 142 is set on battery handling part 13, and on the vehicle body of electric automobile 2
The positioning hole corresponding with alignment pin 142 is provided with, is connected by alignment pin 142 with plugging together for positioning hole, examines the second positioning
The positioning precision of unit, reach the purpose for further improving positioning precision.It is further preferred that improved from using Redundancy Design
From the point of view of stability, floating installation can also be increased between alignment pin 142 and battery handling part 13, determined with cooperative mechanical
Position, improve the position stability of electricity changing robot.
As can be seen that the Locate step by step for passing through location division so that improving the flexibility of electricity changing robot, reducing and change electric system
On the premise of the complexity of system, electricity changing robot can accurately reach projected position.Certainly, the setting side of above-mentioned location division
Formula, set location and setting quantity are not unalterable, and such as the first positioning unit can also be infrared sensor or graphic code
Identification sensor etc. (now the vehicle body of electric automobile 2 need to mount corresponding infrared markers and bar code).
With continued reference to Fig. 1, battery handling part 13 further comprises plus unlocking mechanism 131 and lifting mechanism.Wherein, lifting machine
Structure can make electrokinetic cell arrival target change electric position by lifting power battery, add unlocking mechanism 131 can be in electrokinetic cell
After arrival target changes electric position, electrokinetic cell is set to lock/disengage the vehicle body of electric automobile 2.Preferably, lifting mechanism can be included
Shearing type lifting mechanism structure 132 and the lifting platform 133 in the shearing type lifting mechanism structure 132, lifting platform 133 are used to place power
Battery, shearing type lifting mechanism structure 132 then can together lift lifting platform 133 directly together with the electrokinetic cell on lifting platform 133
Electric position is changed to target is reached.Unlocking mechanism 131 is added then to make in the case where electrokinetic cell arrival target changes electric position
The vehicle body of electric automobile 2 is locked/disengaged to power battery.As it was previously stated, alignment pin 142 and vision positioning are provided with lifting platform 133
Device 141, and it is provided with floating installation between alignment pin 142 and lifting platform 133.
Control unit 15 removes the accurate control that can be realized to each part mentioned above so that entirely changes electric process accurate positioning, moves
Make outside smooth, also there is the relative position obtained based on the second positioning unit, control running part is rolled so that electricity changing robot is smart
The function of projected position is reached accurately.Namely foregoing control unit 15, running part and location division can form a control and close
Ring, it is accurate to by this control closed loop electricity changing robot in the case of without guide rail up to projected position.Preferably, control unit
15 can be arranged on body 11, be connected with other each several parts with data wire.Certainly, the set location of control unit 15 can not also
In electricity changing robot, operation room can also be such as arranged on, each of electricity changing robot is then controlled by modes such as radio communications
Part work etc..
Control closed loop between control unit 15, location division and running part can be realized with following manner：
When electricity changing robot runs to electric electric automobile 2 to be changed by the first positioning unit (magnetic stripe alignment sensor)
During bottom, the second positioning unit (vision positioning device 141) obtains the image of telltale mark point 3, and calculates telltale mark point 3 with changing
The relative position of electric machine people, and relative position is sent to control unit 15, control unit 15 is sent out according to relative position to running part
Send motion contain moving displacement control instruction, after running part is based on the instruction campaign in place, transmission in place signal to control unit 15,
Control unit 15 sends collection image to the second positioning unit again and computations, the second positioning unit calculate relative position again,
Untill relative position is within positioning precision.
In addition, for ease of manufacturing track leading type electricity changing robot, the manufacturing cost of electricity changing robot is saved, this practicality is new
The homing guidance type electricity changing robot of type can be based on existing automatic guided vehicle (Automatic Guided Vehicle, AGV)
Transformation forms.Specifically, on the basis of existing automatic guided vehicle, its body 11, power supply and running part, increase positioning are retained
Portion and battery handling part 13, and upgrade the function of control unit 15, control closed loop can be formed with running part and location division, also
It can complete to automatically control to entirely changing electric process, so as to both save manufacturing cost, the utility model can be realized again.
Further, in order to improve the universality of electricity changing robot, electricity changing robot can also be entered in mode of operation
Row classification, is divided into automatic mode, semiautomatic-mode and manual mode by the mode of operation of electricity changing robot.Wherein, in automatic mold
Under formula, control unit 15 can form control closed loop with running part and location division, and control electricity changing robot, which is automatically performed, entirely changes electricity
Flow.In semi-automatic mode, operating personnel are by confirming that each step action is completed, such as by being clicked on human-computer interaction interface
The mode of the Next button confirms that previous action step is errorless, and then completes entirely to change electric current journey.In a manual mode, grasp
Make the action of personnel's manual operation electricity changing robot, such as control running part work or control battery handling part 13 to lift, and then
Completion entirely changes electric current journey.
In certain above-mentioned embodiment, the functions of electricity changing robot are to change current potential in target based on electricity changing robot
Described in the case of putting positioning.In addition, the positioning scenarios of electricity changing robot and the charging and conversion electric frame in electric charging station with it is upper
It is similar to state situation, therefore not to repeat here.
By chassis change electricity change electrically exemplified by, homing guidance type electricity changing robot of the present utility model is electric electricity to be changed
Electrical automobile 2 carries out changing electric once complete process：
S1：Electric electric automobile 2 to be changed stops changing level platform to electric charging station.
S2：Electricity changing robot passes through the control between control unit 15, location division and running part under the control of control unit 15
Closed loop, the target that electric automobile 2 is moved to from initial position changes the projected position of electric position, and completes accurate with projected position
Positioning.
S3：The lifting mechanism of battery handling part 13 reaches target and changes electric position, adds unlocking mechanism 131 to pull down in power shortage shape
The electrokinetic cell of state.
S4：Electrokinetic cell of the electricity changing robot carrying in power shortage state reaches fetching and delivering position and passing through control for charging and conversion electric frame
Control closed loop between portion 15 processed, location division and running part, completes and fetches and delivers being accurately positioned for position.
S5：Electrokinetic cell in power shortage state is transported to charging and conversion electric frame by battery handling part 13 by fetching and delivering position, and
Confirm that the electrokinetic cell in power shortage state has left electricity changing robot.
S6：Electricity changing robot receives the electrokinetic cell in full power state that charging and conversion electric frame transports by fetching and delivering position.
S7：Electrokinetic cell of the electricity changing robot carrying in full power state is again by control unit 15, location division and walking
Control closed loop between portion, completion are accurately positioned with projected position.
S8：The lifting mechanism of battery handling part 13 reaches target and changes electric position, adds unlocking mechanism 131 to be in full power state
Electrokinetic cell be fixed on the vehicle body of electric automobile 2.
S9：Electricity changing robot moves back to initial position.So far, electric completion is changed.
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 can rest on the fixed position.In the case of electricity service change, electricity changing robot is solid from this
Positioning puts offer of setting out and changes electric service.It can be charging and conversion electric frame and position of the electricity changing robot for exchanging electrokinetic cell to fetch and deliver position
Put, that is to say, that the electrokinetic cell in power shortage state can be fetched and delivered position by this and be transitted to charging and conversion electric by electricity changing robot
Frame, while the electrokinetic cell in full power state can be fetched and delivered position by this and be transitted to electricity changing robot by charging and conversion electric frame.
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, and the electricity changing robot can change electricity side in the electric charging station according to above-mentioned railway guidance type electricity changing robot
Method is completed to change the action of electrokinetic cell for electric electric automobile to be changed.
In homing guidance type electricity changing robot and electric charging station of the present utility model, homing guidance type electricity changing robot includes
Body 11 and the running part being arranged on body 11, location division, battery handling part 13, control unit 15 and power supply unit.Wherein,
Running part is the spider gear 12 of four achievable omnidirectional movings, and location division includes realizing magnetic stripe alignment sensor, the reality of coarse positioning
The vision positioning device 141 and auxiliary of existing fine positioning realize the alignment pin 142 of fine positioning.Battery handling part 13 includes making
Electrokinetic cell locking/disengagement plus unlocking mechanism 131 and can be with the lifting mechanism of lifting power battery.Control unit 15 then except
It can be achieved outside the control to above-mentioned part, additionally it is possible to form control closed loop with running part and location division, and then realize and be accurately positioned.
By way of homing guidance type electricity changing robot sets omni-directional wheel so that in electric process is changed, electricity changing robot can depart from
Guide rail is positioned, flexibility increase, and in which case, electric automobile 2 on level platform is changed due to without being determined
Position and avoid detent mechanism to electric automobile 2 may caused by damage.Pass through the control of control unit 15, location division and running part
The set-up mode of closed loop, also improve the positioning precision of electricity changing robot.Further, above-mentioned set-up mode, due to without paving
If the exclusive guideway of electricity changing robot, can also emergency position be set in electric charging station to increase security of system；Due to electricity
Electrical automobile 2 also brings without being positioned on locating platform and simplifies alignment system, reduces maintenance cost and other effects.
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 homing guidance type electricity changing robot, it is characterised in that the electricity changing robot includes body and is arranged at institute
Running part and the battery handling part of body are stated,
The running part can drive the electricity changing robot to be moved in the range of setting, and the movement can at least make described change
Electric machine people reaches and the target of the electric car to be changed projected position that to change electric position corresponding；
In the case of the electricity changing robot is in the projected position, the battery handling part can be the electric car to be changed
Change battery.
2. homing guidance type electricity changing robot according to claim 1, it is characterised in that the electricity changing robot also includes
Location division, the location division can at least obtain the current location of the electricity changing robot and the target changes the relative of electric position
Position.
3. homing guidance type electricity changing robot according to claim 2, it is characterised in that the electricity changing robot also includes
Control unit, the control unit can at least be based on the relative position, be made by way of controlling the running part to work described
Electricity changing robot reaches the projected position.
4. homing guidance type electricity changing robot according to claim 3, it is characterised in that the location division includes：
First positioning unit, it can make the electricity changing robot be generally in the projected position；And
Second positioning unit, in the case of the electricity changing robot is generally in the projected position, second positioning is single
Member can make the electricity changing robot reach the projected position by way of obtaining the relative position.
5. homing guidance type electricity changing robot according to claim 4, it is characterised in that second positioning unit is determined
Position precision is not less than the positioning precision of first positioning unit.
6. homing guidance type electricity changing robot according to claim 4, it is characterised in that first positioning unit is to set
It is placed in the magnetic stripe alignment sensor of the body.
7. homing guidance type electricity changing robot according to claim 4, it is characterised in that second positioning unit be regarding
Feel positioner.
8. homing guidance type electricity changing robot according to claim 4, it is characterised in that the location division also includes the 3rd
Positioning unit, it can make the battery handling part be in the target to change electric position in a manner of machinery positioning.
9. homing guidance type electricity changing robot according to claim 8, it is characterised in that the 3rd positioning unit is energy
Enough alignment pins being connected with the electric vehicle match to be changed.
10. homing guidance type electricity changing robot according to claim 1, it is characterised in that the battery handling part includes：
Lifting mechanism, it can make the battery arrival target change electric position；And
Add unlocking mechanism, it can change electric position in the target makes the battery lock/disengage the electric car to be changed.
11. homing guidance type electricity changing robot according to claim 1, it is characterised in that the running part includes some
The individual wheel construction that the electricity changing robot can be made to realize omnidirectional moving.
12. homing guidance type electricity changing robot according to claim 11, it is characterised in that the wheel construction is differential
Wheel, steering wheel or Mecanum wheel.
13. homing guidance type electricity changing robot according to claim 1, it is characterised in that the running part can also lead to
Crossing the mode for driving the electricity changing robot to be moved in the range of setting makes the electricity changing robot reach default emergent position
Put.
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
Homing guidance type electricity changing robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720534830.1U CN206812968U (en) | 2017-05-15 | 2017-05-15 | Homing guidance type electricity changing robot and electric charging station |
| PCT/CN2018/075687 WO2018210016A1 (en) | 2017-05-15 | 2018-02-07 | Automatic guide type battery replacing robot and battery charging and replacing station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720534830.1U CN206812968U (en) | 2017-05-15 | 2017-05-15 | Homing guidance type electricity changing robot and electric charging station |
Publications (1)
| Publication Number | Publication Date |
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| CN206812968U true CN206812968U (en) | 2017-12-29 |
Family
ID=60755736
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720534830.1U Active CN206812968U (en) | 2017-05-15 | 2017-05-15 | Homing guidance type electricity changing robot and electric charging station |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206812968U (en) |
| WO (1) | WO2018210016A1 (en) |
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| CN108297082A (en) * | 2018-01-22 | 2018-07-20 | 深圳果力智能科技有限公司 | A kind of method and system of Study of Intelligent Robot Control |
| WO2018210016A1 (en) * | 2017-05-15 | 2018-11-22 | 上海蔚来汽车有限公司 | Automatic guide type battery replacing robot and battery charging and replacing station |
| CN109501777A (en) * | 2018-10-25 | 2019-03-22 | 蔚来汽车有限公司 | The transport of power battery and operation post, vehicle production assembly line and method |
| CN109501767A (en) * | 2018-08-14 | 2019-03-22 | 蔚来汽车有限公司 | Change electric installation |
| CN109795366A (en) * | 2018-12-11 | 2019-05-24 | 芜湖智久机器人有限公司 | A kind of battery change system and its control method |
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