CN207868423U - Floating docking facilities, electricity changing robot - Google Patents
Floating docking facilities, electricity changing robot Download PDFInfo
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- CN207868423U CN207868423U CN201721576548.6U CN201721576548U CN207868423U CN 207868423 U CN207868423 U CN 207868423U CN 201721576548 U CN201721576548 U CN 201721576548U CN 207868423 U CN207868423 U CN 207868423U
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 119
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- 230000007246 mechanism Effects 0.000 claims abstract description 123
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- 206010018325 Congenital glaucomas Diseases 0.000 claims description 10
- 206010012565 Developmental glaucoma Diseases 0.000 claims description 10
- 208000007157 Hydrophthalmos Diseases 0.000 claims description 10
- 201000001024 buphthalmos Diseases 0.000 claims description 10
- 238000009434 installation Methods 0.000 abstract description 20
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- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000005684 electric field Effects 0.000 abstract description 2
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Abstract
The utility model is related to charging and conversion electric fields, and in particular to a kind of floating docking facilities, electricity changing robot.The utility model aims to solve the problem that the problem for changing that electric precision is low, stability is poor existing for existing electricity changing robot.For this purpose, the floating docking facilities of the utility model include pedestal and float portion, float portion is arranged to float relative to pedestal, and at least one first detent mechanism and at least one second detent mechanism are provided in float portion, first detent mechanism is arranged to complete to dock with the body part of vehicle to be charged by the floating of float portion, and the second detent mechanism is arranged to complete to dock with the power battery of vehicle to be charged by the floating of float portion.By the setting of the first docking mechanism and the second docking mechanism, the utility model can complete the precise positioning of floating docking facilities and vehicle to be charged when unloading power shortage battery and installation completely electric battery, improve the positioning accuracy of electricity changing robot and change electrical stability.
Description
Technical field
The utility model is related to charging and conversion electric fields, and in particular to a kind of floating docking facilities, electricity changing robot and locking,
Unlock and plus unlocking method.
Background technology
How with popularizing for new-energy automobile, effectively quickly and effectively energy supply is provided for the insufficient automobile of energy
The problem of being paid special attention to as car owner and all big enterprises.By taking electric vehicle as an example, the electric energy supply scheme of current main-stream includes filling
Electric scheme and battery altering scheme.Relative to charging scheme, battery altering scheme in the very short time due to that can complete power
Battery replacement and the service life of power battery is not influenced significantly, therefore be electric energy supply the main direction of development it
One.Battery altering scheme is generally completed in electric charging station, and the battery compartment of storage battery is configured in electric charging station and changes level
Platform, and in battery compartment and change the electricity changing robot for delivering full electricity/power shortage power battery between level platform, such as railway guidance
Vehicle (Rail Guided Vehicle, RGV).Electricity changing robot passes through the rail that is laid in advance in battery compartment and between changing level platform
The mode back and forth travelled on road is completed to be stopped at the action changed the electric vehicle on level platform and replace power battery.
It changes in electric process, the positioning between electricity changing robot and vehicle to be charged is to realize the key step of battery altering scheme
One of rapid, the success rate and precision of positioning directly affect reliability and the service life of the success rate and battery of changing electricity.It is fixed to reduce
Position error improves location efficiency, and a solution is that floating platform and position fixing apparatus are arranged in electricity changing robot
(such as cylinder), when electricity changing robot is aligned by the floating of floating platform with power battery, position fixing apparatus withstands floating
Floating platform under the action of frictional force is kept fixed platform relative to electricity changing robot in turn, that is, when unloading power shortage power battery
Position is recorded.So, in the full electric battery of installation, can directly be pacified according to the position recorded
Dress, without repositioning.Although above-mentioned set-up mode improves location efficiency to a certain extent, in actual application
There is also certain problems.First, floating platform has very big probability can be due in electricity changing robot walking and lifting process
Frictional force is insufficient and generates play, and the position being recorded is caused deviation occur, and then can be by during installation full electric battery
Install failure or damage battery, influence is led to problems such as to change electrical stability in deviation.Secondly, if power shortage battery installation position is set
There are deviations for itself, then when installing full electric battery using the position being recorded, the installation site of full electricity battery can equally deposit
In deviation, and then it is easy to cause the mounting structure damage of battery and vehicle body, leaves security risk.That is, existing change electricity
Robot has changing that electric precision is low, stability is poor.
Correspondingly, this field needs a kind of new floating docking facilities to solve the above problems.
Utility model content
In order to solve the above problem in the prior art, in order to solve to change electric precision existing for existing electricity changing robot
Problem low, stability is poor, the utility model provide a kind of floating docking facilities, the floating docking facilities include pedestal and
Float portion, the float portion is arranged to float relative to the pedestal, and is provided in the float portion at least one
First detent mechanism and at least one second detent mechanism, first detent mechanism are arranged to through the float portion
It floats to complete to dock with the body part of vehicle to be charged, second detent mechanism is arranged to through the float portion
Floating complete to dock with the power battery of vehicle to be charged.
In the optimal technical scheme of above-mentioned floating docking facilities, the float portion include at least one float plate and with
The floating platform of at least one float plate connection, at least one first detent mechanism and described at least one second are determined
Position mechanism is arranged on the floating platform.
In the optimal technical scheme of above-mentioned floating docking facilities, first detent mechanism includes driving unit and positioning
Unit, the driving unit are arranged to that the positioning unit is driven to move.
In the optimal technical scheme of above-mentioned floating docking facilities, the driving unit is electric cylinders, cylinder or lead screw stepping
Motor；And/or the positioning unit is the first positioning pin.
In the optimal technical scheme of above-mentioned floating docking facilities, second detent mechanism is the second positioning pin, described
Second positioning pin is fixedly connected with the floating platform.
In the optimal technical scheme of above-mentioned floating docking facilities, the float portion includes multiple float plates, each described
Float plate is configured with multiple first limit components, and first limit component is positioned to allow for the float plate and floats in the horizontal plane
It is dynamic.
In the optimal technical scheme of above-mentioned floating docking facilities, first limit component is buphthalmos bearing, the ox
Axis oculi, which is held, is set to the pedestal, and the float plate is resisted against the buphthalmos bearing.
In the optimal technical scheme of above-mentioned floating docking facilities, each float plate is also configured at least one second
Limit component, second limit component are set as making the float plate that can not vertically relatively move with the pedestal.
In the optimal technical scheme of above-mentioned floating docking facilities, multiple support structures are provided in each float plate
Part, each float plate are connect by the multiple supporting member with the floating platform.
In the optimal technical scheme of above-mentioned floating docking facilities, multiple reset structures are also configured in each float plate
Part, the reset components are connect with the float plate, the position for adjusting the float plate.
In the optimal technical scheme of above-mentioned floating docking facilities, the reset components include spring, the spring setting
Between the pedestal and the float plate, the spring is configured to that the float plate is made to be returned to by the pre- of the spring
The position that clamp force determines.
In the optimal technical scheme of above-mentioned floating docking facilities, at least one plus unlock is provided on the floating platform
Mechanism, described plus unlocking mechanism are arranged to after first detent mechanism is docked with the vehicle body of vehicle to be charged or described
After second detent mechanism is docked with the power battery of vehicle to be charged, the power battery is carried out plus is unlocked.
The utility model additionally provides a kind of electricity changing robot, and the electricity changing robot includes ontology, is set on the ontology
It is equipped with running gear and floating docking facilities, wherein the floating docking facilities are the floating described in any one of said program
Docking facilities.
The utility model additionally provides a kind of unlocking method of floating docking facilities, and the floating docking facilities include plus solve
Latch mechanism, the unlocking method include：
In the case of first detent mechanism is not docked with the vehicle body of the vehicle to be charged, make second positioning
Mechanism is docked with power battery；
After the completion of second detent mechanism is docked with power battery, make described plus unlocking mechanism to the power battery
Unlock.
The utility model additionally provides a kind of locking method of floating docking facilities, and the floating docking facilities include plus solve
Latch mechanism, the locking method include：
First detent mechanism is set to be docked with the vehicle body of the vehicle to be charged；
After the completion of first detent mechanism is docked with the vehicle body of the vehicle to be charged, make described plus unlocking mechanism will
The power battery connected is locked to the vehicle to be charged with second detent mechanism.
A kind of the utility model additionally provides floating docking facilities plus unlocking method, the floating docking facilities include plus
Unlocking mechanism, described plus unlocking method include：
Second detent mechanism is set to be docked with the power battery of power shortage；
After the completion of second detent mechanism is docked with the power battery of the power shortage, make described plus unlocking mechanism to institute
State the power battery unlock of power shortage；
Second detent mechanism and the power battery of full electricity is set to dock；
First detent mechanism is set to be docked with the vehicle body of the vehicle to be charged；
After the completion of first detent mechanism is docked with the vehicle body of the vehicle to be charged, make described plus unlocking mechanism will
The power battery of the full electricity is locked to the vehicle to be charged.
It will be appreciated to those of skill in the art that in the optimal technical scheme of the utility model, floating docking facilities
Including pedestal and float portion, float portion is arranged to float relative to pedestal, and at least one the is provided in float portion
One detent mechanism and at least one second detent mechanism, the first detent mechanism are arranged to complete by the floating of float portion
With docking for vehicle body (such as chassis) of vehicle to be charged, the second detent mechanism is arranged to complete by the floating of float portion
With docking for the power battery of vehicle to be charged.Float portion includes at least one float plate and is connect at least one float plate
Floating platform, at least one first detent mechanism and at least one second detent mechanism are arranged on floating platform.Pass through
At least one first detent mechanism and at least one second detent mechanism are set on floating platform, and the utility model loses in unloading
When the power battery of electricity, the second detent mechanism can complete the power with power shortage in vehicle to be charged by the floating of floating platform
The docking of battery, and then electricity changing robot is made successfully to unload the power battery of power shortage；And in the power battery of the full electricity of installation, it is full
The power battery of electricity can be fixed by the completion of docking with the second detent mechanism in the position of floating platform, the first detent mechanism
Can be by the floating completion of floating platform and docking for the vehicle body of vehicle to be charged, and then determine the peace of the power battery of full electricity
Holding position.Since the first detent mechanism and the second detent mechanism are arranged on floating platform, the relative position of the two is fixed not
Become, therefore the installation site that this positioning method determines also immobilizes.That is, passing through in float portion and float portion
The setting of one detent mechanism and the second detent mechanism so that the floating docking facilities positioning accuracy of the utility model is high, and operation is steady
It is qualitative good, it solves the problems, such as to change that electric precision is low, stability is poor existing for existing electricity changing robot, substantially improves changing for user
Electricity experience.
Scheme 1, a kind of floating docking facilities, which is characterized in that the floating docking facilities include pedestal and float portion, institute
It states float portion to be arranged to float relative to the pedestal, and is provided at least one first localization machine in the float portion
Structure and at least one second detent mechanism, first detent mechanism are arranged to complete by the floating of the float portion
With docking for the vehicle body of vehicle to be charged, second detent mechanism is arranged to complete by the floating of the float portion
With docking for the power battery of vehicle to be charged.
Scheme 2, the floating docking facilities according to scheme 1, which is characterized in that the float portion includes at least one floating
Movable plate and the floating platform being connect at least one float plate, at least one first detent mechanism and it is described at least
One the second detent mechanism is arranged on the floating platform.
Scheme 3, the floating docking facilities according to scheme 2, which is characterized in that first detent mechanism includes driving
Unit and positioning unit, the driving unit are arranged to that the positioning unit is driven to move.
Scheme 4, the floating docking facilities according to scheme 3, which is characterized in that the driving unit is electric cylinders, cylinder
Or lead screw stepper motor；And/or the positioning unit is the first positioning pin.
Scheme 5, the floating docking facilities according to scheme 3, which is characterized in that second detent mechanism is second fixed
Position pin, second positioning pin are fixedly connected with the floating platform.
Scheme 6, the floating docking facilities according to scheme 5, which is characterized in that the float portion includes multiple floatings
Plate, each float plate are configured with multiple first limit components, and first limit component is positioned to allow for the float plate
It floats in the horizontal plane.
Scheme 7, the floating docking facilities according to scheme 6, which is characterized in that first limit component is buphthalmos axis
It holds, the buphthalmos bearing is set to the pedestal, and the float plate is resisted against the buphthalmos bearing.
Scheme 8, the floating docking facilities according to scheme 6, which is characterized in that each float plate be also configured with to
Few second limit component, second limit component are set as making the float plate can not be vertically with the pedestal
Relative movement.
Scheme 9, the floating docking facilities according to scheme 8, which is characterized in that be provided in each float plate more
A supporting member, each float plate are connect by the multiple supporting member with the floating platform.
Scheme 10, the floating docking facilities according to scheme 9, which is characterized in that also configured in each float plate
There are multiple reset components, the reset components to be connect with the float plate, the position for adjusting the float plate.
Scheme 11, the floating docking facilities according to scheme 10, which is characterized in that the reset components include spring,
The spring is set between the pedestal and the float plate, the spring be configured to make the float plate be returned to by
The position that the pretightning force of the spring determines.
Scheme 12, the floating docking facilities according to any one of scheme 1 to 11, which is characterized in that described float is put down
Be provided at least one plus unlocking mechanism on platform, described plus unlocking mechanism be arranged to first detent mechanism with it is to be changed
After the vehicle body docking of electric car or after second detent mechanism docks with the power battery of vehicle to be charged, to the power electric
Pond carries out plus unlock.
Scheme 13, a kind of electricity changing robot, the electricity changing robot include ontology, and running gear is provided on the ontology
With floating docking facilities, which is characterized in that the floating docking facilities are the floating described in any one of scheme 1 to 12 to tipping
It sets.
Description of the drawings
With reference to the accompanying drawings and junction belt has the electric charging station of track guided electricity changing robot to describe the utility model
Floating docking facilities, electricity changing robot.In attached drawing：
Fig. 1 is the structural schematic diagram of the floating docking facilities of the utility model；
Fig. 2 is the schematic front view of the floating docking facilities of the utility model；
Fig. 3 is that the floating docking facilities of the utility model remove the structural schematic diagram after floating platform；
Fig. 4 is the structural schematic diagram of the first detent mechanism of the floating docking facilities of the utility model；
Fig. 5 is partial enlarged views of the Fig. 2 at A；
Fig. 6 is sectional views of the Fig. 3 at B-B；
Fig. 7 is partial enlarged views of the Fig. 3 at C；
Fig. 8 is the structural schematic diagram of the railway guidance type electricity changing robot of the utility model；
Fig. 9 is the floating docking facilities of the utility model plus unlocking method flow chart.
Reference numerals list
1, floating docking facilities；11, pedestal；111, cylindrical holder；112, L-type support；12, float portion；121, it floats flat
Platform；122, float plate；123, the first detent mechanism；1231, driving unit；1232, positioning unit；1233, guide rod；124,
Two detent mechanisms；125, add unlocking mechanism；126, supporting member；127, the first limit component；128, the second limit component；129、
Reset components；1291, spring；1292, trip bolt；2, ontology；3, running gear；4, battery transfer device；41, power roller
Group；42, unpowered roller group.
Specific implementation mode
Preferred embodiments of the present invention are 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 the technical principle of the utility model, it is not intended that limit the protection of the utility model
Range.For example, for example, although there are two the first detent mechanism, this quantitative relations for setting on floating platform in attached drawing
Non- unalterable, those skilled in the art can as needed make adjustment to it, to adapt to specific application scenario.
It should be noted that term "center", "upper", "lower", "left", "right", " perpendicular in the description of the present invention,
Directly ", the direction of the instructions such as "horizontal", "inner", "outside" or the term of position relationship are that direction or position based on ... shown in the drawings are closed
System, this is intended merely to facilitate description, rather than indicates or imply that described device or element must have a particular orientation, with spy
Fixed azimuth configuration and operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In addition it is also necessary to explanation, in the description of the present invention, unless otherwise clearly defined and limited, art
Language " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or
It is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements.To those skilled in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
With reference first to Fig. 1, Fig. 2 and Fig. 3, wherein Fig. 1 is the structural schematic diagram of the floating docking facilities of the utility model；
Fig. 2 is the schematic front view of the floating docking facilities of utility model；Fig. 3 is that the floating docking facilities removal of the utility model is floated
Structural schematic diagram after platform.
As shown in Figure 1 to Figure 3, in order to which solve electricity changing robot in the prior art changes that electric precision is low, stability is poor asks
The floating docking facilities 1 of topic, the utility model include mainly pedestal 11 and float portion 12.Float portion 12 be arranged to relative to
Pedestal 11 floats in a certain range comprising at least one float plate 122 and connect at least one float plate 122
Floating platform 121, float plate 122 are fixedly connected with floating platform 121, and it is fixed that at least one first is provided on floating platform 121
Position mechanism 123, at least one second detent mechanism 124 and plus unlocking mechanism 125.First detent mechanism 123 is arranged to
It completes to dock with the vehicle body of vehicle to be charged (such as chassis) by the floating of float portion 12；Second detent mechanism 124 is arranged
At can be docked with the power battery of full electricity in the battery compartment of electric charging station, or by the floating of float portion 12 come complete with
The docking of the power battery of power shortage in vehicle to be charged；Unlocking mechanism 125 is added to be arranged in the second detent mechanism 124 and lose
After the power battery docking of electricity, the power battery of power shortage is unlocked, or in the first detent mechanism 123 and vehicle to be charged
Vehicle body docking after, the power battery of full electricity is locked.
Above-mentioned set-up mode, when dismantling the power battery of power shortage, the second detent mechanism 124 being located in float portion 12 is logical
The floating for crossing float portion 12 is completed to dock with the power battery of power shortage in vehicle to be charged, after plugging together, adds unlocking mechanism 125
The power battery of power shortage is unlocked, and then the power battery of power shortage is removed.In the power battery of the full electricity of subsequent installation,
The power battery of full electricity can by with the fixation completed in floating platform 121 of dock of the second detent mechanism 124, first positions
Mechanism 123 can be by the floating completion of floating platform 121 and docking for the chassis of vehicle to be charged, and then determines the dynamic of full electricity
Precise Installation Position of the power battery on vehicle to be charged chassis, at this time plus unlocking mechanism 125 passes through the power battery to full electricity
Locking action is carried out, the installation of the power battery of full electricity is completed.
It can be seen from the above description that by the way that the first detent mechanism 123 docked with vehicle body is arranged on changing level platform
And the second detent mechanism 124 docked with power battery, the utility model can respectively dismounting power shortage power battery with
And when the power battery of full electricity is installed, accurately determine the removed position and installation site of battery, it is floated to improve to being hinged with
Positioning accuracy and the operation stability for setting 1 solve and change that electric precision is low, stability is poor asks existing for existing electricity changing robot
Topic, substantially improve user changes electric experience.
Referring to Fig. 1, Fig. 3 and Fig. 4, the principles of the present invention are specifically described, wherein Fig. 4 is the floating of the utility model
The structural schematic diagram of first detent mechanism of dynamic docking facilities.Shown in as shown in Figure 1, Figure 3 and Figure 4, float portion 12 includes floating platform
121 and multiple float plates 122, it is fixedly connected by multiple supporting members 126 between floating platform 121 and each float plate 122.
Multiple first detent mechanisms 123, multiple second detent mechanisms 124 and multiple plus unlock are fixedly connected on floating platform 121
Mechanism 125.With reference to Fig. 3, in a kind of possible embodiment, float portion 12 includes two pieces of float plates 122, floating platform 121
It is spirally connected (as distinguished supporting member 126 using screw by eight columnar supporting members 126 between each float plate 122
It is connect with floating platform 121 and float plate 122).Referring to Fig.1 and Fig. 4, there are two the first localization machines for setting on floating platform 121
123, two the second detent mechanisms 124 of structure and ten plus unlocking mechanism 125, the first detent mechanism 123 further comprise that driving is single
Member 1231 and positioning unit 1232, driving unit 1231 is preferably by lead screw stepper motor, one band internal thread of electric machine built-in
Rotor, be arranged and the matched screw rod of rotor outside motor；Positioning unit 1232 is preferably by metal fitting nail head (electric car to be changed
Domain on be correspondingly provided with docking pin hole), metal fitting nail head is mounted on the top of screw rod, and positions plunger both sides
Two guide rods 1233 are also associated with to ensure the mobile accuracy and the moving stability of screw rod.Second detent mechanism 124 is preferably
Ground uses the second positioning pin, as cylindrical metal positioning pin of the top with chamfering (is correspondingly provided with positioning pin on power battery
Hole), which is fixedly connected with floating platform 121.Add unlocking mechanism 125 including servo motor and is set to servo electricity
On machine output shaft plus unlocking head (such as interior hexagonal tapered end).
The advantages of above-mentioned set-up mode, is：When dismantling the power battery of power shortage, two bands are set on floating platform 121
There is the cylindrical metal positioning pin of chamfering that can complete to determine with what is on the power battery of power shortage be arranged by the floating of floating platform 121
The docking of position pin hole adds unlocked position to determine, and then adds tripper that can favorably accomplish to the power battery of power shortage
Dismounting ensures the dismounting stability of floating docking facilities 1.In the power battery of the full electricity of installation, the power battery of full electricity is first
It can be docked with the completion of cylindrical metal positioning pin by dowel hole, realize the positioning on floating platform 121, latter two right silk
Bar stepper motor drives the metal fitting nail head on screw rod and screw rod complete under the floating of floating platform 121 by the rotation of rotor
At two docking for docking pin hole with the chassis of vehicle to be charged, and then installation of the power battery of full electricity on automobile chassis
Position is determined, and to add tripper that can favorably accomplish the installation of the power battery to full electricity, improves docking of floating
Device 1 positions and installation accuracy.
Obviously, above-mentioned set-up mode and not exclusive, those skilled in the art can reasonably adjust it, as long as should
Adjustment floating docking facilities 11 to smoothly complete to dock with the vehicle body of vehicle to be charged and power battery, and to moving
Power battery adds the condition of unlock.For example, the quantity of float plate 122 may be arranged as one piece or four pieces；Add unlocking mechanism
125 quantity are four or eight, and driving device selects cylinder or lead screw stepper motor plus unlocking head is outer-hexagonal tapered end；It drives
Moving cell 1231 can also select cylinder or electric cylinders；Positioning unit 1232 can also be that location hole (is set on corresponding automobile chassis
Set positioning plunger)；Second positioning unit 1232 can also select circular cone/rectangle positioning pin；Floating platform 121 and float plate 122
Between using welding or be integrally formed etc..
Referring to Fig. 2, Fig. 3 and Fig. 5, wherein Fig. 5 is partial enlarged views of the Fig. 2 at A.Such as Fig. 2, Fig. 3 and Fig. 5 institute
Show, all passes through multiple first limit components 127 and at least one in two pieces of float plates 122 between every piece of float plate 122 and pedestal 11
A second limit component 128, which is realized, to float, and is floated in the horizontal plane wherein the first limit component 127 is positioned to allow for float plate 122
Dynamic, the second limit component 128 is set as making between float plate 122 and pedestal 11 vertically without relative movement.In conjunction with Fig. 3 and
Fig. 5, it is preferable that the first limit component 127 is buphthalmos bearing, and pedestal is fixedly connected on pedestal 11, and ball is towards float plate
122, the bottom surface of float plate 122 is resisted against on buphthalmos bearing.Second limit component 128 is plate bolt, is opened up in float plate 122
Have the shaft that can accommodate the bolt limit hole (be not shown in figure, i.e., the aperture of limit hole be more than stud diameter, so as to
Float plate 122 being capable of free floating), stud is spirally connected across the limit hole with pedestal 11, and after being spirally connected, the downside of nut
It is resisted against the top surface of float plate 122.
It will be appreciated to those of skill in the art that the specific shape of the first limit component 127 and the second limit component 128
Formula, installation position and number are not unalterable, and under the conditions of meeting above-mentioned limit, those skilled in the art can do it
Go out any form of adjustment, so that it adapts to more specifical application scenarios.As the first limit component 127 can also be universal wheel
Etc. can make float plate 122 realize free floating component, and the pedestal of the first limit component 127 can also be fixedly connected on it is floating
On movable plate 122；Second limit component 128 can also be that rivet etc. can make float plate 122 relative to pedestal 11 in vertical direction
Component without relative motion, can also be provided in the L-type steel of 122 surrounding of float plate, and the vertical section and pedestal 11 of L-type steel are solid
Fixed connection, the lateral part of L-type steel is towards float plate 122 and is resisted against the top surface of float plate 122, and limitation float plate 122 is perpendicular
Histogram to movement.
Referring to Fig. 3, Fig. 6 and Fig. 7, wherein Fig. 6 is sectional views of the Fig. 3 at B-B；Fig. 7 is parts of the Fig. 3 at C
Enlarged drawing.As shown in Fig. 3, Fig. 6 and Fig. 7, to realize automatically reseting after the floating of floating docking facilities 1, in a kind of possible reality
It applies in mode, multiple reset components 129 is also configured in each float plate 122, for automatic time of float plate 122 after floating
Position.Preferably, reset components 129 include spring 1291 and trip bolt 1292, and spring 1291 is set to pedestal 11 and float plate
Between 122, trip bolt 1292 is then used for the pretightning force of adjustment spring 1291.In conjunction with shown in Fig. 3, set in each float plate 122
Eight reset components 129 are equipped with, each side is respectively set two.In conjunction with Fig. 6 and Fig. 7, it is provided in the side of float plate 122
Connecting hole or counter sink are correspondingly connected with hole on pedestal 11 and counter sink are respectively arranged with cylindrical holder 111 and L-type support 112.
Cylindrical holder 111 is stretched into 1291 one end of spring of a part of reset components 129 by connecting hole, and the other end passes through trip bolt
1292 are anchored in connecting hole；Counter sink is stretched into 1291 one end of spring of the reset components 129 of another part, and the other end passes through tight
Gu screw 1292 is connect with L-type support 112.Thus, be completed and engaged by the floating of float plate 122 in positioning member
When plugging together of component, each spring 1291 can respectively generate elastic force, after plugging together connection and cancelling, work of the float plate 122 in elastic force
It is automatically reset with lower realization, even if float plate 122 is returned to the position determined by the pretightning force of spring 1291.
The setting form and quantity of certain above-mentioned reset components 129 are a kind of more specific embodiment, except this with
Outside, any structure that can realize that float plate 122 resets shall fall within the scope of protection of the utility model.
It is the structural schematic diagram of the railway guidance type electricity changing robot of the utility model referring to Fig. 8, Fig. 8.Such as Fig. 8 institutes
Show, the utility model additionally provides a kind of railway guidance type electricity changing robot (hereinafter referred to as electricity changing robot), the railway guidance
Type electricity changing robot includes mainly ontology 2, the running gear 3 being set on ontology 2, floating docking facilities 1 and battery transhipment
Device 4.Wherein, running gear 3 is the wheel that can be rolled on the track of setting, and battery transfer device 4 includes power roller
Group 41 and unpowered roller group 4241, turn being used between battery carrier of the power battery in electricity changing robot and electric charging station
Fortune.Wherein, floating docking facilities 1 are the present embodiment floating docking facilities 1 above-mentioned, are fixed on robot by elevating mechanism
On ontology 2.If elevating mechanism is scissors bogie, the pedestal 11 of floating docking facilities 1 is fixed on scissors bogie.Scissors are driven
Moving frame can drive floating docking facilities 1 to lift, and then the first detent mechanism 123 and second on floating platform 121 is fixed
Position mechanism 124 is respectively completed and the dowel hole of power battery and electricity to be changed in the case where float plate 122 is relative to the floating of pedestal 11
The grafting of butt hole on vehicle chassis, the installation of the dismounting of the final power battery for realizing power shortage and the power battery of full electricity.
It is the floating docking facilities 1 of the utility model plus unlocking method flow chart referring to Fig. 9, Fig. 9.Such as Fig. 9
Shown, that the utility model additionally provides a kind of floating docking facilities 11 plus unlocking method, this method include mainly：
S100, in the case of the first detent mechanism 123 is not docked with the vehicle body of vehicle to be charged, make the second detent mechanism
124 dock with the power battery of power shortage, are such as coordinated by the dowel hole of cylindrical metal positioning pin and the power battery of power shortage and are inserted
It connects, after grafting is good plus unlocking mechanism 125 also docks completion with the fastening bolt on the power battery of power shortage；
S200, after the completion of the second detent mechanism 124 is docked with the power battery of power shortage, make plus unlocking mechanism 125 to lose
The power battery unlock of electricity, such as plus unlocking mechanism 125 directly unlocks power battery；
S300, so that the second detent mechanism 124 and the power battery of full electricity is docked, be such as full by the dynamic battery changing of power shortage
After the power battery of electricity, floating docking facilities 1 coordinate grafting by cylindrical metal positioning pin and the power battery of full electricity, complete full
Fixation of the power battery of electricity on floating docking facilities 1；
S400, so that the first detent mechanism 123 is docked with the vehicle body of vehicle to be charged, gold is such as jacked by lead screw stepper motor
The mode for belonging to positioning plunger completes metal fitting nail head and the grafting for docking pin hole on vehicle to be charged chassis, and grafting is good
Afterwards, the power battery of full electricity is in the position that can directly lock；
S500, after the completion of the first detent mechanism 123 is docked with the vehicle body of vehicle to be charged, make plus unlocking mechanism 125 will
The power battery of full electricity is locked to vehicle to be charged, such as after the completion of docking, unlocking mechanism 125 is added directly to add to fastening bolt
Lock, and then complete installation of the power battery of full electricity on vehicle body.
It can be seen from the above method when unloading the power battery of power shortage, it is only necessary to the second detent mechanism 124 and power
Battery plugs together connection, can complete the unlock to the power battery of power shortage；In the power battery of the full electricity of installation, the power of full electricity
Battery first passes through the second detent mechanism 124 and is positioned with floating docking facilities 1, and then floating docking facilities 1 pass through the first localization machine
The chassis of structure 123 and vehicle to be charged realizes grafting positioning, and then completes the power battery and automobile chassis of full electricity indirectly
Positioning, overcomes and changes the problem that electric precision is low, stability is poor existing for electricity changing robot in the prior art, improves floating docking
The positioning accuracy of device 1 and electrical stability is changed, improves and change electric experience.
With reference to Fig. 9 and Fig. 8 is combined, as a kind of possible embodiment, using the floating docking facilities 1 of the utility model
The primary of electricity changing robot change electric current journey and can be：
Vehicle to be charged reaches the landing of electric charging station, completes in the coarse positioning of landing and lifting → change motor
Device people reaches the projected position of vehicle to be charged and completes to be accurately positioned → scissors driving in vertical direction with vehicle to be charged
Frame is lifted floating docking facilities 1, so that cylindrical metal positioning pin is passed through floating platform 121 and completes and lose relative to the floating of pedestal 11
After the completion of dowel hole cooperation grafting → grafting of the power battery of electricity, unlocking mechanism 125 is added to unlock the power battery of power shortage,
Power battery is fallen makes floating docking facilities 1 decline in floating platform 121 → scissors bogie, completes to the power battery of power shortage
Dismounting → electricity changing robot, which is left, changes electric position arrival battery carrier, and scissors bogie makes floating docking facilities 1 continue to decline, power shortage
Power battery fall on battery transfer device 4, the driving in the power roller group 41 of battery transfer device 4 and unpowered roller
Under the guiding of group 4241, by power battery → scissors bogie jacking floating docking dress that the dynamic battery changing of power shortage is full electricity
1 is set, the dowel hole of cylindrical metal positioning pin and the completely power battery of electricity is completed grafting positioning → electricity changing robot and arrived again at
The projected position of vehicle to be charged simultaneously is completed to continue jacking floating with being accurately positioned of vehicle to be charged → scissors bogie and dock
Device 1, while lead screw stepper motor jacks metal fitting nail head, metal fitting nail head is completed under the floating of floating platform 121
After good with the grafting → grafting for docking pin hole on vehicle to be charged chassis, the power battery of full electricity has been in plus solution lock-bit
Set, add unlocking mechanism 125 directly to the power battery of full electricity lock → scissors bogie makes under floating docking facilities 1
Drop, float plate 122 automatically resets under the elastic force of reset components 129 → and electricity changing robot returns to initial position, change electric completion.
Finally, it is to be noted that, although present embodiment is described in conjunction with railway guidance type electricity changing robot
, but the utility model obviously can also be applied in other equipment with floating docking facilities 1, as homing guidance type changes
Electric machine people etc..
So far, it has been combined preferred embodiment shown in the drawings and describes the technical solution of the utility model, still, this
Field technology personnel are it is easily understood that the scope of protection of the utility model is expressly not limited to these specific implementation modes.
Under the premise of the principles of the present invention, those skilled in the art can make the relevant technologies feature equivalent change
Or replace, the technical solution after these changes or replacement is fallen within the scope of protection of the utility model.
Claims (13)
1. a kind of floating docking facilities, which is characterized in that the floating docking facilities include pedestal and float portion, the float portion
It is arranged to float relative to the pedestal, and is provided at least one first detent mechanism and at least in the float portion
One the second detent mechanism, first detent mechanism are arranged to complete and electricity to be changed by the floating of the float portion
The docking of the vehicle body of vehicle, second detent mechanism are arranged to complete and electricity to be changed by the floating of the float portion
The docking of the power battery of vehicle.
2. floating docking facilities according to claim 1, which is characterized in that the float portion includes at least one float plate
And the floating platform being connect at least one float plate, at least one first detent mechanism and described at least one
Second detent mechanism is arranged on the floating platform.
3. floating docking facilities according to claim 2, which is characterized in that first detent mechanism includes driving unit
And positioning unit, the driving unit are arranged to that the positioning unit is driven to move.
4. floating docking facilities according to claim 3, which is characterized in that the driving unit is electric cylinders, cylinder or silk
Bar stepper motor；And/or the positioning unit is the first positioning pin.
5. floating docking facilities according to claim 3, which is characterized in that second detent mechanism is the second positioning
Pin, second positioning pin are fixedly connected with the floating platform.
6. floating docking facilities according to claim 5, which is characterized in that the float portion includes multiple float plates, often
A float plate is configured with multiple first limit components, and first limit component is positioned to allow for the float plate in level
It floats in face.
7. floating docking facilities according to claim 6, which is characterized in that first limit component is buphthalmos bearing,
The buphthalmos bearing is set to the pedestal, and the float plate is resisted against the buphthalmos bearing.
8. floating docking facilities according to claim 6, which is characterized in that each float plate is also configured at least one
A second limit component, second limit component are set as making the float plate can not be vertically opposite with the pedestal
It is mobile.
9. floating docking facilities according to claim 8, which is characterized in that be provided with multiple in each float plate
Component is supportted, each float plate is connect by the multiple supporting member with the floating platform.
10. floating docking facilities according to claim 9, which is characterized in that be also configured in each float plate more
A reset components, the reset components are connect with the float plate, the position for adjusting the float plate.
11. floating docking facilities according to claim 10, which is characterized in that the reset components include spring, described
Spring is set between the pedestal and the float plate, and the spring is configured to that the float plate is made to be returned to by described
The position that the pretightning force of spring determines.
12. according to floating docking facilities described in any one of claim 2 to 11, which is characterized in that on the floating platform
It is provided at least one plus unlocking mechanism, described plus unlocking mechanism is arranged in first detent mechanism and electric car to be changed
Vehicle body docking after or after second detent mechanism docks with the power battery of vehicle to be charged, to the power battery into
Row plus unlock.
13. a kind of electricity changing robot, the electricity changing robot includes ontology, and running gear and floating pair are provided on the ontology
Connection device, which is characterized in that the floating docking facilities are the floating docking facilities described in any one of claim 1 to 12.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721576548.6U CN207868423U (en) | 2017-11-22 | 2017-11-22 | Floating docking facilities, electricity changing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721576548.6U CN207868423U (en) | 2017-11-22 | 2017-11-22 | Floating docking facilities, electricity changing robot |
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| CN207868423U true CN207868423U (en) | 2018-09-14 |
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| CN201721576548.6U Active CN207868423U (en) | 2017-11-22 | 2017-11-22 | Floating docking facilities, electricity changing robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109501633A (en) * | 2018-12-27 | 2019-03-22 | 上海玖行能源科技有限公司 | A kind of electric vehicle electric charging station |
| WO2019101028A1 (en) * | 2017-11-22 | 2019-05-31 | 蔚来汽车有限公司 | Drifting abutting connection device, battery replacing robot, and locking, unlocking and locking-unlocking methods |
| CN110379965A (en) * | 2019-06-27 | 2019-10-25 | 博众精工科技股份有限公司 | A kind of floating locating piece |
| CN110435605A (en) * | 2019-06-27 | 2019-11-12 | 博众精工科技股份有限公司 | It is a kind of for change electricity floating platform lateral force removing method |
| CN112152290A (en) * | 2020-09-23 | 2020-12-29 | 德鲁动力科技(海南)有限公司 | Sufficient robot fill electric pile |
| CN112477575A (en) * | 2020-11-30 | 2021-03-12 | 浙江吉利控股集团有限公司 | Battery box fixing device and vehicle |
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| CN114103718A (en) * | 2021-09-20 | 2022-03-01 | 深圳精智机器有限公司 | Battery pack carrier |
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| WO2019101028A1 (en) * | 2017-11-22 | 2019-05-31 | 蔚来汽车有限公司 | Drifting abutting connection device, battery replacing robot, and locking, unlocking and locking-unlocking methods |
| CN109501633A (en) * | 2018-12-27 | 2019-03-22 | 上海玖行能源科技有限公司 | A kind of electric vehicle electric charging station |
| CN110379965A (en) * | 2019-06-27 | 2019-10-25 | 博众精工科技股份有限公司 | A kind of floating locating piece |
| CN110435605A (en) * | 2019-06-27 | 2019-11-12 | 博众精工科技股份有限公司 | It is a kind of for change electricity floating platform lateral force removing method |
| CN112152290A (en) * | 2020-09-23 | 2020-12-29 | 德鲁动力科技(海南)有限公司 | Sufficient robot fill electric pile |
| CN112549054A (en) * | 2020-11-20 | 2021-03-26 | 浙江吉利控股集团有限公司 | Battery replacement gripping device and control method for same |
| CN112549054B (en) * | 2020-11-20 | 2022-05-03 | 浙江吉利控股集团有限公司 | Battery replacement gripping device and control method for same |
| CN112477575A (en) * | 2020-11-30 | 2021-03-12 | 浙江吉利控股集团有限公司 | Battery box fixing device and vehicle |
| CN112477575B (en) * | 2020-11-30 | 2022-05-03 | 浙江吉利控股集团有限公司 | Battery box fixing device and vehicle |
| CN114103718A (en) * | 2021-09-20 | 2022-03-01 | 深圳精智机器有限公司 | Battery pack carrier |
| CN115284940A (en) * | 2021-12-02 | 2022-11-04 | 奥动新能源汽车科技有限公司 | Battery pack disassembling and assembling mechanism and battery replacing robot comprising same |
| WO2024061022A1 (en) * | 2022-09-23 | 2024-03-28 | 杭州海康机器人股份有限公司 | Battery swapping station |
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Effective date of registration: 20200922 Address after: Susong Road West and Shenzhen Road North, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Weilai (Anhui) Holding Co., Ltd Address before: Room 502, Bank of America Center, Cecil Harcourt Road, central, Hongkong, China, 12 Patentee before: NIO NEXTEV Ltd. |
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