CN211592298U - Battery pack replacing system for unmanned ship - Google Patents
Battery pack replacing system for unmanned ship Download PDFInfo
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- CN211592298U CN211592298U CN201922150460.3U CN201922150460U CN211592298U CN 211592298 U CN211592298 U CN 211592298U CN 201922150460 U CN201922150460 U CN 201922150460U CN 211592298 U CN211592298 U CN 211592298U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The utility model discloses a battery pack replacing system for an unmanned ship, which comprises a battery box, a battery cabin, a charging platform and a conveyer; a battery pack is packaged in the battery box; the battery cabin is arranged in a cabin of the unmanned ship and comprises an electric cabin groove and a fastener; the charging platform is arranged on a wharf or a supply ship and comprises a placement groove and a charging plate; the battery boxes are respectively arranged in the electric cabin groove and the placing groove, the fastener can fasten the battery boxes in the electric cabin groove and lead the power supply of the battery pack in the battery boxes into the unmanned ship power system, and the charging plate can charge the battery pack of the battery box in the placing groove; the conveyer is installed beside the charging platform, and can exchange and replace the battery boxes in the electric cabin groove and the placing groove. The utility model discloses can supply the group battery for a plurality of unmanned ships according to the preface, with the power consumption process and the charging process separation of unmanned ship, solve unmanned ship and charge long and change difficult problem consuming time, improve unmanned ship's rate of utilization.
Description
Technical Field
The utility model relates to a robot power maintenance system, especially a group battery change system for unmanned ship.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on water surface according to a preset task without remote control by means of precise satellite positioning and self sensing, and English is abbreviated as USV. Many enterprises at home and abroad greatly invest in the development of unmanned ships, the advantages of low cost, no personnel accompanying the ships and low risk of the unmanned ships are fully exerted, and the value of the water area robot is reflected to the maximum extent.
The unmanned ship can work in water areas of rivers, lakes and gulfs for a long time, and provides reliable patrol or transportation service. However, in the long-time operation process of the unmanned ship, the contradiction occurs between the battery capacity and the work cycle, if the unmanned ship is to continuously work in the daytime and be charged at night, the capacity of the battery pack needs to be increased, so that the battery cost is increased, the weight of the whole ship is increased, if the unmanned ship is continuously charged in the work period, the whole ship is frequently stopped and the power supply is insufficient, the attendance rate of the unmanned ship is influenced, if the battery is manually replaced in the ship stopping period, the battery is difficult to replace once, and the manpower participates in reducing the intelligent level of the unmanned ship.
In view of the above, it is an urgent problem in the art to overcome the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The utility model discloses the technical problem that needs to solve is: the automatic charging period of the unmanned ship is long, and the automatic degree of battery replacement is low; the battery pack replacing system for the unmanned ship unifies the sizes of the battery cabins and the battery packs of the unmanned ships, separates the sailing and charging processes of the unmanned ships, achieves automatic replacement of the battery packs by means of the conveyor, solves the problems that the unmanned ships are long in charging time and difficult to replace, and improves the utilization rate of the unmanned ships.
The utility model discloses a following technical scheme reaches above-mentioned purpose: provided is a battery pack replacement system for an unmanned ship, including a battery box, a battery compartment, a charging stand, and a conveyor; a battery pack is packaged in the battery box; the battery cabin is arranged in a cabin of the unmanned ship and comprises an electric cabin groove and a fastener; the charging platform is arranged on a wharf or a supply ship and comprises a placement groove and a charging plate; the battery boxes are respectively arranged in the electric cabin groove and the placing groove, the fastener can fasten the battery boxes in the electric cabin groove and lead the power supply of the battery pack in the battery boxes into the unmanned ship power system, and the charging plate can charge the battery pack of the battery box in the placing groove; the conveyer is installed beside the charging platform, and can exchange and replace the battery boxes in the electric cabin groove and the placing groove, so that the battery pack can be replaced.
Preferably, the battery box comprises a box body, a positive electrode joint, a negative electrode joint, a hanging beam and a hanging head; the hanging heads are respectively arranged on two sides of the box body and are used as supporting points for hanging; the size of the positive electrode joint is the same as that of the negative electrode joint, the positive electrode joint is fixed on the side surface of the hanging head on one side of the box body, and the negative electrode joint is fixed on the side surface of the hanging head on the other side of the box body; the hanging beam is a steel belt or an iron belt which is arched vertically upwards, one end of the hanging beam is hung on the hanging head on one side of the box body, the other end of the hanging beam is hung on the hanging head on the other side of the box body, and the hanging beam is convenient to grab and not easy to deform after being extruded; the battery pack formed by the storage batteries is tightly assembled in the box body, the anodes of the storage batteries in the battery pack are connected in parallel and connected to the anode connector through a lead, and the cathodes of the storage batteries in the battery pack are connected in parallel and connected to the cathode connector through a lead to form a parallel battery pack.
Preferably, trapezoidal grooves for carrying hanging heads are formed in two sides of the battery compartment, the width of the upper ends of the trapezoidal grooves is larger than the diameter of the hanging heads, so that the hanging heads can conveniently enter, the width of the lower ends of the trapezoidal grooves is consistent with that of the hanging heads, and arc-shaped grooves matched with the hanging heads in shape are formed in the lower ends of the trapezoidal grooves, so that the hanging heads can be conveniently and transversely clamped; the length and width of the top end of the electric cabin groove are larger than the corresponding length and width of the battery box, so that the battery box can conveniently enter the electric cabin groove, and the length and width of the bottom end of the electric cabin groove are consistent with the corresponding length and width of the battery box, so that the battery box can be conveniently and transversely clamped; the two ends of the battery compartment are respectively provided with one fastener, and each fastener comprises a fastener motor, a fastener head and a power supply lead; one end of the buckle head is fixed on an output shaft of the buckle motor, and the other end of the buckle head is provided with a buckle groove matched with the positive electrode connector or the negative electrode connector; the power supply lead is laid on the lower side of the buckle head, one end of the power supply lead is arranged on the inner side surface of the buckle groove, and the other end of the power supply lead is connected with the power system of the unmanned ship; the buckle head corresponding to the positive electrode joint can be buckled on the positive electrode joint through the buckle groove, so that the positive electrode joint of the battery box is communicated with the positive electrode of the unmanned ship power system through the power lead, and the buckle head corresponding to the negative electrode joint can be buckled on the negative electrode joint through the buckle groove, so that the negative electrode joint of the battery box is communicated with the negative electrode of the unmanned ship power system through the power lead; when the positive electrode connector and the negative electrode connector are clamped by the clamping groove, the battery box is tightly pressed in the battery compartment by the clamping head through the clamping motor.
Preferably, a plurality of sets of placing grooves and charging plates are arranged on the charging table, the length and width of each placing groove are consistent with those of the battery box, and the depth of each placing groove is smaller than the height of the battery box; the charging plate is provided with a clamping groove and a charging lead; the width of the upper end of the clamping groove is larger than the diameters of the positive electrode joint and the negative electrode joint, so that the positive electrode joint and the negative electrode joint can conveniently enter, the width of the lower end of the clamping groove is consistent with the diameters of the positive electrode joint and the negative electrode joint, and an arc-shaped groove matched with the positive electrode joint and the negative electrode joint in shape is arranged, so that the positive electrode joint and the negative electrode joint can be conveniently and transversely clamped; the charging plates are arranged at two ends of the placing groove and are divided into a positive electrode plate and a negative electrode plate, the placing position, the polarity and the height of the charging plates are matched with the positions, the polarities and the heights of a positive electrode joint and a negative electrode joint at two sides of the battery box in the corresponding placing groove, the positive electrode joint of the battery box is placed on the positive electrode plate, and the negative electrode joint is placed on the negative electrode plate; the charging lead is laid on the charging plate, one end of the charging lead is arranged on the inner side surface of the clamping groove, and the other end of the charging lead is connected with the output end of the wharf shore power or supply ship charging system.
When the battery box is placed in the placing groove, the charging lead in the clamping groove of the positive electrode plate is led into the positive power supply, and the charging lead in the clamping groove of the negative electrode plate is led into the negative power supply.
Preferably, the conveyor comprises a lifting table, a telescopic table and a buckle grabber; the lifting platform comprises a base, a rotating motor and a vertical hydraulic cylinder; the rotating motor is arranged in the base and drives the base to rotate; the telescopic table comprises a hydraulic arm, a steering arm and a steering motor; one end of the hydraulic arm is sleeved on the base and fixed at the top of the vertical hydraulic cylinder, the other end of the hydraulic arm is rotatably connected with the steering arm, and the steering motor is arranged at the connection part of the hydraulic arm and the steering arm; the steering arm is provided with a square through hole and a mounting hole; the buckle grabber comprises a clamp and a pressing motor; the clamp consists of a left clamp, a right clamp, a tension spring and a positioning pin and is arranged in the middle of the square through hole; the left clamp and the right clamp are symmetrically connected in series by the positioning pin and can be rotatably hung in the hanging hole; one end of the tension spring is arranged on the inner side of the upper end of the left clamp, the other end of the tension spring is arranged on the inner side of the upper end of the right clamp, and the lower end jaws of the left clamp and the right clamp are actively driven to be enlarged; the pressing motor is arranged on one side of the square through hole, and a pressing sheet is fixedly arranged on an output shaft of the pressing motor; specifically, the vertical hydraulic cylinder can drive the telescopic table to vertically move along the direction of the base, so that the height of the telescopic table is changed; the hydraulic arm can drive the steering arm to move transversely, so that the telescopic distance of the steering arm is changed; the steering motor can drive the steering arm to rotate, and the working angle of the steering arm is changed; the pressing motor drives the pressing sheet to move up and down, and the pressing sheet extrudes the upper ends of the left pliers and the right pliers so as to change the size of the lower end jaws of the left pliers and the right pliers; when the pressing sheet downwards extrudes the clamp, the lower end jaws of the left clamp and the right clamp can be clamped tightly, so that the battery box can be grasped, when the pressing sheet moves upwards again, the clamp is loosened, and under the action of the tension spring, the lower end jaws of the left clamp and the right clamp are loosened, so that the battery box can be loosened and placed.
Preferably, the unmanned ship comprises a ship-borne controller, a ship-borne communication system and an electric quantity monitor; the shipborne controller is used as a control center of the unmanned ship and is connected with and monitors the shipborne communication system, the electric quantity monitor and the battery cabin, wherein the electric quantity monitor is connected with the battery pack in the battery cabin groove and transmits the electric quantity of the battery pack to the shipborne controller in real time.
The conveyor also comprises a control panel, an onboard communication system and a battery monitor, wherein the control panel is used as a control center of the conveyor and is connected with and monitors the lifting table, the telescopic table, the buckle grabber, the onboard communication system, the battery monitor and the charging table, and the battery monitor is connected with the battery pack in the placing groove and transmits the electric quantity of the battery monitor to the control panel in real time.
The shipborne communication system is matched with the model of the airborne communication system, a wireless communication channel can be established, and communication between the shipborne controller and the control board card is realized.
Preferably, the conveyer still includes the camera, the camera is installed under the steering arm, the camera will be grabbed the knot ware and snatch the process and shoot into picture or image to the battery box and upload for the control panel, and the control panel judges the knot ware operating mode according to camera data.
Preferably, a 5G communication system and a Bluetooth communication system which are matched with each other are arranged in the shipborne communication system and the airborne communication system, and specifically, when the unmanned ship is far away from the charging station, the shipborne communication system and the airborne communication system carry out wireless communication through the 5G communication system; after the unmanned ship is close to the charging station, the shipborne communication system and the airborne communication system carry out wireless communication through the Bluetooth communication system.
Preferably, the unmanned ship is provided with a ship top for shielding the battery box from wind and rain, and the cabin of the unmanned ship is also provided with a seat system for passengers to rest.
Compared with the prior art, the utility model has the following advantages.
1. The automatic berthing position for replacing the battery pack is automatically entered through the automatic navigation characteristic of the unmanned ship, and the battery pack can be automatically replaced through the conveying platform.
2. The battery/electric quantity monitoring system is used for automatically monitoring the electric quantity of the battery pack on the unmanned ship and the charging station, so that a decision is generated to prompt a plurality of unmanned ships to stop in sequence and replace the power supply in time.
3. The battery cabin, the battery box and the charging plate are unified in size, so that the battery pack can be provided for all unmanned ships in the whole water area.
4. Set up rotating electrical machines, vertical pneumatic cylinder, hydraulic arm, turn to the motor and realize the four-axis arm function on the conveyer, cooperate the image collection of camera, make the conveyer friendly response unmanned ship rock/askew to, the platform mounting groove that charges puts the battery pack change demand under the anomalous condition.
5. The clamping and taking functions of the conveyor are realized through the clamp, the tension spring of the clamp and the pressing motor, and the requirement for extracting a heavy battery box is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a perspective view of an unmanned ship and a battery pack replacement system thereof according to an embodiment of the present invention.
Fig. 2 is a structural diagram of a control system of the unmanned ship according to the embodiment of the present invention.
Fig. 3 is a perspective view of the battery compartment in the embodiment of the present invention when the battery compartment is isolated after being loaded with the battery box and the battery pack.
Fig. 4 is a perspective view of the battery box in an isolated state after the battery pack is loaded in the battery box according to the embodiment of the present invention.
Fig. 5 is a perspective view of the battery compartment in an isolated state according to an embodiment of the present invention.
Fig. 6 is a perspective view of the embodiment of the present invention when the fastener is isolated.
Fig. 7 is a perspective view of the charging stand and the transmitter in isolation according to an embodiment of the present invention.
Fig. 8 is a perspective view of the transmitter in isolation according to an embodiment of the present invention.
Fig. 9 is a perspective view of the steering arm in isolation according to an embodiment of the present invention.
Fig. 10 is a perspective view of the clasp in isolation in accordance with an embodiment of the present invention.
Fig. 11 is a perspective view of the embodiment of the present invention with the clamp detached.
Fig. 12 is a perspective view of the transmitter in the embodiment of the present invention when the transmitter completes the placement of the battery box and the working state is isolated.
Fig. 13 is a perspective view of the unmanned ship and the battery box placing operation state of the battery pack replacing system thereof according to the embodiment of the present invention.
In the figure: 1-a battery box; 2-a battery compartment; 3-a charging stand; 4-a conveyor; 5-a battery pack; 6-an onboard controller; 7-a shipborne communication system; 8-a charge monitor; 9-a control panel; 10-airborne communication system; 11-a battery monitor; 101-a box body; 102-positive electrode tab; 103-negative electrode tab; 104-hanging beam; 105-hanging head; 201-electric compartment groove; 202-a fastener; 203-trapezoidal groove; 204-a snap motor; 205-a snap head; 206-power supply leads; 207-snap groove; 301-placing grooves; 302-a charging pad; 303-a clamping groove; 304-a charging lead; 401-a lifting platform; 402-a telescopic table; 403-a clasp; 404-a camera; 405-a base; 406-a rotating electrical machine; 407-vertical hydraulic cylinder; 408-a hydraulic arm; 409-a steering arm; 410-a steering motor; 411-square through hole; 412-mounting holes; 413-clamp; 414-pressing motor; 415-left clamp; 416-right clamp; 417-a tension spring; 418-locating pin; 419-tabletting.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "up", "down", "top", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The present invention will be described in detail with reference to the accompanying drawings and examples.
The implementation example is as follows: as shown in fig. 1 to 11, there is provided a battery pack 5 replacement system for an unmanned ship, comprising a battery box 1, a battery compartment 2, a charging stand 3 and a conveyor 4, wherein the battery box 1 is 80cm long, 40cm wide and 40cm high; the battery box 1 is internally provided with a battery pack 5; the battery compartment 2 is arranged in a cabin of the unmanned ship and comprises an electric compartment groove 201 and a fastener 202; the charging table 3 is arranged on the wharf and comprises a placing groove 301 and a charging plate 302; the battery boxes 1 are respectively arranged in the electric cabin groove 201 and the placing groove 301, the fastener 202 can fasten the battery boxes 1 in the electric cabin groove 201 and lead the power supply of the battery pack 5 in the battery boxes to the unmanned ship power system, and the charging plate 302 can charge the battery pack 5 of the battery box 1 in the placing groove 301; the conveyor 4 is arranged at the center of a circle beside the charging table 3, and the battery box 1 in the electric cabin groove 201 and the placing groove 301 can be exchanged, so that the battery pack 5 can be replaced.
In this embodiment, the battery box 1 includes a box body 101, a positive electrode connector 102, a negative electrode connector 103, a hanging beam 104, and a hanging head 105; the hanging head 105 is 5cm long and is respectively arranged at two sides of the box body 101 and used as a hanging support point; the size of the positive electrode connector 102 is the same as that of the negative electrode connector 103, the diameter of the positive electrode connector 102 is 5cm, the length of the positive electrode connector 103 is 5cm, the positive electrode connector 102 is fixed on the side face of the hanging head 105 on one side of the box body 101, and the negative electrode connector 103 is fixed on the side face of the hanging head 105 on the other side of the box body 101; the hanging beam 104 is a steel belt or an iron belt which is arched vertically upwards, the width of the hanging beam is 16cm, one end of the hanging beam is hung on the hanging head 105 on one side of the box body 101, the other end of the hanging beam is hung on the hanging head 105 on the other side of the box body 101, and the hanging beam 104 is convenient to be grabbed by the conveyor 4 and is not easy to deform after being extruded; the battery pack 5 formed by four storage batteries is tightly assembled in the box body 101, the anodes of the storage batteries in the battery pack 5 are connected in parallel and connected to the anode connector 102 by leads, and the cathodes of the storage batteries in the battery pack 5 are connected in parallel and connected to the cathode connector 103 by leads to form the parallel battery pack 5.
In the embodiment, the two sides of the battery compartment 2 are provided with the trapezoidal grooves 203 for carrying the hanging heads 105, the width of the upper ends of the trapezoidal grooves 203 is 20cm greater than the diameter of the hanging heads 105, so that the hanging heads 105 can enter the trapezoidal grooves, the width of the lower ends of the trapezoidal grooves 203 is consistent with that of the hanging heads 105, and the diameter of the arc-shaped grooves matched with the shapes of the hanging heads 105 is 10cm at the lower ends of the trapezoidal grooves 203, so that the hanging heads 105 can be clamped transversely; the length and the width of the top end of the electric cabin groove 201 are 86cm and 55cm, and are larger than the corresponding length and width dimensions of the battery box 1, so that the battery box 1 can conveniently enter the electric cabin groove 201, and the length and the width dimensions of the bottom end of the electric cabin groove 201 are consistent with the corresponding length and width dimensions of the battery box 1, so that the battery box 1 can be conveniently and transversely clamped; two ends of the battery compartment 2 are respectively provided with one fastener 202, and each fastener 202 comprises a fastener motor 204, a fastener head 205 and a power supply lead 206; one end of the buckle head 205 is fixed on an output shaft of the buckle motor 204, and the other end is provided with a buckle groove 207 matched with the positive electrode connector 102 or the negative electrode connector 103; the power supply lead 206 is 0.9cm wide and 0.3cm thick, is laid on the lower side of the buckle head 205, one end of the power supply lead is arranged on the inner side surface of the buckle groove 207, and the other end of the power supply lead is connected with a power system of the unmanned ship; the buckle head 205 corresponding to the positive electrode connector 102 can be buckled on the positive electrode connector 102 through the buckle groove 207, so that the power lead 206 can communicate the positive electrode connector 102 of the battery box 1 with the positive electrode of the unmanned ship power system, and the buckle head 205 corresponding to the negative electrode connector 103 can be buckled on the negative electrode connector 103 through the buckle groove 207, so that the power lead 206 can communicate the negative electrode connector 103 of the battery box 1 with the negative electrode of the unmanned ship power system; when the output shaft of the latch motor 204 rotates 120 degrees clockwise, the latch motor 204 locks when the latch groove 207 latches the positive terminal 102 and the negative terminal 103, and the latch head 205 tightly presses the battery box 1 into the battery compartment 2.
In this embodiment, three sets of placing grooves 301 and charging plates 302 are arranged on the charging table 3, the bottom of the placing groove 301 is 80cm long, 40cm wide and 1cm high, the charging plates 302 are 40cm long and 5cm wide, and the radius of the placing groove 301 from the conveyor 4 is 200 cm; a clamping groove 303 and a charging lead 304 are arranged on the charging plate 302; the width of 9cm at the upper end of the clamping groove 303 is larger than the diameters of the positive electrode joint 102 and the negative electrode joint 103, so that the positive electrode joint 102 and the negative electrode joint 103 can conveniently enter, the width of the lower end of the clamping groove 303 is consistent with the diameters of the positive electrode joint 102 and the negative electrode joint 103, and the diameter of an arc groove matched with the shapes of the positive electrode joint 102 and the negative electrode joint 103 is 5.4cm, so that the positive electrode joint 102 and the negative electrode joint 103 can be conveniently and transversely clamped; the charging plates 302 are arranged at two ends of the placing groove 301 and are divided into a positive electrode plate and a negative electrode plate, the placing position, the polarity and the height of the charging plates 302 are matched with the positions, the polarities and the heights of the positive electrode connector 102 and the negative electrode connector 103 on two sides of the battery box 1 in the corresponding placing groove 301, the positive electrode connector 102 of the battery box 1 is placed on the positive electrode plate, and the negative electrode connector 103 is placed on the negative electrode plate; the charging lead 304 is 3cm wide and 0.2cm thick, is laid on the charging plate 302, one end of the charging lead is arranged on the inner side surface of the clamping groove 303, and the other end of the charging lead is connected with the output end of the wharf shore power or supply ship charging system.
In this embodiment, when the battery box 1 is placed in the placing groove 301, the charging lead 304 in the clamping groove 303 corresponding to the positive electrode plate is in close contact with the positive connector of the battery box 1 to connect with the positive charging power supply, and the charging lead 304 in the clamping groove 303 corresponding to the negative electrode plate is in close contact with the negative connector of the battery box 1 to connect with the negative charging power supply.
In this embodiment, the conveyor 4 includes a lifting table 401, a telescopic table 402, and a clasp 403; the lifting platform 401 comprises a pedestal 405, a rotating motor 406 and a vertical hydraulic cylinder 407, wherein the height of the pedestal 405 is 180cm, and the height adjusting range of the vertical hydraulic cylinder 407 is 30 cm-180 cm; the rotating motor 406 is installed in the base 405 and drives the base 405 to rotate; the telescopic table 402 comprises a hydraulic arm 408, a steering arm 409 and a steering motor 410, wherein the length adjusting range of the hydraulic arm 408 is 50cm to 200cm, and the length of the steering arm 409 is 75 cm; one end of the hydraulic arm 408 is sleeved on the base 405 and fixed on the top of the vertical hydraulic cylinder 407, the other end of the hydraulic arm is rotatably connected with the steering arm 409, and the steering motor 410 is installed at the connection position of the hydraulic arm 408 and the steering arm 409; a square through hole 411 and a mounting hole 412 are formed in the steering arm 409, the length of the square through hole 411 is 40cm, the width of the square through hole is 8cm, the diameter of the mounting hole 412 is 4cm, and the mounting hole 412 is arranged in the center of the side face of the square through hole 411 and is 50cm away from the end face of the rotating side of the steering arm 409; the clasp 403 includes a clamp 413 and a pressing motor 414; the clamp 413 consists of a left clamp 415, a right clamp 416, a tension spring 417 and a positioning pin 418 and is arranged in the middle of the square through hole 411, wherein the diameter of the positioning pin 418 is 4 cm; the positioning pin 418 symmetrically connects the left clamp 415 and the right clamp 416 in series and rotatably hangs in the hanging hole 412; one end of the tension spring 417 is arranged on the inner side of the upper end of the left clamp 415, the other end of the tension spring 417 is arranged on the inner side of the upper end of the right clamp 416, and the jaws of the lower ends of the left clamp 415 and the right clamp 416 are actively driven to be enlarged; the pressing motor 414 is installed at one side of the square through hole 411, and a pressing sheet 419 is fixedly arranged on an output shaft of the pressing motor 414; specifically, the vertical hydraulic cylinder 407 can drive the telescopic platform 402 to move vertically along the direction of the base 405, so as to change the height of the telescopic platform 402; the hydraulic arm 408 can drive the steering arm 409 to move transversely, so that the telescopic distance of the steering arm 409 is changed; the steering motor 410 can drive the steering arm 409 to rotate, the working angle of the steering arm 409 is changed, and the angle change range is from minus 120 degrees to plus 120 degrees; the pressing motor 414 drives the pressing sheet 419 to move up and down, the pressing sheet 419 presses the upper ends of the left clamp 415 and the right clamp 416, so that the size of the jaw at the lower end of the left clamp 415 and the right clamp 416 is changed, the change range of the size of the jaw is 1 cm-20 cm, and the maximum size of the jaw is larger than the width of the hanging beam 104; when the pressing sheet 419 presses the clamp 413 downwards, the lower end jaws of the left clamp 415 and the right clamp 416 can be clamped, so that the battery box 1 can be grasped, when the pressing sheet 419 moves upwards again, the pressing of the clamp 413 is released, and under the action of the tension spring 417, the lower end jaws of the left clamp 415 and the right clamp 416 are released, so that the battery box 1 can be released and placed.
In this embodiment, the unmanned ship includes a ship-borne controller 6, a ship-borne communication system 7 and an electric quantity monitor 8; the shipborne controller 6 is used as a control center of the unmanned ship and is connected with and monitors the shipborne communication system 7, the electric quantity monitor 8 and the battery cabin 2, wherein the electric quantity monitor 8 is connected with the battery pack 5 in the electric cabin groove 201 and transmits the electric quantity of the battery pack to the shipborne controller 6 in real time; the ship-mounted controller 6 is a control box which is formed by taking an SIM32F series CPU processor as a core, the electric quantity monitor 8 is a control card based on a single-chip lithium battery electric quantity meter DS2780, and monitoring data are uploaded to the ship-mounted controller 6.
The conveyor 4 further comprises a control panel 9, an onboard communication system 10 and a battery monitor 11, wherein the control panel 9 is used as a control center of the conveyor 4 and is connected with and monitors the lifting table 401, the telescopic table 402, the buckle grabber 403, the onboard communication system 10, the battery monitor 11 and the charging table 3, and the battery monitor 11 is connected with the battery pack 5 in the placing groove 301 and transmits the electric quantity of the battery pack to the control panel 9 in real time; the control panel 9 is a control panel 9 which is formed by taking a SIM32F series CPU processor as a core, the battery monitor 11 is a control box based on a single-chip lithium battery electricity meter DS2780, and monitoring data are sent to the control panel 9 through a serial port.
The type of the shipborne communication system 7 is matched with that of the airborne communication system 10, a wireless communication channel can be established, and communication between the shipborne controller 6 and the control panel 9 is achieved, a 5G communication system and a Bluetooth communication system which are matched are arranged in the shipborne communication system 7 and the airborne communication system 10, specifically, a 5G chip Balong 5000 is installed in the 5G communication system, a low-power-consumption Bluetooth chip CC2450F128 is adopted in the Bluetooth communication system, and when the unmanned ship is far away from the charging station 3, the shipborne communication system 7 and the airborne communication system 10 carry out wireless communication through the 5G communication system; when the unmanned ship approaches the charging station 3, the shipborne communication system 7 and the airborne communication system 10 carry out wireless communication through a Bluetooth communication system.
In this embodiment, the conveyor 4 further includes a camera 404, the camera 404 is installed under the steering arm 409, the camera 404 captures the battery box 1 by the buckle grabber 403 and takes a picture or an image to be uploaded to the control board 9, the control board 9 determines the working condition of the buckle grabber 403 according to data of the camera 404, specifically, a series of pictures corresponding to the working conditions of the buckle grabber 403 before, during, and after the grabbing by the buckle grabber 403, the battery box 1 is lifted up, the battery box 1 is put down, and the like are stored in a memory of the control board 9 and serve as original pictures, the control board 9 reads a real-time image of the camera 404 and serves as a comparison picture, performs picture matching to obtain the current state of the buckle grabber 403, and then generates a new action instruction according to the.
In this embodiment, unmanned ship sets up the ship top and shelters from wind and rain for battery box 1, and unmanned ship's cabin still is provided with seat system and supplies the passenger to have a rest.
As shown in fig. 12 and 13, the present system replaces the battery pack 5 for the unmanned ship as follows.
The method comprises the following steps: the shipborne controller 6 of the unmanned ship judges that the battery pack 5 on the ship is insufficient according to the data of the shipborne electric quantity monitor 8, and the battery pack 5 needs to be replaced; the onboard controller 6 exchanges data of the battery box 1 with the wharf control board 9 through 5G communication equipment, determines the wharf position of the replaceable battery box 1, then drives the unmanned ship to enter a designated parking position, and adjusts the battery cabin 2 to an orientation easy to replace.
Step two: after the unmanned ship enters the boat berth, the battery cabin 2 is maintained to be close to the charging station 3, and meanwhile, the shipborne communication system 7 and the airborne communication system 10 are paired in Bluetooth communication, and a short-distance wireless communication channel is established.
Step three: the control board 9 of the conveyor 4 drives the vertical hydraulic cylinder 407 to adjust the height, so that the telescopic platform 402 can enter the cabin without collision of all equipment with the hull.
Step four: the control board 9 drives the rotating motor 406 to move, under the guidance of the camera 404, the hydraulic arm 408 is extended above the battery compartment 2, and then the length of the hydraulic arm 408 is adjusted to extend the steering arm 409 above the battery compartment 2.
Step five: the control board 9 of the conveyor 4 drives the vertical hydraulic cylinder 407 to adjust the height, and the clamp 413 on the steering arm 409 extends above the hanging beam 104 of the battery box 1.
Step six: under the guidance of the camera 404, the control board 9 drives the vertical hydraulic cylinder 407, the rotating motor 406 and the steering motor 410 step by step to move, so that the highest point of the hanging beam 104 is clamped into the clamping opening of the clamp 413.
Step seven: the control board 9 drives the pressing motor 414 to act, and the pressing plate moves downwards by 1cm, so that the clamp 413 clamps the hanging beam 104.
Step eight: the control board 9 sends the battery box clamped state information to the onboard controller 6, the onboard controller 6 drives the buckle motor 204 to act, the output shaft of the buckle motor 204 rotates 120 degrees anticlockwise, the buckle head 205 completely leaves the positive pole street and the negative pole connector 103, and the onboard controller 6 sends the battery box unclamped state information to the control board 9.
Step nine: the control board 9 drives the vertical hydraulic cylinder 407 to move upwards to lift the battery box 1 by 100cm, so that the battery box 1 does not collide with the ship body when being taken out of the cabin.
Step ten: the control board 9 drives the rotary motor 406 to operate, the hydraulic arm 408 is rotated above the vacant mounting groove 301 on the charging stand 3, the control board 9 drives the steering motor 410 to operate, the hydraulic arm 408 and the steering arm 409 are made to be collinear, and then the control board 9 adjusts the length of the hydraulic arm 408 so that the clamp 413 is extended to 200 cm.
Step eleven: under the cooperation of the camera 404, the control board 9 drives the vertical hydraulic cylinder 407 to act, and finely adjusts the working conditions of the rotating motor 406 and the steering motor 410, and the battery box 1 is placed in the empty placing groove 301 for charging.
Step twelve: the control board 9 drives the pressing motor 414 to act, the pressing plate moves upwards for 1cm, the clamp 413 loosens the battery box 1, and the process of taking the battery box 1 from the electric compartment groove 201 and placing the battery box into the placing groove 301 is completed.
Step thirteen: the control board 9 drives the vertical hydraulic cylinder 407 to act, lifts the hydraulic arm 408 up by 30cm, then drives the rotating motor 406 to act, and the control board 9 drives the hydraulic arm 408 to rotate to the position above the battery box 1 which is fully charged and allows the battery box to be taken out according to the data of the battery monitor 11.
Fourteen steps: the control board 9 drives the vertical hydraulic cylinder 407 to act, the hydraulic arm 408 descends by 30cm, the working conditions of the rotating motor 406 and the steering motor 410 are finely adjusted under the coordination of the camera 404, the jaw of the clamp 413 is enabled to abut against the hanging beam 104 of the battery box 1 which can be extracted, the control board 9 drives the pressing motor 414 to act, the pressing plate moves downwards by 1cm, and the clamp 413 clamps the hanging beam 104.
Step fifteen: the control board 9 drives the vertical hydraulic cylinder 407 to move upwards to lift the battery box 1 by 80cm, so that the battery box 1 can be placed in the cabin without collision of equipment with a ship body.
Sixthly, the steps are as follows: the control board 9 drives the rotating motor 406 to move, the hydraulic arm 408 is extended above the battery compartment 2 under the guidance of the camera 404, and then the length of the hydraulic arm 408 is adjusted to enable the steering arm 409 to extend right above the battery compartment 2.
Seventeen steps: under the guidance of the camera 404, the control board 9 drives the vertical hydraulic cylinder 407, the rotating motor 406 and the steering motor 410 step by step to move, and the battery box 1 is put into the battery compartment 2.
Eighteen steps: the control board 9 drives the pressing motor 414 to move, the pressing plate moves upwards by 1cm, the clamp 413 releases the battery box 1, and the control board 9 sends the state information of 'the battery box is placed completely' to the shipborne controller 6.
Nineteen steps: the onboard controller 6 drives the output shaft of the buckle motor 204 to rotate 120 degrees clockwise, the buckle head 205 clamps the positive pole street and the negative pole connector 103 respectively, the electric quantity monitor 8 monitors the electric quantity of the new battery pack 5 and informs the onboard controller 6, and the onboard controller 6 sends state information of 'battery box update complete' to the control panel 9.
Twenty steps: under the guidance of the camera 404, the control board 9 drives the vertical hydraulic cylinder 407, the rotating motor 406 and the steering motor 410 to act step by step, the telescopic table 402 and the buckle 403 are completely moved out of the cabin, and the control board 9 sends status information of "this battery pack replacement process is completed" to the onboard controller 6, thereby completing the process of conveying the battery box 1 to the unmanned ship.
In the replacement process of the battery pack 5, the unmanned ship supplies power by using the standby storage battery arranged in the cabin, the standby storage battery supplies power to the onboard controller 6, the buckle motor 204 and the onboard communication system 7 during the replacement of the battery pack 5, after the replacement of the battery pack 5 is finished, the battery pack 5 supplies power to an unmanned ship power system, and the power system charges the standby storage battery, so that the full-power state of the standby storage battery is maintained.
The charging stand 3 may be installed on a supply ship.
The wireless communication between the shipborne communication system 7 and the onboard communication system 10 can also adopt NFC, Zigbee technology and UWB technology for wireless communication.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A battery pack replacement system for an unmanned ship is characterized by comprising a battery box (1), a battery compartment (2), a charging stand (3) and a conveyor (4); a battery pack (5) is packaged in the battery box (1);
the battery cabin (2) is arranged in a cabin of the unmanned ship and comprises a battery cabin groove (201) and a fastener (202);
the charging platform (3) is arranged on a wharf or a supply ship and comprises a placement groove (301) and a charging plate (302);
the battery boxes (1) are respectively arranged in the electric cabin groove (201) and the placement groove (301), the fastener (202) can fasten the battery boxes (1) in the electric cabin groove (201) and lead the power supply of the battery pack (5) in the battery boxes to the unmanned ship power system, and the charging plate (302) can charge the battery pack (5) of the battery boxes (1) in the placement groove (301);
the conveyor (4) is arranged beside the charging table (3), and the battery box (1) in the electric cabin groove (201) and the placing groove (301) can be exchanged.
2. The battery pack replacement system for unmanned ship according to claim 1, wherein the battery box (1) comprises a box body (101), a positive electrode tab (102), a negative electrode tab (103), a hanging beam (104), and a hanging head (105);
the hanging heads (105) are respectively arranged on two sides of the box body (101);
the size of the positive electrode connector (102) is the same as that of the negative electrode connector (103), the positive electrode connector (102) is fixed on the side face of the hanging head (105) on one side of the box body (101), and the negative electrode connector (103) is fixed on the side face of the hanging head (105) on the other side of the box body (101);
the hanging beam (104) is a steel belt or an iron belt which is arched vertically upwards, one end of the hanging beam is hung on the hanging head (105) at one side of the box body (101), and the other end of the hanging beam is hung on the hanging head (105) at the other side of the box body (101);
the battery pack (5) formed by storage batteries is tightly assembled in the box body (101), the anodes of the storage batteries in the battery pack (5) are connected in parallel and connected to the anode connector (102) through a lead, and the cathodes of the storage batteries in the battery pack (5) are connected in parallel and connected to the cathode connector (103) through a lead.
3. The battery pack replacement system for unmanned ship according to claim 2,
the two sides of the battery compartment (2) are provided with trapezoidal grooves (203) for carrying the hanging heads (105), the width of the upper ends of the trapezoidal grooves (203) is larger than the diameter of the hanging heads (105) so that the hanging heads (105) can enter the trapezoidal grooves, and the width of the lower ends of the trapezoidal grooves (203) is consistent with that of the hanging heads (105) so that the hanging heads (105) can be clamped transversely;
the length and width of the top end of the electric cabin groove (201) are larger than the length and width corresponding to the battery box (1), so that the battery box (1) can conveniently enter the electric cabin groove (201), and the length and width of the bottom end of the electric cabin groove (201) are consistent with the length and width corresponding to the battery box (1), so that the battery box (1) can be conveniently and transversely clamped;
two ends of the battery compartment (2) are respectively provided with one fastener (202), and each fastener (202) comprises a fastener motor (204), a fastener head (205) and a power supply lead (206); one end of the buckle head (205) is fixed on an output shaft of the buckle motor (204), and the other end of the buckle head is provided with a buckle groove (207) matched with the positive electrode connector (102) or the negative electrode connector (103); the power supply lead (206) is laid on the lower side of the buckle head (205), one end of the power supply lead is arranged on the inner side surface of the buckle groove (207), and the other end of the power supply lead is connected with the power system of the unmanned ship.
4. The battery pack replacement system for the unmanned ship according to claim 3, wherein a plurality of sets of the receiving groove (301) and the charging plate (302) are provided on the charging stand (3), and the length and width dimensions of the receiving groove (301) are consistent with those of the battery box (1);
a clamping groove (303) and a charging lead (304) are arranged on the charging plate (302);
the width of the upper end of the clamping groove (303) is larger than the diameters of the positive electrode joint (102) and the negative electrode joint (103), and the width of the lower end of the clamping groove (303) is consistent with the diameters of the positive electrode joint (102) and the negative electrode joint (103);
the charging plates (302) are arranged at two ends of the placing groove (301), and the placing position, polarity and height of the charging plates (302) are matched with the positions, polarities and heights of the positive electrode connector (102) and the negative electrode connector (103) at two sides of the battery box (1) in the corresponding placing groove (301);
the charging lead (304) is laid on the charging plate (302), one end of the charging lead is arranged on the inner side surface of the clamping groove (303), and the other end of the charging lead is connected with the output end of a wharf shore power or supply ship charging system.
5. The battery pack replacement system for unmanned marine vessel as claimed in claim 4, wherein the conveyor (4) comprises a lifting table (401), a telescoping table (402), and a grabber (403);
the lifting platform (401) comprises a base (405), a rotating motor (406) and a vertical hydraulic cylinder (407); the rotating motor (406) is arranged in the base (405) and drives the base (405) to rotate;
the telescopic table (402) comprises a hydraulic arm (408), a steering arm (409) and a steering motor (410); one end of the hydraulic arm (408) is sleeved on the base (405) and fixed at the top of the vertical hydraulic cylinder (407), the other end of the hydraulic arm is rotatably connected with the steering arm (409), and the steering motor (410) is arranged at the connection part of the hydraulic arm (408) and the steering arm (409); a square through hole (411) and a mounting hole (412) are formed in the steering arm (409);
the buckle grabber (403) comprises a clamp (413) and a pressing motor (414); the clamp (413) consists of a left clamp (415), a right clamp (416), a tension spring (417) and a positioning pin (418), and is arranged in the middle of the square through hole (411); the positioning pin (418) symmetrically connects the left clamp (415) and the right clamp (416) in series and is rotatably hung in the hanging hole (412); one end of the tension spring (417) is arranged on the inner side of the upper end of the left clamp (415), the other end of the tension spring is arranged on the inner side of the upper end of the right clamp (416), and the lower end jaws of the left clamp (415) and the right clamp (416) are driven to be enlarged; the pressing motor (414) is arranged on one side of the square through hole (411), and a pressing sheet (419) is fixedly arranged on an output shaft of the pressing motor (414);
the vertical hydraulic cylinder (407) can drive the telescopic table (402) to move longitudinally to change the height of the telescopic table;
the hydraulic arm (408) can drive the steering arm (409) to move transversely to change the telescopic distance;
the steering motor (410) can drive the steering arm (409) to rotate to change the working angle of the steering arm;
the pressing motor (414) drives the pressing sheet (419) to move up and down, and the pressing sheet (419) presses the upper ends of the left clamp (415) and the right clamp (416), so that the size of the lower end jaw of the left clamp (415) and the lower end jaw of the right clamp (416) is changed.
6. The battery pack replacement system for the unmanned ship according to claim 5, wherein the unmanned ship comprises an onboard controller (6), an onboard communication system (7) and a power monitor (8);
the shipborne controller (6) is used as a control center of the unmanned ship and is connected with and monitors a shipborne communication system (7), an electric quantity monitor (8) and the battery cabin (2), wherein the electric quantity monitor (8) is connected with a battery pack (5) in the battery cabin groove (201) and transmits the electric quantity of the battery pack to the shipborne controller (6) in real time;
the conveyor (4) further comprises a control panel (9), an onboard communication system (10) and a battery monitor (11), wherein the control panel (9) is used as a control center of the conveyor (4) and is connected with and monitors the lifting table (401), the telescopic table (402), the buckle grabber (403), the onboard communication system (10), the battery monitor (11) and the charging table (3), and the battery monitor (11) is connected with the battery pack (5) in the placing groove (301) and transmits the electric quantity of the battery pack to the control panel (9) in real time;
the shipborne communication system (7) is matched with the airborne communication system (10) in model to establish a wireless communication channel, so that the communication between the shipborne controller (6) and the control panel (9) is realized.
7. The battery pack replacement system for the unmanned ship, according to claim 6, wherein the conveyor (4) further comprises a camera (404), the camera (404) is installed under the steering arm (409), and the camera (404) is used for uploading pictures or images obtained by the grabbing process of the battery box (1) by the grabber (403) to the control board (9).
8. The battery pack replacement system for the unmanned ship, according to claim 7, wherein the onboard communication system (7) and the onboard communication system (10) are provided with a 5G communication system and a Bluetooth communication system which are matched with each other.
9. The battery pack exchange system for unmanned ship according to any one of claims 1 to 8, wherein the unmanned ship is provided with a roof to shield the battery box (1) from wind and rain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922150460.3U CN211592298U (en) | 2019-12-05 | 2019-12-05 | Battery pack replacing system for unmanned ship |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922150460.3U CN211592298U (en) | 2019-12-05 | 2019-12-05 | Battery pack replacing system for unmanned ship |
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| CN211592298U true CN211592298U (en) | 2020-09-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115439999A (en) * | 2022-09-14 | 2022-12-06 | 亚光科技集团股份有限公司 | Battery safety alarm system of electric yacht and battery replacement method |
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2019
- 2019-12-05 CN CN201922150460.3U patent/CN211592298U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115439999A (en) * | 2022-09-14 | 2022-12-06 | 亚光科技集团股份有限公司 | Battery safety alarm system of electric yacht and battery replacement method |
| CN115439999B (en) * | 2022-09-14 | 2023-10-24 | 亚光科技集团股份有限公司 | Battery safety alarm system and battery replacement method for electric yacht |
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Effective date of registration: 20221104 Address after: 266400 Fusion Road 687, Fusion Road, Fusion Innovation Demonstration Zone, Guzhenkou, Binhai Street, Huangdao District, Qingdao City, Shandong Province Patentee after: QINGDAO WUJIANG TECHNOLOGY Co.,Ltd. Address before: 266000 167 road two, science and education, Huangdao District, Qingdao, Shandong Patentee before: QINGDAO ZHONGBANG INTELLIGENT TECHNOLOGY Co.,Ltd. |