CN208198367U - A kind of the parking lot automatically replacing battery and shutdown system of efficient electric car - Google Patents

Abstract

The utility model is high more particularly to a kind of intelligence degree, parking lot automatically replacing battery and shutdown system that save place, efficient electric car easy to use；While the central processing unit of the system is transmitted into signal to automobile, also send residence time request signal, automobile feeds back residence time T1, the typical residence time T2 stored in T1 and memory module is compared, if T1 >=T2, after walking robot travels in place, the electric pushrod of the walking robot below the automobile chassis is shunk, the driving wheel of walking robot rotates, and supporing shell is driven to shrink；The course of action of walking robot is sent to secondary processor by central processing unit, and walking robot is voluntarily back at robot mounting device；The driving wheel for the shrinkable and stretching, extension being arranged on walking robot drives supporing shell, has adapted to the narrow environment in parking lot；The universal wheel being arranged on walking robot can realize straight line walking or left and right transverse shifting, improve the utilization of area rate in parking lot.

Description

A kind of the parking lot automatically replacing battery and shutdown system of efficient electric car

Technical field

The utility model relates to electric vehicle engineering field, in particular to a kind of parking lot battery of efficient electric car Automatic replacement and shutdown system.

Background technique

Electrical energy drive running car of the electric car by storage in the battery, reducing vehicle makes fossil energy With being an important means for solving the problems, such as national energy.Due to being limited by current battery power density, in current battery skill Under art development level, battery, which charges, to be usually required to complete for several hours, battery can not be completed in the short time and charged, and high current Adverse effect will be generated to battery life to battery charging.In addition, present parking lot is mainly flush system storage, land occupation Area is big, therefore stores limited amount, and car owner looks for parking stall difficult, and parking stall does not have safeguard measure to automobile；Secondly, general park field There is no charging unit, it is difficult that electric car possesses family charging.

For current battery replacement of electric automobile system usually just for electric car, the mode of battery altering mainly has two Kind, one is lift substitute modes, and one is side drawer type substitute modes；

Patent related with lift substitute mode, the battery altering robot as described in CN201280003179, packet Include battery plug mechanism, elevating mechanism etc., the problem of elevating mechanism goes up and down battery plug mechanism, but it can't resolve is: For existing parking lot, improvement cost is big, and a set of replacement system can only meet a vehicle simultaneously, can not be to multiple in parking lot Automobile carries out fast quickly replaceable battery and charging operations；Patent related with side drawer type substitute mode, such as CN201510809560 Described in be that electric installation, including battery case installation unit, lifting unit, control unit and locking are changed in a kind of electric car side Unit etc.；The device is an isolated system, is not connected with the actual parking demand in parking lot, also not to electricity Judgement, causes intelligence degree low, manual operation process is more；Existing patent related with parking lot automatic parking system, such as Automatic parking system described in CN 201510021169, comprising: parking stall, packaged type charging robot and robot pipe Reason system, charging robot includes robot body, fire fighting unit, walking mechanism, battery group and control unit etc.；The system It can facilitate and realize that electric car charges at any time during Parking, but in the case of battery capacity is lower, charging Robot is unable to satisfy its long-time charge requirement, and if necessary to charge for a long time, the volume for the robot that charges is again excessive, no It is suitble to use under the narrow environments such as parking lot；And in some cases, when battery damage must be replaced, cannot achieve replacement, Battery can not be adapted to from the special circumstances that side is replaced.

Summary of the invention

In view of the above-mentioned problems, the utility model aim is to provide, a kind of intelligence degree is high, saves place, is easy to use The parking lot automatically replacing battery and shutdown system of efficient electric car.

To realize above-mentioned purpose of utility model, the technical scheme adopted by the utility model is a kind of efficient electronic vapour Chassis central location is arranged in for parking battery module in the parking lot automatically replacing battery and shutdown system of vehicle, the system Electric car, lateral through slot, the battery mould placed in lateral through slot is arranged in the corresponding position of placing battery module on electric car Block can be released under the effect of external force or on automobile under the auxiliary of corresponding pushing equipment from any side of electric car；

The installed position of the battery module be respectively set can automatic dismantling/connect automatically Electric plug with shutter, and / attachment device is automatically separated for battery module to be fixed on electric car；The battery module is also with setting electronic Battery management module communication connection in automobile；

The Electric plug with shutter for the automatic dismantling/connect automatically can be hydraulic power or electrodynamic type automatic dismantling/from Dynamic connection plug, is also possible to contact wireless charging base and contacts with wireless charging board；It is described be automatically separated/attachment device can To be that electromagnetic type is arranged on battery module to link up with, link is set in the corresponding installation site of automobile, is also possible in automobile Lateral through slot in be arranged electrodynamic type clip, on the shell of battery module be arranged with electrodynamic type clip cooperation annular groove；

The system includes the first delivery platform, the second delivery platform for being arranged at Entrance, being sequentially placed, Life-detection instrument, identity recognition device, the front setting electrodynamic type the of the first delivery platform are set near the first delivery platform The second clearance of electrodynamic type railing is arranged in one clearance railing between the first delivery platform and the second delivery platform；Second transmission Robot mounting device is arranged in the side of platform, and battery recovery device is arranged in the other side；Third is arranged in the outlet port in parking lot The side setting battery of delivery platform, third delivery platform pushes platform；

The identity recognition device is camera head type license plate recognition device, or the reception with wireless signal receiver Device；

The robot mounting device includes positioning push platform, and positioning push stage+module is in the first auxiliary conveyor belt On, set positioning push platform and the first auxiliary conveyor belt associated movement, the first auxiliary conveyor belt side by side with the second delivery platform It sets；

The positioning push platform includes electrodynamic type or hydraulic up-down platform, and setting can be along the first auxiliary transmission on lifting platform The guide rail type movable platform of the mobile electrodynamic type in the vertical and horizontal direction of band or fluid pressure type, fixed placement pusher in mobile station Structure, delivery device can will place walking robot on a mobile station along the transverse direction release of the first auxiliary conveyor belt；

The walking robot includes shape and the hollow support shell that battery module is adapted, the both ends of supporing shell A joint of robot motor is respectively set, the output shaft lateral surface of joint motor is arranged more friction disk type first clutches, the The output end of one clutch is fixedly connected with the inner ring of oscillating bearing, and the outer ring of oscillating bearing is mounted on electric pushrod lateral surface In the through-hole of one end setting；Multiple universal wheel walking mechanisms are arranged side by side in the other end of electric pushrod；Lower section in the middle part of supporing shell Stand-by motor is set, and output shaft is connected by one end of second clutch and support rod, the axis of support rod and stand-by motor It is vertically arranged；The other end of support rod installs rotatable support wheel；Accessory power supply is set in the inner cavity of supporing shell；Supporting shell Auxiliary power plug is set on the lateral surface of body, and the Electric plug with shutter being arranged on auxiliary power plug and automobile is mutually matched；It is auxiliary Attaching plug is helped to connect with accessory power supply；

Local area network formula positioning device is also set up on the walking robot, is arranged in positioning device and walking robot Secondary processor communication connection, secondary processor and central processing unit communicate to connect；Secondary processor is for controlling running machine All electronic equipments and electrical equipment on people；

The supporing shell of the walking robot is divided into two parts, and the interior chamber size of right half part is greater than the outer of left-half Overall size can be placed in left-half in the inner cavity of right half part, and multiple driving wheels are housed on the lateral surface of left-half； The guide rail of corresponding position setting and driving wheel cooperation on the medial surface of right half part；

The local area network formula positioning device can be ultrasonic type positioning device or laser positioning type positioning device, Or position transmitters are set in the road in parking lot, it is arranged on walking robot and is connect with the matched signal of position transmitters Receive device；It is also possible to GPS formula locator.

The battery recovery device includes the second auxiliary conveyor belt being arranged side by side with the second delivery platform, the second auxiliary Sorting equipment is arranged in the exit of conveyer belt, and battery module is after the sorting of sorting equipment, and charge dress when being respectively fed to long It sets, interim charging unit；

The sorting equipment is hand type automatic sorting device or the railing clearance formula point with landmark identification function Pick device；

Charging unit is single flow or AC system charging unit when described long, and the interim charging unit is single flow Or AC system charging unit；

A third auxiliary conveyor belt, third auxiliary is nearby respectively set in charging unit, interim charging unit when described long The outlet of conveyer belt is located at the side of third delivery platform, and the near exit position setting battery of third auxiliary conveyor belt pushes flat Platform, the structure that battery pushes platform are consistent with the positioning push structure of platform；Battery push platform is placed on the 4th auxiliary transmission It takes；4th auxiliary conveyor belt is arranged in parallel with third delivery platform；

The battery management module passes through wireless parties with the central processing unit being arranged in parking lot by cloud service platform Formula or internet or the communication connection of mobile phone movable signal；The central processing unit also respectively with the parking stall that is arranged on each parking stall Indication sensor communication connection；Central processing unit is also communicated to connect with memory module, parking lot road is stored in memory module Figure.

The lifting platform is electrodynamic type or hydraulic up-down platform, and the guide rail type movable platform is that screw slider formula is mobile flat Platform or rail slide type mobile platform；The delivery device is electrodynamic type push rod or fluid pressure type push rod, is also possible to a tubbiness Multiple electronic friction wheels are arranged on the medial surface of barrel cover in shell, and walking robot is placed in barreled shell, electronic to rub Guide wheel is wiped to contact with the shell of walking robot；

Battery alignment sensor is also set up in the mobile station；The battery alignment sensor is the knowledge of camera head type image Individual sensor, or the wireless signal receiver with setting element, setting element are placed in battery module in advance.

The universal wheel walking mechanism includes universal wheel, and universal wheel is fixed on horizontally disposed wheel shaft, and support arm is solid It is scheduled in the steering shaft being vertically arranged, the output axis connection of steering shaft and steering motor, the shell of steering motor is fixedly mounted on On electric pushrod, the axis of steering shaft and the axis coaxle of electric pushrod are arranged；

Movable motor, the output shaft and wheel axis connection of movable motor are installed on the support arm；The universal wheel row Walking mechanism further includes universal wheel drive dynamic control device, and universal wheel drive dynamic control device includes drive control device, drive control device point It is not communicated to connect with steering motor, movable motor, and angular transducer, the speed probe of detection universal wheel；Universal wheel drives Dynamic control device and secondary processor communicate to connect.

First delivery platform includes crawler type main belt, and setting weight senses in the drive shaft of main belt Device；Longitudinal boss is arranged in the outer surface of main belt, and one ring-like guide rail is respectively set in the two sides of main belt, ring-like to lead Groove is arranged to the side of main belt in rail level；One end lower part of longitudinal boss and the outer surface of main belt are hinged, make resistance Plate and main belt associated movement；In longitudinal boss other end lower part, horizontal guiding axis is set in transverse direction, guiding axis Both ends are inserted into the groove of ring-like guide rail and can be slided in groove；Rail when one end of longitudinal boss is moved with main belt When mark becomes circular arc from straight line, the guiding axis of longitudinal boss other end is slided along ring-like guide rail, and flaps is made to carry out rotary motion, It is similar with the motion mode of stepping type step of elevator；

Multiple flaps are arranged side by side in the longitudinal direction boss, tire is contacted with the upper surface of flaps when automobile passes through, Along the longitudinal direction, the both ends of flaps bottom surface are respectively hinged with the upper end of first rack gear, and the lower end insertion of the first rack gear is vertical It can slide in the pilot hole that corresponding position is arranged along the vertical direction into boss and along pilot hole；What one flaps lower end connected Two the first rack gears are engaged with an equipment gear simultaneously；Multiple equipment gears are horizontally set in longitudinal boss with one simultaneously The engagement of the second rack gear, the gear that the output end that the second rack gear and resistance adjust motor is arranged engages；Resistance adjusts motor in Central processor communication connection；

Second delivery platform, the structure of third delivery platform are consistent with the structure of the first delivery platform.

The utility model has the following beneficial effects: the utility model is intelligently connected by central processing unit with Cloud Server It connects, judges whether parking lot has vacant position, whether electric car needs in time and charge, to arrange vehicle in time to electric car Position charges in time, improves parking lot intelligence degree and ensure that the timeliness of charging；By having network positions device The accessory power supply of walking robot charges to automobile, enhances the flexibility of electric car charging, convenience and mobility； Automobile lower for electricity can satisfy the demand of its long-time charging；The case where for batteries of electric automobile damage, this reality Battery can be replaced in time with the delivery device in novel, guarantees the safety of battery, and persistence also ensures holding for electric car It navigates in continuous；The walking robot can return to robot mounting device after charging, allow to reuse, and can also realize Quick-replaceable battery and charging operations are carried out to automobiles multiple in parking lot；Walking robot is arranged thereon in the task of execution Driving wheel drive supporing shell shrink and stretching, extension, be flexibly adapted to the narrow environment in parking lot；It is arranged on walking robot Universal wheel can realize straight line walking or left and right transverse shifting, reduce turning radius when parking, improve the field in parking lot Ground utilization rate.

Detailed description of the invention

Fig. 1 is automatically replacing battery and shutdown system schematic diagram；

Fig. 2 is that automobile enters the second delivery platform preparation replacement battery schematic diagram；

Fig. 3 enters the second delivery platform walk behind machine device people for automobile and has been installed in place schematic diagram；

Fig. 4 is that delivery device pushes walking robot schematic diagram；

Fig. 5 is that universal wheel walking mechanism is grounded schematic diagram after walking robot is installed on automobile；

Fig. 6 is aided support leg structure schematic diagram；

Fig. 7 is that universal wheel walking mechanism is grounded schematic diagram after walking robot is installed to bottom of car；

Fig. 8 is longitudinal boss structure schematic diagram；

Fig. 9 is main delivery platform front view；

Figure 10 is the top view of Fig. 9；

Figure 11 is positioning push platform structure schematic diagram；

Figure 12 is universal wheel walking mechanism front view；

Figure 13 is the left view of Figure 12；

Figure 14 is automatically replacing battery and shutdown system control circuit schematic diagram；

Figure 15 is automatically replacing battery and shutdown system rate-determining steps a to step j schematic diagram；

Figure 16 is automatically replacing battery and shutdown system rate-determining steps k to step p schematic diagram；

The automatically replacing battery and shutdown system rate-determining steps a of a kind of preferred embodiment of Figure 17 are to step j schematic diagram；

The automatically replacing battery and shutdown system rate-determining steps k of a kind of preferred embodiment of Figure 18 are to step p schematic diagram.

Specific embodiment

A kind of the parking lot automatically replacing battery and shutdown system of efficient electric car, described as shown in Fig. 1-Figure 18 System is for parking the electric car that chassis central location is arranged in battery module 8, the phase of placing battery module 8 on electric car Answer position that lateral through slot is set, the battery module 8 placed in lateral through slot can accordingly push under the effect of external force or on automobile Under the auxiliary of equipment, released from any side of electric car；Electric automobile chassis central location also sets up a transverse concave groove, Wireless charging receiver 81 is set inside the bottom edge of transverse concave groove；

The battery module 8 can also be provided at the front or rear portion of electric car；It is corresponding, before electric automobile chassis A transverse concave groove is respectively set in portion and rear portion, and wireless charging receiver 81 is arranged inside the bottom edge of transverse concave groove；

The installed position of the battery module 8 be respectively set can automatic dismantling/connect automatically Electric plug with shutter, and / attachment device is automatically separated for battery module 8 to be fixed on electric car；The battery module 8 is also with setting in electricity Battery management module 102 in electrical automobile communicates to connect；

The Electric plug with shutter for the automatic dismantling/connect automatically can be hydraulic power or electrodynamic type automatic dismantling/from Dynamic connection plug, is also possible to contact wireless charging base and contacts with wireless charging board；It is described be automatically separated/attachment device can To be that electromagnetic type is arranged on battery module 8 to link up with, link is set in the corresponding installation site of automobile, is also possible in automobile Lateral through slot in be arranged electrodynamic type clip, on the shell of battery module 8 be arranged with electrodynamic type clip cooperation annular groove；

The system includes the first delivery platform 1, the second delivery platform for being arranged at Entrance, being sequentially placed 2, life-detection instrument 101, identity recognition device 107 are set near first delivery platform 1, and the front of the first delivery platform 1 is set The first clearance of electrodynamic type railing 108 is set, the second clearance of electrodynamic type column is set between the first delivery platform 1 and the second delivery platform 2 Bar 110；Robot mounting device 4 is arranged in the side of second delivery platform 2, and battery recovery device 5 is arranged in the other side；Parking Third delivery platform 3 is arranged in the outlet port of field, and the side setting battery of third delivery platform 3 pushes platform 6；The identity is known Other device 107 is camera head type license plate recognition device, or the receiver with wireless signal receiver；

The robot mounting device 4 includes positioning push platform 41, and positioning push platform 41 is mounted on the first auxiliary biography It send on band 42, makes positioning push platform 41 and 42 associated movement of the first auxiliary conveyor belt, the first auxiliary conveyor belt 42 and second passes Platform 2 is sent to be arranged side by side；

The positioning push platform 41 includes electrodynamic type or hydraulic up-down platform 44, and setting can be auxiliary along first on lifting platform 44 The electrodynamic type of the vertical and horizontal direction movement of conveyer belt 42 or the guide rail type movable platform 45 of fluid pressure type are helped, is fixed in mobile station 45 Delivery device 46 is placed, delivery device 46 can will be placed on the walking robot in mobile station 45 9 along the first auxiliary conveyor belt 42 Transverse direction release；

The walking robot 9 includes shape and the hollow support shell 91 that battery module 8 is adapted, supporing shell A joint of robot motor 92 is respectively set in 91 both ends, and the output shaft lateral surface of joint motor 92 is arranged more friction disk types The output end of first clutch 93, first clutch 93 is fixedly connected with the inner ring of oscillating bearing 94, the outer ring of oscillating bearing 94 It is mounted in the through-hole of one end setting of 95 lateral surface of electric pushrod；The other end of electric pushrod 95 is arranged side by side multiple universal Take turns walking mechanism 96；The middle part of supporing shell 91 lower section is arranged stand-by motor 91-1, output shaft by second clutch 91-2 with One end of support rod 91-3 connects, and support rod 91-3 and the axis of stand-by motor 91-1 are vertically arranged；Support rod 91-3's is another Rotatable support wheel 91-4 is installed at end；Accessory power supply 99 is set in the inner cavity of supporing shell 91；The lateral surface of supporing shell 91 The Electric plug with shutter being arranged on upper setting auxiliary power plug 99-1, auxiliary power plug 99-1 and automobile is mutually matched；Auxiliary Attaching plug 99-1 is connect with accessory power supply 99；

The lateral surface top corresponding position of the supporing shell 91 also sets up wireless charging base 99-2, wireless charging base 99-2 It is mutually matched with the wireless charging receiver 81 being arranged in the transverse concave groove of automobile chassis；

Local area network formula positioning device 97, positioning device 97 and walking robot 9 are also set up on the walking robot 9 The secondary processor 98 of upper setting communicates to connect, and secondary processor 98 and central processing unit 103 communicate to connect；Secondary processor 98 For controlling all electronic equipments and electrical equipment on walking robot 9；

The local area network formula positioning device 97 can be ultrasonic type positioning device or laser positioning type positioning dress It sets, or position transmitters is set in the road in parking lot, setting and the matched letter of position transmitters on walking robot 9 Number receiver；It is also possible to GPS formula locator.

The battery recovery device 5 include with the second delivery platform 2 be arranged side by side the second auxiliary conveyor belt 51, second Sorting equipment 52 is arranged in the exit of auxiliary conveyor belt 51, and battery module 8 is sent respectively after the sorting of sorting equipment 52 To it is long when charging unit 53, interim charging unit 54；

The sorting equipment 52 is hand type automatic sorting device or the railing clearance formula with landmark identification function Sorting equipment；

Charging unit 53 is single flow or AC system charging unit when described long, and the interim charging unit 54 is straight Streaming or AC system charging unit；

Nearby a third auxiliary conveyor belt 55 is respectively set in charging unit 53, interim charging unit 54 when described long, the The outlet of three auxiliary conveyor belts 55 is located at the side of third delivery platform 3, and the near exit position of third auxiliary conveyor belt 55 is set Battery push platform 6 is set, the structure that battery pushes platform 6 is consistent with the positioning push structure of platform 41；Battery pushes platform 6 It is placed on the 4th auxiliary conveyor belt 61；4th auxiliary conveyor belt 61 is arranged in parallel with third delivery platform 3；

The battery management module 102 is led to by cloud service platform 106 with the central processing unit 103 being arranged in parking lot Cross wireless mode or internet or the communication connection of mobile phone movable signal；The central processing unit 103 is also respectively and on each parking stall The parking stall indication sensor 104 of setting communicates to connect；Central processing unit 103 is also communicated to connect with memory module 105, stores mould Parking lot road-map is stored in block 105.

The lifting platform 44 is electrodynamic type or hydraulic up-down platform, and the guide rail type movable platform 45 is screw slider formula Mobile platform or rail slide type mobile platform；The delivery device 46 is electrodynamic type push rod or fluid pressure type push rod, is also possible to Multiple electronic friction wheels are arranged on the medial surface of barrel cover in one barrel cover, and walking robot 9 is placed on barreled shell In, electronic friction wheel is contacted with the shell of walking robot 9；

Battery alignment sensor 47 is also set up in the mobile station 46；The battery alignment sensor 47 is camera head type Image recognition sensor, or the wireless signal receiver with setting element, setting element are placed in advance in battery module 8；

The universal wheel walking mechanism 96 includes universal wheel 96-1, and universal wheel 96-1 is fixed on horizontally disposed wheel shaft On 96-2, support arm 96-3 is fixed on the steering shaft 96-4 being vertically arranged, the output of steering shaft 96-4 and steering motor 96-9 Axis connection, the shell of steering motor 96-9 are fixedly mounted on electric pushrod 95, the axis and electric pushrod 95 of steering shaft 96-4 Axis coaxle setting；

Movable motor 96-5 is installed, the output shaft and wheel shaft 96-2 of movable motor 96-5 connects on the support arm 96-3 It connects；The universal wheel walking mechanism 96 further includes universal wheel drive dynamic control device 96-7, universal wheel drive dynamic control device 96-7 Including drive control device, drive control device respectively with steering motor 96-9, movable motor 96-5, and detection universal wheel 96-1 Angular transducer 96-6, speed probe 96-8 communication connection；Universal wheel drive dynamic control device 96-7 and secondary processor 98 are logical Letter connection.

First delivery platform 1 includes crawler type main belt 11, and weight is arranged in the drive shaft of main belt 11 Sensor 109；Longitudinal boss 19 is arranged in the outer surface of main belt 11, and one ring is respectively set in the two sides of main belt 11 Groove is arranged towards the side of main belt 11 in type guide rail 17, ring-like guide rail 17；One end lower part of longitudinal boss 19 and main transmission Outer surface with 11 is hinged, makes flaps 12 and 11 associated movement of main belt；Longitudinal 19 other end lower part of boss transversely The horizontal guiding axis 18 of direction setting, the both ends of guiding axis 18 are inserted into the groove of ring-like guide rail 17 and can be slided in groove It is dynamic；When track when one end of longitudinal boss 19 is moved with main belt 11 becomes circular arc from straight line, longitudinal 19 other end of boss Guiding axis 18 slided along ring-like guide rail 17, make flaps 12 carry out rotary motion and stepping type step of elevator motion mode It is similar；

Multiple flaps 12 are arranged side by side in the longitudinal direction boss 19, the upper surface of tire and flaps 12 when automobile passes through Contact, along the longitudinal direction, the both ends of 12 bottom surface of flaps it is respectively hinged with the upper end of first rack gear 13, the first rack gear 13 Lower end is inserted into the pilot hole that corresponding position is arranged along the vertical direction in longitudinal boss and can be slided along pilot hole；One flaps Two the first rack gears 13 of 12 lower ends connection are engaged with an equipment gear 14 simultaneously；Multiple equipment gears 14 simultaneously with one The second rack gear 15 engagement being horizontally set in longitudinal boss 19, the output end cap of the second rack gear 15 and resistance adjustment motor 16 If gear engagement；Resistance adjusts motor 16 and central processing unit 103 communicates to connect；

Second delivery platform 2, the structure of third delivery platform 3 are consistent with the structure of the first delivery platform 1.

According to the control of the parking lot automatically replacing battery of any one above-mentioned efficient electric car and shutdown system Method, the control method include the following steps sequentially carried out:

Step a: the automobile for not entering parking lot sends request signal to central processing unit 103, and central processing unit 103 receives After request signal, calculates and recorded on the empty parking space quantity n1 and cloud service platform 106 that parking stall indication sensor 104 is sent Certain time interval T in reserve outgoing vehicles quantity n2, if n1+n2 > 0, central processing unit 103 to send request signal vapour Vehicle is fed into signal, while central processing unit 103 acquires the total of the battery module 8 that the automobile batteries management module 102 is sent Electricity A0 and battery module 8 are located at the front of automobile chassis or the position signal P0 at middle part or rear portion, if battery module 8 In the middle part of automobile chassis, then P1 is labeled as；If battery module 8 is located at the front or rear portion of automobile chassis, it is labeled as P2, so After enter step b；Otherwise signal is rejected for entry into vehicle transmission；

Step b: central processing unit 103 compares A0 and stored three parameters, the relationship of three parameters are as follows: the One threshold value < second threshold < third threshold value, if A0≤first threshold, central processing unit 103 marks the battery module 8 For B1, subsequently into step d；If first threshold < A0≤second threshold, by the battery module 8 be labeled as C0, then into Enter step c, if second threshold < A0≤third threshold value, which is labeled as D0, subsequently into step c；If The battery module 8 is then labeled as E0, subsequently into step d by A0 > third threshold value；

Step c: central processing unit 103 is handed over to cloud service platform 106 or the information being arranged near the first delivery platform 1 Mutual device send whether charging signals, driver answers on cloud service platform 106 or on information interactive device, If answer needs to charge, C0 is changed to C1, or D0 is changed to D1, subsequently into step d；If answer does not need to charge, protect It holds C0 or D0 is constant, subsequently into step d；

Step d: electric car sends request entry instruction to central processing unit 103, and central processing unit 103 starts after receiving Identity recognition device 107 opens first if the automobile for sending request entry instruction is the automobile for being fed into signal before this Clearance railing 108 allows automobile to enter the first delivery platform；

Then central processing unit 103 starts life-detection instrument 101, weight sensor 109, when weight sensor 109 is shown Automobile has been parked on the first delivery platform 1, and life-detection instrument 101 show the first delivery platform 1 on without any vital signs after, If the position signal that battery module 8 is located at automobile chassis is P1, the mounting platform 4 that placed walking robot 9 is called The inlet of the second delivery platform 2 is moved to, if the position signal that battery module 8 is located at automobile chassis is P1, calls two The mounting platform 4 that placed walking robot 9 moves to the inlet of the second delivery platform 2, subsequently into step e；

Step e: central processing unit 3 controls the second clearance railing 110 and opens, and then starts the first delivery platform 1, second biography Platform 2 is sent, automobile is pushed into the second delivery platform 2, while central processing unit 3 judges the label of the battery module 8 of the automobile For B1 or C1 or D1, then f is entered step, g is otherwise entered step；

Step f: after automobile enters the second delivery platform 2, start the first auxiliary conveyor belt 42, if battery module 8 is located at vapour The position signal of chassis is P1, at this time the supporing shell 91 of walking robot 9 and 95 coaxially formed straight-bars of electric pushrod, The first clutch 93 at 91 both ends of supporing shell is in connection status；Central processing unit 103 is sent out according to battery alignment sensor 47 The location parameter of the battery module 8 sent controls the lifting platform 44 and mobile station 45 of positioning mechanism 43, makes an electric pushrod 95 End is directed at battery module 8；Then the information that unlocks, the battery of the automobile are sent to the battery management module of the automobile 102 The Electric plug with shutter of module 8 disconnects, be automatically separated/attachment device is in discrete state；

Battery module 8 is released and pushed to walking robot 9 by delivery device 46, makes the other side of the battery module 8 from automobile It is pushed out, and falls on the battery recovery device 5 of the other side；The supporing shell 91 of walking robot 9 occupies battery mould at this time Block 8 is located at the position in automobile chassis, and two electric pushrods 95 connecting with supporing shell 91 stretch out the both ends of automobile chassis, auxiliary It helps the auxiliary socket being arranged on attaching plug 99-1 and automobile chassis to match, automobile is powered by accessory power supply 99；

Then the first clutch 93 at 91 both ends of supporing shell is in discrete state, makees two electric pushrods 95 in gravity It is rotated down under, while electric pushrod 95 extends, makes the universal wheel walking mechanism 96 and the of 95 outer end end point of electric pushrod The conveyer belt of two delivery platforms 2 contacts, and then electric pushrod 95 further increases, and makes automobile tire and surface separation；Then into Enter step h；

If the position signal that battery module 8 is located at automobile chassis is P2, first vehicle with walking machine on a mounting platform 4 Device people 9 releases battery module 8, another mounting platform 4 is controlled by central processing unit 103,103 basis of central processing unit The automobile chassis position that battery alignment sensor 47 is sent, controls second walking robot 9 on another mounting platform 4 Below automobile chassis；Then using delivery device 46 second walking robot 9 is released and from one below automobile chassis Side penetrates, and the first clutch 93 that one end is first penetrated when penetrating separates, and keeps the side electric pushrod 95 downward under gravity To perpendicular to the ground, the side first clutch 93 engagement then first penetrates an electric pushrod 95 and second for automobile chassis for rotation Delivery platform 2 contacts；Second walking robot 9 continues to penetrate when being driven out to delivery device 46 to support wheel 91-4, the second clutch Device 91-2 is disconnected, and support rod 91-3 rotates down to perpendicular to the ground under gravity, and then second clutch 91-2 connects It closes, when walking robot is driven out to delivery device 46 completely, the first clutch 93 close to delivery device 46 is disconnected, close to push away The electric pushrod 95 of mechanism 46 is sent to rotate down under gravity perpendicular to the ground, then close to delivery device 46 First clutch 93 engages, and then stand-by motor 91-1 is rotated, and support rod 91-3 is rotated to supporing shell 91；

Then electric pushrod 95 further increases, and the upper surface of supporing shell 91 is contacted with the crossbeam of automobile chassis two sides, Make automobile tire and surface separation；Subsequently into step h；

Step g: if the position signal that battery module 8 is located at automobile chassis is P1, mounting platform 4 is by central processing unit 103 are controlled, and a walking robot 9 is mounted below automobile chassis, and then electric pushrod 95 further increases, support The upper surface of shell 91 is contacted with the crossbeam of automobile chassis two sides, makes automobile tire and surface separation；Wireless charging base 99- simultaneously 2 contact with wireless charging receiver 81；Then central processing unit 103 judges the battery module 8 for D0, and wireless charging base 99-2 is held Continue to wireless charging receiver 81 and convey electric energy, the battery module 8 is made to be in shallow charged state, if central processing unit 103 judges The battery module 8 is E0, then wireless charging base 99-2 does not convey electric energy；Subsequently into step i；

If the position signal that battery module 8 is located at automobile chassis is P2, mounting platform 4 is carried out by central processing unit 103 Control, the automobile chassis position that central processing unit 103 is sent according to battery alignment sensor 47, while calling two control installations Platform 4 makes two walking robots 9 be separately mounted to the front and rear below automobile chassis；Then vehicle bottom former and later two The electric pushrod 95 of walking robot 9 further increases simultaneously, upper surface and the automobile chassis two sides of two supporing shells 91 Crossbeam contact, makes automobile tire and surface separation；While positioned at the wireless charging receiver 81 of 8 underface of battery module and relatively The wireless charging base 99-2 for 91 upper surface of supporing shell answered is contacted；Then central processing unit 103 judges that the battery module 8 is D0, wireless charging base 99-2 continue to convey electric energy to wireless charging receiver 81, and the battery module 8 is made to be in shallow charged state, If central processing unit 103 judges the battery module 8 for E0, wireless charging base 99-2 does not convey electric energy；Subsequently into step i；

Step h: central processing unit 103 judges the battery module 8 fallen on battery recovery device 5, and starts the second auxiliary Conveyer belt 51, by labeled as B1 or C1 battery module 8 send to it is long when charging unit 53 at carry out long when charging, while will be long when A battery module 8 of electricity is had been filled in charging unit 53 labeled as reserve battery；It will send labeled as the battery module 8 of D1 to facing When charging unit 54 at shallowly charged；Subsequently into step i；

Step i: after automobile is pushed out the second delivery platform 2, central processing unit 103 extracts multiple parking stalls in parking lot The position that the positioning device 97 of multiple walking robots 9 is sent in the empty parking space information of the transmission of indication sensor 104 and parking lot The course of action information of confidence breath and multiple walking robots 9, by the information input of above-mentioned three aspect to memory module 105 In the parking lot road-map of storage, the course of action of the walking robot 9 is calculated, then improve step j；

Step j: the course of action of current walking robot 9 is sent to secondary processor 98 by central processing unit 103, auxiliary Processor 98 controls universal wheel drive dynamic control device 96-7, by automobile transportation to specified parking stall, the parking stall on corresponding parking stall Indication sensor 104 sends back to parking successful information to central processing unit 103, and central processing unit 103 is issued to Cloud Server 106 The parking position information of the parking successful information and the vehicle；The electric pushrod 95 of walking robot 9 is shunk, and allows automobile tire Again it is grounded, subsequently into step k；

Step k: driver is sent by Cloud Server 106 and extracts signals of vehicles, and Cloud Server 106 receives extraction vehicle After signal, location information and multiple rows that the positioning device 97 of multiple walking robots 9 in parking lot is sent are extracted The course of action information of robot walking 9, the parking lot road that above-mentioned both sides information input to memory module 105 is stored In figure, the course of action of current walking robot 9 is then calculated, while extracting the mark of battery module 8 corresponding with the automobile Note, subsequently into step 1；

Step 1: corresponding walking robot 9 moves on third delivery platform 3 according to course of action, while to automobile Judged, if the label of the original battery module 8 of automobile is or C1, one piece of reserve battery is put to battery and is pushed On platform 6, subsequently into step m；If the label of the original battery module 8 of automobile is, the battery mould of D1 will be labeled as Block 8 is transported on battery push platform 6 from interim charging unit 54, subsequently into step m；If the battery module that automobile carries 8 label is or D0 or E0 then to enter step n；

Step m: third delivery platform 3, the starting of the 4th auxiliary conveyor belt 61 push automobile, the walking connecting with the automobile The electric pushrod 95 of robot 9 is shunk, and keeps universal wheel liftoff, automobile tire is contacted with third delivery platform 3, then central processing Device 3 controls battery push platform 6 and is packed into automobile chassis by reserve battery or labeled as the battery module 8 of D1, while by vehicle with walking machine Device people 9 releases, subsequently into step p；

Step n: the starting push automobile of third delivery platform 3, the electric pushrod 95 for the walking robot 9 being connect with the automobile It shrinks, first clutch 93 is in engagement state, and supporing shell 91 is dropped to be separated with automobile chassis, automobile tire and third Delivery platform 3 contacts, and then walking robot 9 sails out of vehicle bottom, subsequently into step p；

Step p: walking robot is voluntarily back at robot mounting device 4 according to fixed route, and waiting makes next time With.

Better implementation mode is: in the step a, central processing unit 3 also extracts reserve battery in current parking lot Quantity n0, if n0=0, refuses battery module when not entering the automobile in parking lot and sending request signal to central processing unit 103 8 total electricity A0≤first threshold automobile enters；If the label of battery module 8 is, maintain C0 constant in step c.

Better implementation mode is: the step j is into step p, in 103 real-time contacts parking lot of central processing unit Walking robot 9 and real-time reception feedback, if central processing unit 103 and walking robot 9 are out of touch, the walking robot 9 voluntarily according to line operation to station is repaired, and the routing indicator of the walking robot 9 operation to maintenance station is to have occupied Route, central processing unit 103 avoid busy line when calculating the walking route of other walking robots 9.

Better implementation mode is: in the step a, while central processing unit 103 is transmitted into signal to automobile, also Residence time request signal is sent, automobile feeds back residence time T1, when the typical residence that will be stored in T1 and memory module 105 Between T2 compare, if T1 >=T2, in step j, when walking robot 9 traveling in place after, be located at the automobile chassis under The electric pushrod 95 of the walking robot 9 just connected is shunk, and supporing shell 91 is dropped to be separated with automobile chassis, walking robot 9 driving wheel 91-7 rotation, the spacing for driving supporing shell 91 to be contracted to 9 both ends universal wheel of walking robot are less than automobile wheel track When, driving wheel 91-7 stops operating.Central processing unit 103 controls walking robot 9 and moves to outside automobile, the drive of walking robot 9 Driving wheel 91-7 rotation drives the elongation of supporing shell 91 to the initial length of the spacing of 9 both ends universal wheel of walking robot, driving Wheel 91-7 stops operating.The course of action of current walking robot 9 is sent to secondary processor 98 by central processing unit 103, auxiliary Processor 98 is helped to control universal wheel drive dynamic control device 96-7, walking robot is voluntarily back to robot peace according to fixed route At assembling device 4, waiting uses next time.

Better implementation mode is: in the step k, after which receives extraction signals of vehicles, central processing unit 103 is adjusted Below one or two 9 autonomous travel of walking robot to the automobile chassis, contacted again with the automobile chassis；Then should On automobile transportation band third delivery platform 3.

Claims (1)

1. the parking lot automatically replacing battery and shutdown system of a kind of efficient electric car, the system is for parking battery mould The electric car of chassis central location is arranged in block (8), and the corresponding position of placing battery module (8) is arranged laterally on electric car Through slot, the battery module (8) placed in lateral through slot can under the effect of external force or on automobile under the auxiliary of corresponding pushing equipment, It is released from any side of electric car；

The installed position of the battery module (8) be respectively set can automatic dismantling/connect automatically Electric plug with shutter, Yi Jiyong / attachment device is automatically separated in battery module (8) to be fixed on electric car；The battery module (8) also exists with setting Battery management module (102) communication connection in electric car；

The automatic dismantling/Electric plug with shutter connected automatically can be hydraulic power or electrodynamic type automatic dismantling/connects automatically Plug is also possible to contact wireless charging base and contacts with wireless charging board；It is described be automatically separated/attachment device can be Electromagnetic type is arranged on battery module (8) to link up with, link is set in the corresponding installation site of automobile, is also possible in automobile Electrodynamic type clip is set in lateral through slot, the annular groove with the cooperation of electrodynamic type clip is set on the shell of battery module (8)；

It is characterized by: the system include be arranged at Entrance, the first delivery platform (1) for being sequentially placed, Two delivery platforms (2), are arranged life-detection instrument (101), identity recognition device (107) near the first delivery platform (1), and first The first clearance of electrodynamic type railing (108) are arranged in the front of delivery platform (1), the first delivery platform (1) and the second delivery platform (2) Between be arranged the second clearance of electrodynamic type railing (110)；Robot mounting device is arranged in the side of second delivery platform (2) (4), other side setting battery recovery device (5)；Third delivery platform (3) are arranged in the outlet port in parking lot, and third transmission is flat The side setting battery of platform (3) pushes platform (6)；

The identity recognition device (107) is camera head type license plate recognition device, or the reception with wireless signal receiver Device；

The robot mounting device (4) includes positioning push platform (41), and positioning push platform (41) is mounted on the first auxiliary On conveyer belt (42), make positioning push platform (41) and the first auxiliary conveyor belt (42) associated movement, the first auxiliary conveyor belt (42) it is arranged side by side with the second delivery platform (2)；

Positioning push platform (41) includes electrodynamic type or hydraulic up-down platform (44), and setting can be along first on lifting platform (44) The guide rail type movable platform (45) of the mobile electrodynamic type in the vertical and horizontal direction of auxiliary conveyor belt (42) or fluid pressure type, mobile station (45) fixed placement delivery device (46) on, delivery device (46) can will be placed on the walking robot (9) on mobile station (45) Transverse direction along the first auxiliary conveyor belt (42) is released；

The walking robot (9) includes shape and the hollow support shell (91) that battery module (8) are adapted, supporing shell (91) a joint of robot motor (92) is respectively set in both ends, and the output shaft lateral surface of joint motor (92) is arranged more frictions The output end of chip first clutch (93), first clutch (93) is fixedly connected with the inner ring of oscillating bearing (94), joint shaft The outer ring for holding (94) is mounted in the through-hole of one end setting of electric pushrod (95) lateral surface；The other end of electric pushrod (95) is simultaneously Multiple universal wheel walking mechanisms (96) are arranged in row；Stand-by motor (91-1) is arranged in lower section in the middle part of supporing shell (91), output shaft It is connect by second clutch (91-2) with one end of support rod (91-3), the axis of support rod (91-3) and stand-by motor (91-1) Line is vertically arranged；The other end of support rod (91-3) installs rotatable support wheel (91-4)；In the inner cavity of supporing shell (91) It is arranged accessory power supply (99)；Auxiliary power plug (99-1) is set on the lateral surface of supporing shell (91), auxiliary power plug The Electric plug with shutter being arranged on (99-1) and automobile is mutually matched；Auxiliary power plug (99-1) is connect with accessory power supply (99)；

Local area network formula positioning device (97), positioning device (97) and walking robot are also set up on the walking robot (9) (9) secondary processor (98) communication connection being arranged on, secondary processor (98) and central processing unit (103) communicate to connect；It is auxiliary Help processor (98) for controlling all electronic equipments and electrical equipment on walking robot (9)；

The supporing shell (91) of the walking robot (9) is divided into two parts, and the interior chamber size of right half part (91-6) is greater than a left side The outer profile size of half part (99-2) can be placed in left-half (99-2) in the inner cavity of right half part (91-6), and left half Multiple driving wheels (91-7) partially is housed on the lateral surface of (99-2)；Corresponding position is arranged on the medial surface of right half part (91-6) With the guide rail of driving wheel (91-7) cooperation；

The local area network formula positioning device (97) can be ultrasonic type positioning device or laser positioning type positioning device, Or position transmitters are set in the road in parking lot, setting and the matched letter of position transmitters on walking robot (9) Number receiver；It is also possible to GPS formula locator；

The battery recovery device (5) includes the second auxiliary conveyor belt (51) being arranged side by side with the second delivery platform (2), the Sorting equipment (52) are arranged in the exits of two auxiliary conveyor belts (51), battery module (8) after the sorting of sorting equipment (52), Charging unit (53), interim charging unit (54) when being respectively fed to long；

The sorting equipment (52) is hand type automatic sorting device or the railing clearance formula point with landmark identification function Pick device；

Charging unit (53) is single flow or AC system charging unit when described long, and the interim charging unit (54) is straight Streaming or AC system charging unit；

Nearby a third auxiliary conveyor belt (55) is respectively set in charging unit (53), interim charging unit (54) when described long, The outlet of third auxiliary conveyor belt (55) is located at the side of third delivery platform (3), and the outlet of third auxiliary conveyor belt (55) is attached Near position is arranged battery and pushes platform (6), and the structure that battery pushes platform (6) is consistent with the positioning push structure of platform (41)； Battery push platform (6) is placed on the 4th auxiliary conveyor belt (61)；4th auxiliary conveyor belt (61) and third delivery platform (3) It is arranged in parallel；

The battery management module (102) passes through cloud service platform (106) and the central processing unit (103) being arranged in parking lot Wirelessly or internet or mobile phone movable signal communication connection；The central processing unit (103) also respectively with each parking Parking stall indication sensor (104) communication connection being arranged on position；Central processing unit (103) is also communicated with memory module (105) Connection, memory module (105) is interior to store parking lot road-map.