JP5848267B2 - Battery replacement robot - Google Patents

Description

  The present invention relates to a battery exchange robot for exchanging a battery mounted on a vehicle.

  Conventionally, a battery exchange device for exchanging a battery mounted on an electric bus has been proposed (see, for example, Patent Document 1). A battery exchange device described in Patent Document 1 includes a battery tray on which a battery is mounted, a vertical lift device that raises and lowers the battery tray, a rotary platform that is mounted with the battery tray and the vertical lift device, and is rotatable, and a rotary platform And a parallel movement platform movable in the horizontal direction.

Japanese translation of PCT publication No. 2008-520173

  In the case of an electric bus, a battery housing is generally attached to the lower side of a seat. That is, in the case of an electric bus, the battery is mounted at a relatively low position. Therefore, when the battery of the electric bus is replaced, it is necessary to pull out or insert the battery at a relatively low position.

  Therefore, an object of the present invention is to provide a battery exchange robot capable of appropriately replacing a battery mounted on a vehicle even when the battery is mounted on a relatively low position of the vehicle.

In order to solve the above problems, a battery exchange robot of the present invention is a battery exchange robot for exchanging a battery mounted on a vehicle, and a direction in which the vehicle and the battery exchange robot face each other is a front-rear direction, When the vertical direction and a direction substantially orthogonal to the lateral direction direction, and the battery inserted drop mechanism for insertion of the battery into the withdrawal and the vehicle battery from the vehicle, a lifting mechanism for raising and lowering the battery tuning slide mechanism, the vertical direction A rotating mechanism for rotating the battery insertion / removal mechanism and the lifting mechanism and a horizontal movement mechanism for moving the battery insertion / removal mechanism, the lifting mechanism and the rotation mechanism in the left-right direction. Equipped with an elevating member that moves up and down together with the difference mechanism, and a columnar member that holds the elevating member so that it can be raised and lowered. The structure is such that the columnar member is fixed to the upper surface side and is rotatable, a rotation guide rail that is disposed on the lower surface side of the rotation member and guides the rotation member in the rotation direction, and rotation A plurality of rotation guide blocks which are arranged on the lower surface side of the member and engage with the rotation guide rail and which are relatively movable along the rotation guide rail, and the horizontal movement mechanism has the rotation member on the upper surface side. A slide member that is pivotably mounted and a pivot guide rail and a pivot guide block are arranged on the upper surface side thereof and movable in the left-right direction, and a slide member arranged on the lower surface side of the slide member is guided in the left-right direction. And a plurality of linear motion guide blocks that are arranged on the lower surface side of the slide member and engage with the linear motion guide rail and are relatively movable along the linear motion guide rail, Kinematic mechanism, as the rotation guide block, when the battery of the withdrawal and insertion time, and at least one of the first rotation guide block is disposed in the vicinity of the lower or bottom side of the columnar member, the upper linear guide blocks Or at least 1 2nd rotation guide block arrange | positioned in the upper vicinity is characterized by the above-mentioned.

  In the battery exchange robot of the present invention, at least one first rotation guide block is disposed on the lower side or the lower side of the columnar member when the battery is pulled out or inserted. Therefore, when the battery is pulled out or inserted, the battery is mounted on the battery pulling mechanism and a large load is applied to the columnar member. However, when the battery is pulled out or inserted, the columnar member fixed to the upper surface side of the rotating member is used. Such a large load can be directly received by the first rotation guide block and the rotation guide rail disposed on the lower surface side of the rotation member. Therefore, in the present invention, even if the rotating member is thinned to reduce the rigidity of the rotating member, the rotating member can be prevented from being deformed. That is, in the present invention, the rotating member can be made thin.

  Further, the load transmitted from the columnar member to the rotating member is distributed and transmitted to the plurality of rotating guide blocks. However, in the battery exchange robot of the present invention, at least one second rotation is performed when the battery is pulled out or inserted. Since the moving guide block is arranged on the upper side or in the vicinity of the upper side of the linear guide block, the load distributed and transmitted to the second rotating guide block arranged on the upper surface side of the slide member is transferred to the lower surface side of the slide member. It becomes possible to receive directly with the linear motion guide block and linear motion guide rail which are arrange | positioned. Therefore, in the present invention, it is possible to prevent the slide member from being deformed even if the slide member is thinned to reduce the rigidity of the slide member. That is, in the present invention, the slide member can be thinned.

  Thus, in the present invention, it is possible to reduce the thickness of the rotating member and the slide member. Therefore, in the present invention, it is possible to lower the battery insertion / removal mechanism arranged above the rotating member and the slide member to a relatively low position, and even if the battery is mounted at a relatively low position of the vehicle, The battery mounted on the vehicle can be properly pulled out and inserted by the battery insertion / removal mechanism. That is, according to the present invention, even if a battery is mounted at a relatively low position in the vehicle, it is possible to appropriately replace the battery mounted in the vehicle.

In the present invention, it is preferable that the second rotation guide block is disposed between the plurality of linear motion guide blocks in the left-right direction when the battery is pulled out and inserted. If comprised in this way, it will become possible to support the part to which the load transmitted to the 2nd rotation guide block of a slide member acts on both sides of the left-right direction with a linear motion guide block and a linear motion guide rail. Therefore, it is possible to effectively prevent deformation of the slide member.

In the present invention, the linear motion guide rail is preferably disposed between the plurality of rotation guide blocks in the front-rear direction when the battery is pulled out and inserted. If comprised in this way, it will become possible to arrange | position the part to which the load transmitted to the rotation guide block of a slide member acts on the both sides of the linear motion guide rail in the front-back direction. Therefore, the deformation of the slide member can be prevented compared to the case where the portion of the slide member on which the load transmitted to the rotation guide block acts is concentrated on one side of the linear guide rail in the front-rear direction. It becomes possible.

  In the present invention, the rotation guide block is preferably fixed to the rotation member, and the rotation guide rail is preferably fixed to the slide member. If comprised in this way, a rotation guide block will rotate with a rotation member. That is, the first rotation guide block rotates together with the rotation member. Therefore, even if the rotating member rotates, the load applied to the columnar member can be directly received by the first rotating guide block and the rotating guide rail.

  In the present invention, the rotation mechanism preferably includes a drive source for rotating the rotation member, and the drive source is preferably arranged on the radially outer side of the rotation member. If comprised in this way, since a drive source is not arrange | positioned at the lower side or upper side of a rotation member, it becomes possible to make a rotation mechanism thin. Therefore, the battery insertion / removal mechanism can be lowered to a lower position.

  In the present invention, the rotation mechanism includes a motor as a drive source, a toothed pulley fixed to the output shaft of the motor, and a toothed belt that is bridged between the toothed pulley and the rotation member. It is preferable that one surface on which the teeth of the belt are formed is in contact with the outer peripheral surface of the toothed pulley, and the other flat surface of the toothed belt is in contact with the outer peripheral surface of the rotating member. If comprised in this way, since it becomes unnecessary to form a tooth | gear in the outer peripheral surface of a rotation member, it becomes possible to simplify the structure of a rotation member. Moreover, if comprised in this way, it will become possible to transmit the motive power of a motor to a toothed belt efficiently via a toothed pulley.

  In this invention, it is preferable that a part of toothed belt is being fixed to the outer peripheral surface of a rotation member. If comprised in this way, even if a tooth | gear is not formed in the outer peripheral surface of a rotation member, it will become possible to prevent a toothed belt from slipping in the outer peripheral surface of a rotation member, and the power of a motor will be rotated. It is possible to reliably transmit to the member.

In the present invention, for example, battery tuning slide mechanism movable in a direction away from the direction and the vehicle approaches the vehicle, the movable moving to a direction approaching the vehicle at the time of withdrawal and during insertion of the battery in order to perform the withdrawal and insertion of the battery And the lifting mechanism includes two columnar members disposed on both ends of the first direction orthogonal to the moving direction and the vertical direction of the movable unit, and includes a lower side of each of the two columnar members. Alternatively, at least one first rotation guide block is disposed in the vicinity of the lower side.

  As described above, the battery replacement robot of the present invention can appropriately replace the battery mounted on the vehicle even when the battery is mounted at a relatively low position of the vehicle.

1 is a perspective view of a battery exchange system in which a battery exchange robot according to an embodiment of the present invention is used. It is a perspective view which shows the E section of FIG. 1 from another angle. It is an enlarged view of the F section of FIG. It is a front view which shows the state in which the battery was accommodated in the battery accommodating part shown in FIG. It is an enlarged view of the G section of FIG. It is a figure which shows the battery insertion / extraction mechanism and lifting mechanism shown in FIG. 2 from the front. It is a figure which shows a battery insertion / extraction mechanism and a raising / lowering mechanism from the HH direction of FIG. It is a figure for demonstrating the battery mounting mechanism shown in FIG. 6 from the front. It is a figure for demonstrating the battery mounting mechanism shown in FIG. 6 from a side surface. It is a figure for demonstrating the battery mounting mechanism shown in FIG. 6 from the upper surface. It is an expanded sectional view of the roller shown in FIG. It is a figure for demonstrating the battery moving mechanism shown in FIG. 6 from the front. It is a figure for demonstrating the battery moving mechanism shown in FIG. 6 from a side surface. It is a figure for demonstrating a state when the battery engaging part shown in FIG. 13 moves to the direction away from a bus | bath from a side surface. It is an enlarged view of the J section of FIG. It is an enlarged view of the K section of FIG. It is an enlarged view of the L section of FIG. It is a figure for demonstrating the battery moving mechanism shown in FIG. 6 from an upper surface. (A) is an enlarged view of a portion M in FIG. 18, and (B) is an enlarged view of a portion N in FIG. It is a figure for demonstrating the raising / lowering mechanism shown in FIG. 6 from an upper surface. It is a figure for demonstrating the structure of the 1st connection mechanism shown in FIG. 6, (A) is a figure for demonstrating a 1st connection mechanism from a front, (B) is a figure from PP direction of (A). It is a figure for demonstrating 1 connection mechanism. It is a figure for demonstrating the structure of the 2nd connection mechanism shown in FIG. 6, (A) is a figure for demonstrating a 2nd connection mechanism from a front, (B) is QA from QQ direction of (A). It is a figure for demonstrating 2 connection mechanisms. It is a figure for demonstrating a state when the holding member shown in FIG. 6 is inclined from the front. It is a figure for demonstrating the rotation mechanism and horizontal movement mechanism which are shown in FIG. 2 from the front. It is a figure for demonstrating the rotation mechanism and horizontal movement mechanism which are shown in FIG. 2 from the upper surface. It is a figure for demonstrating a rotation mechanism and a horizontal movement mechanism from the RR direction of FIG. (A) is an enlarged view of the U part of FIG. 25, (B) is an enlarged view of the V part of FIG. It is a figure for demonstrating the detection method of the approximate position of the battery by the detection mechanism shown in FIG. It is a figure for demonstrating the detection method of the position of the battery by the detection mechanism shown in FIG. It is a figure for demonstrating the attachment method of the detection mechanism concerning other embodiment of this invention. It is a figure for demonstrating the effect when a detection mechanism is attached with the attachment method shown in FIG. (A) is a figure for demonstrating from the front the detection mark concerning other embodiment of this invention, (B) is sectional drawing of the WW cross section of (A).

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Schematic configuration of battery replacement system)
FIG. 1 is a perspective view of a battery exchange system 1 in which a battery exchange robot 5 according to an embodiment of the present invention is used. FIG. 2 is a perspective view showing the E portion of FIG. 1 from another angle. In the following description, each of the three directions orthogonal to each other is defined as an X direction, a Y direction, and a Z direction. In this embodiment, the Z direction coincides with the vertical direction (vertical direction). In the following description, the X direction is the front-rear direction and the Y direction is the left-right direction.

  The battery exchange robot 5 (hereinafter referred to as “robot 5”) of this embodiment is a robot for exchanging the battery 3 mounted on the vehicle 2 and is used in the battery exchange system 1. The vehicle 2 of this embodiment is an electric bus. Therefore, hereinafter, the vehicle 2 is referred to as “bus 2”. A battery housing portion 4 in which a plurality of batteries 3 are housed is attached to the bus 2. The battery accommodating portion 4 is arranged so as to be exposed to the side surface 2a when a cover member (not shown) attached to one side surface 2a of the bus 2 is removed. Further, the battery accommodating portion 4 is disposed below the seat of the bus 2. That is, the battery 3 is mounted at a relatively low position on the bus 2. When the battery 3 is replaced, the bus 2 is stopped so that the traveling direction thereof substantially coincides with the left-right direction.

  The robot 5 faces the side surface 2a of the bus 2 in the front-rear direction so that the battery 3 housed in the battery housing portion 4 can be replaced. The robot 5 pulls out the battery 3 housed in the battery housing portion 4 and carries it into a buffer station (not shown), and unloads the charged battery 3 housed in the buffer station from the buffer station. Insert into the housing 4.

(Configuration of battery and battery compartment)
FIG. 3 is an enlarged view of a portion F in FIG. FIG. 4 is a front view showing a state in which the battery 3 is accommodated in the battery accommodating portion 4 shown in FIG. FIG. 5 is an enlarged view of a portion G in FIG.

  The battery housing portion 4 includes a battery cradle 6 on which the battery 3 is mounted, and left and right side walls 7, and a housing space for the battery 3 is formed by the battery cradle 6 and the side walls 7. In the battery accommodating portion 4 of the present embodiment, accommodating spaces for a plurality of batteries 3 are formed, and a plurality of batteries 3 can be accommodated. Moreover, the battery accommodating part 4 is arrange | positioned so that it may dent in the back | inner side rather than the side surface 2a of the bus | bath 2, As shown in FIG. 3, the level | step difference 2b is provided in the boundary of the battery stand 6, the side wall 7, and the side surface 2a. Is formed.

  A detection mark 8 for indirectly detecting the position of the battery 3 is formed on the front surface of the battery mount 6. The detection mark 8 is formed on each of both ends in the left-right direction of the battery mount 6. Further, as shown in FIG. 3, the detection mark 8 is formed in a flat plate shape that protrudes from the front surface of the battery mount 6, and is formed in a substantially triangular shape whose width changes in the vertical direction. In the present embodiment, as shown in FIG. 4, the detection mark 8 is fixed to the flat plate member 9, and the flat plate member 9 is fixed to the front surface of the battery table 6, whereby the front surface of the battery table 6. A detection mark 8 is formed on the surface.

  A handle 11 for pulling out the battery 3 from the battery housing 4 is formed on the front surface of the battery 3. In the present embodiment, the handle portion 11 is formed on each of the left and right ends of the front surface of the battery 3. On the lower surface of the battery 3, a protrusion 12 for positioning the battery 3 pulled out by the robot 5 in a direction orthogonal to the pulling direction is formed so as to protrude downward (see FIG. 5). The battery 3 includes a fixing member 13 (see FIG. 4) for fixing the battery 3 to the battery housing portion 4 and a release member 14 (see FIG. 3) for releasing the fixed state of the battery 3 with respect to the battery housing portion 4. ).

  The fixing member 13 is attached to the battery 3 so as to protrude from the left and right side surfaces of the battery 3. The fixing member 13 is attached to the front side of the battery 3. The fixing member 13 is held by the battery 3 so as to be movable in the left-right direction. The fixing member 13 is urged outward in the left-right direction by an urging member (not shown). In this embodiment, the urging force of the urging member causes the right and left outer end portions of the fixing member 13 to engage with the engagement holes formed in the side wall 7 of the battery housing portion 4, so that the battery housing portion 4 is brought into contact with the battery housing portion 4. 3 is fixed. The fixing member 13 functions to position the battery 3 in the front-rear direction and the up-down direction in the battery housing portion 4.

  The release member 14 is disposed on the back side of the handle portion 11. The release member 14 is held by the battery 3 so as to be movable in the front-rear direction. The release member 14 is urged toward the front side of the battery 3 by an urging member (not shown). In this embodiment, when the release member 14 is pushed to the back side, the fixing member 13 moves inward in the left-right direction, and the engagement hole formed in the side wall 7 of the battery housing portion 4 engages with the fixing member 13. The state is released, and the battery 3 can be pulled out from the battery housing 4.

  A connector connected to a connector disposed at the back of the battery housing 4 is attached to the back surface of the battery 3. A positioning pin for positioning the battery 3 in the up / down / left / right directions in the battery housing 4 is attached to the back surface of the battery 3.

(Schematic configuration of battery replacement robot)
As shown in FIG. 2, the robot 5 includes a battery insertion / removal mechanism 17 that pulls out the battery 3 from the bus 2 and inserts the battery 3 into the bus 2, a lifting mechanism 18 that lifts and lowers the battery insertion / removal mechanism 17, A rotation mechanism 19 for rotating the battery insertion / removal mechanism 17 and the lifting mechanism 18 with the vertical direction as an axial direction, and a horizontal movement mechanism 20 for moving the battery insertion / removal mechanism 17, the lifting mechanism 18 and the rotation mechanism 19 in the left-right direction; It has. Further, the robot 5 includes a detection mechanism 21 for detecting the detection mark 8 (see FIG. 10).

  The battery insertion / removal mechanism 17 includes a battery mounting mechanism 23 having a battery mounting portion 22 on which the battery 3 is mounted when the battery 3 is pulled out and inserted, and a battery mounting mechanism that is engaged with the battery 3 when the battery 3 is pulled out and inserted. And a battery moving mechanism 25 having a battery engaging portion 24 (see FIG. 6) for moving the battery 3 on the portion 22. The battery mounting portion 22 and the battery engaging portion 24 are movable in a direction approaching the bus 2 and a direction away from the bus 2.

  The battery insertion / removal mechanism 17 is held by a holding member 26 formed in a substantially rectangular tube shape. The holding member 26 includes a first holding member 27 constituting the lower end side thereof and a second holding member 28 constituting the upper end side thereof. The first holding member 27 is formed in a rectangular groove shape that opens on the upper side, and the second holding member 28 is formed in a rectangular groove shape that opens on the lower side. The holding member 26 is a substantially square in which both ends of the battery mounting portion 22 and the battery engaging portion 24 in the moving direction are opened by the first holding member 27 and the second holding member 28 being combined and fixed in the vertical direction. It is formed in a cylindrical shape.

(Configuration of battery mounting mechanism)
FIG. 6 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 shown in FIG. 2 from the front. FIG. 7 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 from the HH direction in FIG. 6. FIG. 8 is a view for explaining the battery mounting mechanism 23 shown in FIG. 6 from the front. FIG. 9 is a view for explaining the battery mounting mechanism 23 shown in FIG. 6 from the side. FIG. 10 is a view for explaining the battery mounting mechanism 23 shown in FIG. 6 from above. FIG. 11 is an enlarged cross-sectional view of the roller 32 shown in FIG.

  In addition to the battery mounting portion 22 described above, the battery mounting mechanism 23 includes a mounting portion moving mechanism 30 that moves the battery mounting portion 22 in a direction approaching the bus 2 and a direction away from the bus 2.

  The battery mounting portion 22 is formed in a flat block shape that is flat in the vertical direction. A plurality of rollers 31 and 32 that are in contact with the lower surface of the battery 3 are rotatably attached to the upper surface of the battery mounting portion 22. As shown in FIG. 10, the plurality of rollers 31 are arranged at predetermined intervals in the moving direction of the battery mounting portion 22, and the plurality of rollers 32 are also set in the moving direction of the battery mounting portion 22 in the same manner as the rollers 31. Arranged at intervals. In addition, the roller 31 and the roller 32 are arranged with a predetermined interval in a direction orthogonal to the moving direction of the battery mounting portion 22.

  The roller 31 is a flat roller. On the other hand, as shown in FIG. 11, the roller 32 is a grooved roller in which a groove 32a that is recessed toward the inner peripheral side is formed on the outer peripheral surface. The groove 32a is formed so that the protrusion 12 formed on the lower surface of the battery 3 can be engaged, and when the battery 3 is mounted at a predetermined position of the battery mounting portion 22, the protrusion is formed on the groove 32a. 12 is engaged. In this embodiment, the protrusion 3 is engaged with the groove 32 a, whereby the battery 3 is positioned with respect to the battery mounting portion 22 in a direction orthogonal to the moving direction of the battery mounting portion 22.

  The mounting unit moving mechanism 30 includes a motor 33, a screw member 34 such as a ball screw, and a nut member 35 that is screwed into the screw member 34 as a configuration for moving the battery mounting unit 22. Further, the mounting unit moving mechanism 30 is configured to guide the battery mounting unit 22, and is linearly formed, and engages with the guide rail 36 and is relatively movable along the guide rail 36. A guide block 37 is provided.

  The motor 33 is fixed to the upper surface side of the rear end portion of the battery mounting portion 22. The screw member 34 is rotatably held on the lower surface side of the battery mounting portion 22. The motor 33 and the screw member 34 are connected via a pulley, a belt, or the like. The nut member 35 is fixed to the first holding member 27. The guide rail 36 is fixed to the lower surface side of the battery mounting portion 22, and the guide block 37 is fixed to the first holding member 27. Therefore, in this embodiment, when the motor 33 rotates, the battery mounting portion 22 is guided by the guide rail 36 and the guide block 37 and moves linearly with respect to the first holding member 27.

(Configuration of battery moving mechanism)
FIG. 12 is a view for explaining the battery moving mechanism 25 shown in FIG. 6 from the front. FIG. 13 is a view for explaining the battery moving mechanism 25 shown in FIG. 6 from the side. FIG. 14 is a view for explaining the state when the battery engaging portion 24 shown in FIG. 13 moves away from the bus 2 from the side. FIG. 15 is an enlarged view of a portion J in FIG. FIG. 16 is an enlarged view of a portion K in FIG. FIG. 17 is an enlarged view of a portion L in FIG. FIG. 18 is a view for explaining the battery moving mechanism 25 shown in FIG. 6 from above. FIG. 19A is an enlarged view of a portion M in FIG. 18, and FIG. 19B is an enlarged view of a portion N in FIG.

  In addition to the battery engaging portion 24 described above, the battery moving mechanism 25 includes an engaging portion moving mechanism 39 that moves the battery engaging portion 24 in a direction approaching the bus 2 and a direction away from the bus 2, and a battery engaging portion 24. And a movable holding member 40 that is held movably and held by the second holding member 28.

  The battery engaging portion 24 includes an engaging claw portion 41 that engages with the handle portion 11 of the battery 3, an air cylinder 42 that moves the engaging claw portion 41 up and down, and a base portion 43 to which the air cylinder 42 is attached. Yes. The engaging claw portion 41 is fixed to the movable side of the air cylinder 42, and the fixed side of the air cylinder 42 is fixed to the distal end surface of the base portion 43.

  The engaging claw portion 41 includes a fixing portion 41 a that is fixed to the air cylinder 42 and a claw portion 41 b that engages with the handle portion 11. The claw portion 41 b enters from the upper side between the front end portion of the handle portion 11 and the front surface of the battery 3 and engages with the handle portion 11. When the claw portion 41 b engages with the handle portion 11, the claw portion 41 b pushes the release member 14 to release the engagement state between the engagement hole formed in the side wall 7 of the battery housing portion 4 and the fixing member 13. To do. Therefore, when the claw portion 41 b is engaged with the handle portion 11, the battery 3 can be pulled out and inserted by the battery pulling mechanism 17.

  The movement holding member 40 is formed in a long and narrow shape in the moving direction of the battery engaging portion 24. Further, the movement holding member 40 is formed so that the shape when viewed from the moving direction of the battery engaging portion 24 is substantially H-shaped.

  The engaging portion moving mechanism 39 includes a motor 44, a screw member 45 such as a ball screw, a nut member 46 that is screwed to the screw member 45, and a structure for moving the battery engaging portion 24 and the movement holding member 40. Pulleys 47 and 48 and a belt 49 spanning the pulleys 47 and 48 are provided. Further, the engaging portion moving mechanism 39 is configured to guide the battery engaging portion 24 and the movement holding member 40, and engages with the guide rail 50 formed in a straight line, the guide rail 50, and the guide rail 50. And a guide block 51 that is relatively movable along the guide rail 52. As a configuration for guiding the battery engaging portion 24, the guide rail 52 that is linearly formed, and the guide rail 52 that engages with the guide rail 52 and And a guide block 53 that is relatively movable along.

  The motor 44 is fixed to the upper surface of the rear end portion of the second holding member 28. The screw member 45 is rotatably held on the upper surface portion of the second holding member 28. The motor 44 and the screw member 45 are connected via a pulley, a belt, or the like. The nut member 46 is fixed to the rear end portion of the movement holding member 40. The pulley 47 is rotatably held at the rear end portion of the movement holding member 40, and the pulley 48 is rotatably held at the front end portion of the movement holding member 40.

  The belt 49 is fixed to the base portion 43 of the battery engaging portion 24 via the belt fixing member 54 and is fixed to the upper surface portion of the second holding member 28 via the belt fixing member 55. Specifically, when the movable holding member 40 protrudes from the second holding member 28 and the belt fixing member 55 is disposed in the vicinity of the pulley 47 as shown in FIG. 16, the pulley as shown in FIG. The belt fixing member 54 is disposed in the vicinity of 48, and the movable holding member 40 is accommodated in the second holding member 28, and the belt fixing member 55 is disposed in the vicinity of the pulley 48 as shown in FIG. Sometimes, the belt 49 is fixed to the base 43 and the second holding member 28 via the belt fixing members 54 and 55 so that the belt fixing member 54 is disposed in the vicinity of the pulley 47.

  The guide rail 50 is fixed to the upper surface portion of the second holding member 28, and the guide block 51 is fixed to the upper surface of the moving holding member 40. The guide rail 52 is fixed to the lower surface of the movement holding member 40, and the guide block 53 is fixed to the upper end side of the base portion 43 of the battery engaging portion 24.

  In the present embodiment, when the motor 44 is rotated, the moving holding member 40 is guided to the guide rail 50 and the guide block 51 together with the battery engaging portion 24 by the screw member 45 and the nut member 46, so that the second holding member 28 is moved. Move in a straight line. When the motor 44 rotates, the battery engaging portion 24 is guided by the guide rail 52 and the guide block 53 by the pulleys 47 and 48 and the belt 49, and relatively moves linearly with respect to the movement holding member 40.

(Schematic operation of the battery insertion / extraction mechanism)
When the battery 3 is pulled out from the bus 2, first, the battery mounting portion 22 moves in a direction approaching the bus 2 and protrudes forward from the holding member 26. Thereafter, the battery engaging portion 24 moves in a direction approaching the bus 2 and protrudes from the holding member 26 to the front side. Thereafter, the engaging claw portion 41 descends and engages with the handle portion 11 of the battery 3. Thereafter, the battery engaging portion 24 moves away from the bus 2. When the battery engaging portion 24 moves by a predetermined amount and the battery 3 is mounted on the battery mounting portion 22, the battery mounting portion 22 and the battery engaging portion 24 thereafter move away from the bus 2 while being synchronized. . Thereafter, when the engaging claw portion 41 is lifted and detached from the handle portion 11, the extraction of the battery 3 from the bus 2 is completed.

  When the battery 3 is inserted into the bus 2, first, the battery mounting portion 22 and the battery engaging portion 24 move in a direction approaching the bus 2 while being synchronized. Thereafter, the battery engaging portion 24 moves in a direction approaching the bus 2 and the battery 3 is inserted into the bus 2. Thereafter, the engaging claw portion 41 is raised, the battery mounting portion 22 and the battery engaging portion 24 are moved away from the bus 2, and the insertion of the battery 3 into the bus 2 is completed.

  The battery mounting portion 22 and the battery engaging portion 24 of this embodiment are movable portions that move in a direction approaching the bus 2 when the battery 3 is pulled out and inserted in order to pull out and insert the battery 3. Note that, when the battery 3 is pulled out from the bus 2, the position of the battery 3 is detected by the detection mechanism 21 as described later. As shown in FIGS. 8 and 10, the first holding member 27 is fixed with a positioning member 56 for positioning and fixing the battery 3 pulled out from the bus 2. As shown in FIG. 10, the positioning member 56 is formed with an engaging recess 56 a with which the fixing member 13 is engaged. As shown in FIGS. 12 and 18, an RF reader 57 for exchanging data with an IC chip fixed to the front surface of the battery 3 is fixed at the center of the front end surface of the base portion 43.

(Configuration of lifting mechanism, first coupling mechanism and second coupling mechanism)
FIG. 20 is a view for explaining the lifting mechanism 18 shown in FIG. 6 from above. FIG. 21 is a diagram for explaining the configuration of the first coupling mechanism 61 shown in FIG. 6, (A) is a diagram for explaining the first coupling mechanism 61 from the front, and (B) is a diagram of (A). It is a figure for demonstrating the 1st connection mechanism 61 from PP direction. FIG. 22 is a diagram for explaining the configuration of the second coupling mechanism 62 shown in FIG. 6, (A) is a diagram for explaining the second coupling mechanism 62 from the front, and (B) is a diagram of (A). It is a figure for demonstrating the 2nd connection mechanism 62 from QQ direction. FIG. 23 is a diagram for explaining a state when the holding member 26 shown in FIG. 6 is tilted from the front.

  The elevating mechanism 18 is disposed on each of both ends of a direction perpendicular to the moving direction of the battery mounting portion 22 and the battery engaging portion 24 and the vertical direction (hereinafter, this direction is referred to as “first direction”). A first lifting mechanism 59 and a second lifting mechanism 60 are provided. The first elevating mechanism 59 is connected to one end side of the first holding member 27 in the first direction by the first connecting mechanism 61. The second elevating mechanism 60 is connected to the other end side of the first holding member 27 in the first direction by the second connecting mechanism 62. The first elevating mechanism 59 and the second elevating mechanism 60 can be driven individually to tilt the holding member 26 with respect to the first direction when viewed from the moving direction of the battery mounting portion 22 and the battery engaging portion 24. It has become. The holding member 26 is connected to the first elevating mechanism 59 and the second elevating mechanism 60 so as to be inclined with respect to the first direction when viewed from the moving direction of the battery mounting portion 22 and the battery engaging portion 24. Has been.

  The first elevating mechanism 59 and the second elevating mechanism 60 include an elevating member 63 that moves in the vertical direction together with the battery insertion / removal mechanism 17 and the holding member 26, a columnar member 64 that holds the elevating member 63 so as to be movable up and down, and an elevating member 63 And an elevating drive mechanism 65 for elevating and lowering. The columnar member 64 is formed in a column shape elongated in the vertical direction. As shown in FIG. 6, the upper end of the columnar member 64 constituting the first elevating mechanism 59 and the upper end of the columnar member 64 constituting the second elevating mechanism 60 are connected by a connecting member 66, and two pieces The columnar member 64 and the connecting member 66 constitute a portal frame.

  The elevating drive mechanism 65 includes a motor 67, a screw member 68 such as a ball screw, and a nut member 69 that is screwed to the screw member 68 as a configuration for elevating the elevating member 63. The elevating drive mechanism 65 is configured to guide the elevating member 63 as a guide rail 70 formed in a linear shape, and a guide block that engages with the guide rail 70 and is relatively movable along the guide rail 70. 71.

  The motor 67 is fixed to the upper end side of the columnar member 64. The screw member 68 is rotatably held by the columnar member 64. The motor 67 and the screw member 68 are connected via a coupling 72 (see FIG. 7). The nut member 69 is fixed to the elevating member 63. The guide rail 70 is fixed to the side surface of the columnar member 64, and the guide block 71 is fixed to the elevating member 63. Therefore, in this embodiment, when the motor 67 rotates, the elevating member 63 is guided by the guide rail 70 and the guide block 71 and moves up and down with respect to the columnar member 64.

  As shown in FIG. 21, the first coupling mechanism 61 is inserted into the substantially cylindrical tubular member 73 fixed to one end side of the first holding member 27 in the first direction, and the inner peripheral side of the tubular member 73. And a shaft holding member 75 that is fixed to the lifting member 63 constituting the first lifting mechanism 59 and holds both end sides of the shaft member 74. The shaft member 74 is held by the shaft holding member 75 with the moving direction of the battery mounting portion 22 and the battery engaging portion 24 as the axial direction.

  The inner peripheral surface of the cylindrical member 73 is a cylindrical surface, and the shaft member 74 is formed in an elongated columnar shape. A tapered roller bearing 76 is disposed between the inner peripheral surface of the cylindrical member 73 and the outer peripheral surface of the shaft member 74. The cylindrical member 73 is rotatable relative to the shaft member 74, and the holding member 26 is rotatable relative to the lifting member 63 of the first lifting mechanism 59 around the shaft member 74. Yes.

  As shown in FIG. 22, the second coupling mechanism 62 includes a shaft holding member 77 that is fixed to the other end side in the first direction of the first holding member 27, and a shaft member that is held by both ends of the shaft holding member 77. 78, a shaft holding member 79 fixed to the lifting member 63 constituting the second lifting mechanism 60, a shaft member 80 whose both ends are held by the shaft holding member 79, and the shaft member 78 and the shaft member 80, respectively. And a link member 81 in which two insertion holes 81a are formed. The shaft member 78 is held by the shaft holding member 77 with the moving direction of the battery mounting portion 22 and the battery engaging portion 24 as the axial direction, and the shaft member 80 has the moving direction of the battery mounting portion 22 and the battery engaging portion 24 as the axis. It is held by the shaft holding member 79 as a direction. Moreover, the shaft members 78 and 80 are arrange | positioned so that it may overlap in this order from the upper side.

  The inner peripheral surface of the insertion hole 81a is a cylindrical surface, and the shaft members 78 and 80 are formed in an elongated columnar shape. A tapered roller bearing 82 is disposed between the inner peripheral surface of the insertion hole 81 a and the outer peripheral surfaces of the shaft members 78 and 80. The link member 81 is rotatable relative to each of the shaft members 78, 80, and the relative rotation of the link member 81 around the shaft member 80 with respect to the lifting member 63 of the second lifting mechanism 60, The relative rotation of the link member 81 about the shaft member 78 with respect to the holding member 26 is possible. Therefore, relative rotation of the holding member 26 with respect to the lifting member 63 of the second lifting mechanism 60 and relative movement in the first direction are possible.

  In this embodiment, when the motor 67 rotates so that the moving amount of the lifting member 63 of the first lifting mechanism 59 is equal to the moving amount of the lifting member 63 of the second lifting mechanism 60, the holding member 26 is parallel to the horizontal direction. Go up and down while maintaining the state. On the other hand, when only one of the motor 67 of the first elevating mechanism 59 or the motor 67 of the second elevating mechanism 60 rotates, or the movement amount of the elevating member 63 of the first elevating mechanism 59 and the elevating member 63 of the second elevating mechanism 60. When the motor 67 rotates so that the amount of movement differs, the holding member 26 tilts with respect to the horizontal direction, for example, as shown in FIG.

(Configuration of rotation mechanism and horizontal movement mechanism)
FIG. 24 is a view for explaining the rotation mechanism 19 and the horizontal movement mechanism 20 shown in FIG. 2 from the front. FIG. 25 is a view for explaining the rotation mechanism 19 and the horizontal movement mechanism 20 shown in FIG. 2 from above. FIG. 26 is a view for explaining the rotation mechanism 19 and the horizontal movement mechanism 20 from the RR direction of FIG. 27A is an enlarged view of a U portion in FIG. 25, and FIG. 27B is an enlarged view of a V portion in FIG.

  The rotation mechanism 19 includes a rotation member 85 that can be rotated while the battery insertion / removal mechanism 17 and the elevating mechanism 18 are mounted, and a rotation drive mechanism 86 that rotates the rotation member 85. The horizontal movement mechanism 20 includes a slide member 87 on which the battery insertion / removal mechanism 17, the elevating mechanism 18, and the rotation mechanism 19 are mounted and movable in the left-right direction, and a horizontal drive mechanism 88 that moves the slide member 87. Yes.

  The rotating member 85 is formed in a substantially disk shape. The slide member 87 is formed in a substantially rectangular plate shape whose longitudinal direction is the left-right direction. The width of the slide member 87 in the left-right direction is larger than the diameter of the rotating member 85, and the width of the slide member 87 in the front-rear direction is smaller than the diameter of the rotating member 85.

  The rotating member 85 is disposed on the upper side of the slide member 87. The turning member 85 can turn around the center of curvature. That is, the rotation member 85 is rotatably attached to the upper surface side of the slide member 87. The lower ends of the two columnar members 64 are fixed to the upper surface of the rotating member 85. Specifically, the lower ends of the columnar members 64 are fixed to both ends of the upper surface of the rotating member 85 in the first direction orthogonal to the moving direction of the battery mounting portion 22 and the battery engaging portion 24.

  The rotation drive mechanism 86 includes a motor 90 as a drive source, pulleys 91 and 92, and a belt 93 as a configuration for rotating the rotation member 85. Further, the rotation drive mechanism 86 is configured to guide the rotation member 85 in the rotation direction, engages with the guide rail 94 from the upper side, and is relatively movable along the guide rail 94. A plurality of guide blocks 95 are provided. In this embodiment, the guide rail 94 is a rotation guide rail, and the guide block 95 is a rotation guide block.

  The motor 90 and the pulleys 91 and 92 are disposed on the radially outer side of the rotating member 85. Specifically, the motor 90 and the pulleys 91 and 92 are disposed on the radially outer side of the rotating member 85 in the left-right direction. The motor 90 is fixed to the upper surface side of the slide member 87 so that its output shaft faces downward. A reduction gear is attached to the output shaft of the motor 90, and a pulley 91 is fixed to the reduction gear. That is, the pulley 91 is fixed to the output shaft of the motor 90 via the speed reducer. The pulley 91 is a toothed pulley having teeth formed on the outer peripheral surface. A pulley 92 is disposed on each of the front side and the rear side of the pulley 91. The pulley 92 is disposed on the upper surface side of the slide member 87 and is rotatably supported by the slide member 87.

  The belt 93 is a toothed belt having teeth formed on one surface. The belt 93 is stretched over the pulleys 91 and 92 and the outer peripheral surface of the rotating member 85. In this embodiment, one surface on which the teeth of the belt 93 are formed contacts the outer peripheral surface of the pulley 91, and the other flat surface on which the teeth of the belt 93 are not formed is the outer peripheral surface of the pulley 92 and the rotating member 85. A belt 93 is bridged between the pulleys 91 and 92 and the outer peripheral surface of the rotating member 85 so as to abut against the belt. The pulley 92 is a tension pulley for applying tension to the belt 93.

  The rotation range of the rotation member 85 of this embodiment is about 180 °. Therefore, the belt 93 has a portion that is always in contact with the outer peripheral surface of the rotating member 85. In this embodiment, a part of the belt 93 that is always in contact with the outer peripheral surface of the rotating member 85 is fixed to the outer peripheral surface of the rotating member 85. In this embodiment, when the robot 5 rotates 180 ° with respect to the position where the battery 3 is pulled out or inserted into the bus 2, the battery 3 can be carried into and out of the buffer station.

  The guide rail 94 is formed in an annular shape and is fixed to the upper surface of the slide member 87. That is, the guide rail 94 is disposed on the lower surface side of the rotating member 85. The guide rail 94 is fixed to the upper surface of the slide member 87 so that the center of curvature of the guide rail 94 formed in an annular shape and the center of curvature of the rotating member 85 substantially coincide with each other when viewed in the vertical direction. Yes.

  The guide block 95 is fixed to the lower surface side of the rotating member 85. The plurality of guide blocks 95 are arranged in an annular shape centering on the center of curvature of the rotating member 85. The plurality of guide blocks 95 are arranged at an equiangular pitch with the center of curvature of the rotation member 85 as the center. In this embodiment, seven guide blocks 95 are arranged at an equiangular pitch with the center of curvature of the rotation member 85 as the center. In the following description, when the seven guide blocks 95 are individually represented, each of the seven guide blocks 95 is represented as guide blocks 95A to 95G. As shown in FIG. 25, the guide blocks 95A to 95G are arranged in this order in the circumferential direction.

  In this embodiment, when the motor 90 rotates, the rotation member 85 is guided by the guide rail 94 and the guide block 95 and rotates with respect to the slide member 87. When the motor 90 rotates, the rotating member 85 rotates about the center of curvature.

  The horizontal drive mechanism 88 includes a motor 97, pulleys 98 and 99, and a belt 100 as a configuration for moving the slide member 87. Further, the horizontal drive mechanism 88 is configured to guide the slide member 87 in the left-right direction, and is engaged with the two guide rails 101 formed in a straight line, the guide rails 101 from above and the guide rails 101. And a plurality of guide blocks 102 that can move relative to each other. The guide rail 101 of this embodiment is a linear motion guide rail, and the guide block 102 is a linear motion guide block.

  The two guide rails 101 are arranged with a predetermined interval in the front-rear direction. Moreover, the guide rail 101 is being fixed to the upper surface of the several support member 103 (refer FIG. 1) arrange | positioned with a predetermined pitch in the left-right direction. The support member 103 is disposed below the slide member 87. The two guide rails 101 are arranged so as to intersect with the guide rail 94 as shown in FIG. Further, the distance in the front-rear direction between one guide rail 101 of the two guide rails 101 and the center of curvature of the rotating member 85 and the direction of the front-rear direction between the other guide rail 101 and the center of curvature of the rotating member 85 are the same. Two guide rails 101 are arranged so that the distances are equal.

  The guide block 102 is fixed to the lower surface of the slide member 87. Specifically, two fixing members 104 are fixed to the lower surface of the slide member 87 with a predetermined interval in the front-rear direction, and a plurality of guide blocks 102 are fixed to each lower surface of the fixing member 104. Is fixed. The fixing member 104 is formed in a block shape elongated in the left-right direction. The fixing member 104 is fixed to the slide member 87 so that the center of the fixing member 104 and the center of curvature of the rotating member 85 are disposed at substantially the same position in the left-right direction. Further, the distance in the front-rear direction between one of the two fixing members 104 and the center of curvature of the rotating member 85 and the direction of the front-rear direction between the other fixing member 104 and the center of curvature of the rotating member 85 are the same. Two fixing members 104 are arranged so that the distances are equal.

  The plurality of guide blocks 102 are fixed to the lower surface of the fixing member 104 at a constant pitch in the left-right direction. In this embodiment, four guide blocks 102 are fixed to each of the two fixing members 104. In the following description, when the eight guide blocks 102 are individually represented, each of the eight guide blocks 102 is represented as guide blocks 102A to 102H. As shown in FIG. 25, the guide blocks 102A to 102D are fixed to one fixing member 104 and arranged in this order in the left-right direction, and the guide blocks 102E to 102H are fixed to the other fixing member 104. They are arranged in this order in the left-right direction. The guide blocks 102A and 102E and the guide blocks 102D and 102H are arranged symmetrically with respect to the center line of the fixing member 104 in the left and right direction, and the guide blocks 102B and 102F and the guide blocks 102C and 102G are in the left and right direction. The fixing member 104 is arranged symmetrically with respect to the center line.

  The motor 97 and the pulleys 98 and 99 are disposed on the radially outer side of the rotating member 85. Specifically, the motor 97 and the pulleys 98 and 99 are arranged on the outer side in the radial direction of the rotating member 85 in the left-right direction and on the opposite side of the motor 90 and the pulleys 91 and 92 with the rotating member 85 interposed therebetween. ing. The motor 97 is fixed to the upper surface side of the slide member 87 so that its output shaft faces the front-rear direction. A reduction gear is attached to the output shaft of the motor 97, and a pulley 98 is fixed to the reduction gear. The pulley 98 is a toothed pulley having teeth formed on the outer peripheral surface. A pulley 99 is disposed on each of the lower left side and the lower right side of the pulley 98. The pulley 99 is rotatably supported by the slide member 87.

  The belt 100 is a toothed belt having teeth formed on one surface. One end of the belt 100 is fixed to the support member 103 arranged at the left end of the plurality of support members 103, and the other end of the belt 100 is fixed to the support member 103 arranged at the right end of the plurality of support members 103. It is fixed. The belt 100 is stretched around pulleys 98 and 99. A part of one surface of the belt 100 on which teeth are formed is engaged with the outer peripheral surface of the pulley 98, and on the outer side of the pulley 99 in the left-right direction, one surface of the belt 100 faces downward, The other surface of the belt 100 faces upward. The pulley 99 is a tension pulley for applying tension to the belt 100.

  In this embodiment, when the motor 97 rotates, the slide member 87 is linearly moved in the left-right direction by being guided by the guide rail 101 and the guide block 102.

  At both ends in the left-right direction of the slide member 87, foreign matter such as dust and sand accumulated on the other surface (surface on which no teeth are formed) of the belt 100 facing upward on the outside of the pulley 99 in the left-right direction. A brush 106 for removal is attached. Specifically, a brush 106 is attached to one end in the left-right direction of the slide member 87 via a brush holding member 107, and the brush 106 is attached to the other end in the left-right direction of the slide member 87 via a brush holding member 108. Is attached.

  The brush 106 is held by the brush holding members 107 and 108 so that the tip of the brush contacts the other surface of the belt 100. When the slide member 87 moves in the left-right direction, the brush 106 is placed on the other surface of the belt 100. Foreign matter such as dust is swept by the brush 106 and removed. The brush 106 of this embodiment is a flat brush, and is held by brush holding members 107 and 108 so that the thickness direction thereof is slightly inclined with respect to the left-right direction as shown in FIG. Therefore, the foreign matter swept away by the brush 106 when the slide member 87 moves in the left-right direction falls from the other surface of the belt 100 to one side in the front-rear direction as the slide member 87 moves.

  As shown in FIG. 25, the guide block 95 </ b> A is disposed below the first lifting mechanism 59, and the guide block 95 </ b> E is disposed below the second lifting mechanism 60. That is, the guide block 95 </ b> A is fixed to the lower surface side of the rotating member 85 below the columnar member 64 that constitutes the first elevating mechanism 59, and the guide block 95 </ b> E is the columnar member 64 that constitutes the second elevating mechanism 60. The lower side is fixed to the lower surface side of the rotating member 85.

  In this embodiment, when the battery 3 is pulled out or inserted into the bus 2, a guide block 95 is disposed as shown in FIG. That is, when the battery 3 is pulled out or inserted into the bus 2, the guide block 95B is disposed in the vicinity of the upper side of the guide block 102A, and the guide block 95C is disposed in the vicinity of the upper side of the guide block 102B and the guide block 102C. The guide block 95D is disposed in the vicinity of the upper side of the guide block 102D. Specifically, the guide block 95B is disposed above the guide block 102A and inside the front / rear / left / right direction, and the guide block 95D is disposed above the guide block 102D and inside the front / rear / left / right direction. The guide block 95C is arranged above the guide block 102B and the guide block 102C and outside in the front-rear direction, the distance between the guide block 95C and the guide block 102B, and the distance between the guide block 95C and the guide block 102C. Are arranged to be equal.

  When the battery 3 is pulled out or inserted into the bus 2, the guide block 95F is disposed in the vicinity of the upper side of the guide block 102G, and the guide block 95G is disposed in the vicinity of the upper side of the guide block 102F. Specifically, the guide block 95F is disposed above the guide block 102G and outside the front / rear / left / right direction, and is disposed so that a part of the guide block 95F and a part of the guide block 102G overlap in the vertical direction. ing. The guide block 95G is disposed above the guide block 102F and outside in the front-rear and left-right directions, and is disposed so that a part of the guide block 95G and a part of the guide block 102F overlap in the vertical direction.

  When the battery 3 is pulled out or inserted into the bus 2, the guide block 95B is arranged between the guide block 102A and the guide block 102B in the left-right direction, and the guide block 95C is arranged between the guide block 102B and the guide block 102C. The guide block 95D is disposed between the guide block 102C and the guide block 102D, the guide block 95F is disposed between the guide block 102G and the guide block 102H, and the guide block 95G is It is arranged between the guide block 102E and the guide block 102F.

  When the battery 3 is pulled out or inserted into the bus 2, the guide blocks 102A to 102D are arranged between the guide blocks 95B and 95D and the guide block 95C in the front-rear direction, and the guide blocks 102E to 102H are Arranged between the blocks 95F and 95G and the guide blocks 95A and 95E. That is, when the battery 3 is pulled out or inserted into the bus 2, in the front-rear direction, one guide rail 101 is disposed between the guide blocks 95B and 95D and the guide block 95C, and the other guide rail 101 is a guide. Arranged between the blocks 95F and 95G and the guide blocks 95A and 95E.

  Further, when the battery 3 is pulled out or inserted into the bus 2, the center of the guide block 95C is arranged on a line that is parallel to the front-rear direction and passes through the center of curvature of the rotating member 85 when viewed from above and below. In addition, a guide block 95C is disposed. When the battery 3 is pulled out or inserted into the bus 2, the bus 2 for replacing the battery 3 is stopped on the side where the guide block 95C is disposed in the front-rear direction.

  The guide blocks 95 </ b> A and 95 </ b> E of the present embodiment are first rotation guide blocks that are arranged below the columnar member 64 when the battery 3 is pulled out or inserted. The guide blocks 95B to 95D, 95G, and 95F are second rotation guides that are arranged near the upper side of the guide blocks 102A to 102D, 102F, and 102G that are linear motion guide blocks when the battery 3 is pulled out or inserted. It is a block.

  The battery replacement system 1 detects whether or not an operator has entered the movable range of the battery insertion / removal mechanism 17, the lifting / lowering mechanism 18, and the rotation mechanism 19 mounted on the slide member 87. A detection mechanism (not shown) for stopping the emergency stop 97 is provided. This detection mechanism is an optical sensor having a light emitting part and a light receiving part arranged so as to face each other. In this embodiment, one of the light emitting part or the light receiving part is attached to the left end side of the slide member 87, and the other of the light emitting part or the light receiving part is disposed above the support member 103 disposed at the left end of the plurality of support members 103. When the light traveling from the light emitting portion to the light receiving portion is blocked, the work is performed on the left side of the slide member 87 within the movable range in the left-right direction of the battery insertion / removal mechanism 17, the elevating mechanism 18, and the rotating mechanism 19. It is detected that a person has entered. In addition, one of the light emitting part or the light receiving part is attached to the right end side of the slide member 87, and the other of the light emitting part or the light receiving part is arranged above the support member 103 arranged at the right end of the plurality of support members 103. When the light traveling from the light emitting unit to the light receiving unit is blocked, the operator is placed on the right side of the slide member 87 within the movable range in the left-right direction of the battery insertion / removal mechanism 17, the elevating mechanism 18, and the rotating mechanism 19. It is detected that it has entered. In addition, it is possible to detect whether or not an operator has entered the movable range in the left-right direction of the battery insertion / removal mechanism 17, the elevating mechanism 18, and the rotation mechanism 19 in the entire front-rear direction of the slide member 87. The light emitting unit includes a plurality of light emitting elements arranged in the front-rear direction, and the light receiving unit includes a plurality of light receiving elements arranged in the front-rear direction. Note that the detection mechanism that detects whether or not an operator has entered the movable range in the left-right direction of the battery insertion / removal mechanism 17, the elevating mechanism 18, and the rotation mechanism 19 may be a camera.

(Configuration of detection mechanism and battery position detection operation)
FIG. 28 is a diagram for explaining a method of detecting the approximate position of the battery 3 by the detection mechanism 21 shown in FIG. FIG. 29 is a diagram for explaining a method of detecting the position of the battery 3 by the detection mechanism 21 shown in FIG.

  The detection mechanism 21 is a laser sensor that includes a light emitting unit that emits laser light, and a light receiving unit that receives the laser light emitted from the light emitting unit and reflected by the side surface 2a of the bus 2, the front surface of the battery mount 6, and the like. is there. As shown in FIG. 10, the detection mechanism 21 is attached to the upper surface on the front end side of the battery mounting portion 22. The detection mechanism 21 is attached to the battery mounting portion 22 so that the light emitting portion and the light receiving portion are adjacent in the horizontal direction. In the present embodiment, two detection mechanisms 21 are attached to the battery mounting portion 22 so as to correspond to the two detection marks 8 formed on the battery mount 6.

  The detection mechanism 21 is turned on when a reflector that reflects the laser light emitted from the light emitting unit is within a predetermined measurement range, and is turned off when the reflector that reflects the laser light is not within the measurement range. become. The detection mechanism 21 can detect the distance between the detection mechanism 21 and the reflecting object when the detection mechanism 21 is on.

  For example, the position of the battery 3 is detected by the detection mechanism 21 as follows. First, when the bus 2 in which the battery 3 is replaced stops at a predetermined stop position, for example, the battery insertion / removal mechanism 17 stands by in front of the battery 2 in the traveling direction of the bus 2. At this time, as indicated by a solid line in FIG. 28, the front surface of the battery mounting portion 22 faces the side surface 2 a of the bus 2, and the battery mounting portion 22 is retracted away from the bus 2. At this time, for example, the battery insertion / removal mechanism 17 stands by at a position where the detection mark 8 and the detection mechanism 21 are substantially at the same height.

  From this state, as shown by a broken line in FIG. 28, the battery mounting portion until the detection mechanism 21 receiving the laser light emitted from the light emitting portion of the detection mechanism 21 and reflected by the side surface 2a of the bus 2 is turned on. 22 advances toward bus 2. Thereafter, the battery mounting portion 22 moves in the left-right direction toward the battery housing portion 4.

  As the battery mounting portion 22 moves toward the battery housing portion 4, as shown by a two-dot chain line in FIG. 28, one detection mechanism 21 causes a step 2 b formed at the boundary between the battery mount 6 and the side surface 2 a. When passing, the laser light emitted from the light emitting part of one detection mechanism 21 is reflected by the front surface of the battery cradle 6. In this embodiment, when the detection mechanism 21 is turned on when the laser light from the light emitting portion of the detection mechanism 21 is reflected by the side surface 2a of the bus 2, the laser light from the light emitting portion of the detection mechanism 21 is The detection range of the detection mechanism 21 is set so that the detection mechanism 21 is turned off when reflected from the front surface of the battery mount 6. For this reason, when one detection mechanism 21 passes through the step 2b, one detection mechanism 21 is turned off. That is, the step 2b is detected when one detection mechanism 21 is turned off. Further, when the step 2b is detected, the left and right ends of the battery mount 6 are detected, and when the left and right ends of the battery mount 6 are detected, the battery mount 6 is mounted on the battery mount 6. The approximate position of the battery 3 is detected.

  When one detection mechanism 21 is turned off, the detection mechanism detected at any two points by one or the other detection mechanism 21 when the battery mounting portion 22 moves in the left-right direction toward the battery housing portion 4. Based on the distance between 21 and the side surface 2a of the bus 2, the inclination of the bus 2 with respect to the left-right direction when viewed from the vertical direction is detected.

  Thereafter, based on the detection result of the approximate position of the battery 3, as shown in FIG. 29A, the battery is arranged so that each of the two detection marks 8 and each of the two detection mechanisms 21 face each other. The mounting portion 22 further moves in the left-right direction. At this time, based on the detection result of the inclination of the bus 2 detected as described above, when viewed from above and below so that the front surface of the battery mounting portion 22 and the front surface of the battery mount 6 face each other substantially in parallel. The inclination of the battery insertion / removal mechanism 17 with respect to the left / right direction is adjusted. Specifically, the tilt of the battery insertion / removal mechanism 17 is adjusted by rotating the rotation member 85.

  Thereafter, the battery mounting portion 22 advances toward the battery mount 6 until the detection mechanism 21 that has received the laser light emitted from the light emitting portion of the detection mechanism 21 and reflected by the detection mark 8 is turned on. Thereafter, as shown in FIGS. 29B and 29C, the battery mounting portion 22 moves in the left-right direction so that the laser light from the light-emitting portion of the detection mechanism 21 crosses the detection mark 8 in the left-right direction. More specifically, the battery mounting portion 22 moves in the left-right direction so that the laser beams from the respective light-emitting portions of the two detection mechanisms 21 traverse each of the two detection marks 8 in the left-right direction.

  In this embodiment, when the detection mechanism 21 is turned on when the laser light from the light emitting unit of the detection mechanism 21 is reflected by the detection mark 8, the laser light from the light emitting unit of the detection mechanism 21 is the battery. The detection range of the detection mechanism 21 is set so that the detection mechanism 21 is turned off when reflected by the front surface of the cradle 6. Therefore, the detection mark 8 is detected by the detection mechanism 21 by moving the battery mounting portion 22 in the left-right direction so that the laser light from the light emitting portion of the detection mechanism 21 crosses the detection mark 8 in the left-right direction. It is possible to detect the width of the detected portion of the detection mark 8 (that is, the portion that reflects the laser beam; hereinafter referred to as “detected portion”).

  Further, the detection mark 8 of the present embodiment is formed in a substantially triangular shape whose width changes in the vertical direction. Therefore, it is possible to detect the height of the detection mark 8 by detecting the width of the detected portion of the detection mark 8, and by detecting the height of the detection mark 8, the detection mark 8 can be detected. It is possible to detect the height of the battery cradle 6 in which 8 is formed. In the present embodiment, the height of the battery 3 that is positioned and mounted on the battery cradle 6 is detected by detecting the height of the battery cradle 6.

  Further, the detection mark 8 is detected by moving the battery mounting portion 22 so that the laser light from the light emitting portion of the detection mechanism 21 traverses the detection mark 8 in the left-right direction, and detecting the detection mark 8 by the detection mechanism 21. It is possible to detect the center position in the left-right direction of the eight detected portions. In this embodiment, for example, the position of the battery cradle 6 in the left-right direction is detected based on this center position, and the position of the battery cradle 6 in the left-right direction is detected, so that the battery cradle 6 is positioned. The position of the mounted battery 3 in the left-right direction is detected.

  Further, the distance between the center position in the left-right direction of the detected portion of the detection mark 8 and the detection mechanism 21 can be detected by the detection mechanism 21. In this embodiment, for example, the center position and the detection mechanism 21 The position of the battery cradle 6 in the front-rear direction is detected based on the distance, and the position of the battery cradle 6 in the front-rear direction is detected, so that the front and rear of the battery 3 positioned and mounted on the battery cradle 6 are detected. A position in the direction is detected.

  Further, the height of the battery cradle 6 detected by one of the two detection mechanisms 21 and the height of the battery cradle 6 detected by the other detection mechanism 21 are viewed in the front-rear direction. The inclination of the battery mount 6 with respect to the left-right direction is detected. Further, by detecting the inclination of the battery stand 6 with respect to the left-right direction when viewed from the front-rear direction, the inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction is detected.

  Also, the distance between the detection mechanism 21 detected by one of the two detection mechanisms 21 and the detection mark 8, and the detection mechanism 21 detected by the other detection mechanism 21 and the detection mark 8. The inclination of the battery mount 6 with respect to the left-right direction when viewed from the up-down direction is detected. Further, by detecting the inclination of the battery pedestal 6 with respect to the left-right direction when viewed from the vertical direction, the inclination of the battery 3 with respect to the left-right direction when viewed from the vertical direction is detected.

  The position of the battery 3 in the front-rear and left-right directions, the height of the battery 3, the inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction, and the inclination of the battery 3 with respect to the left-right direction when viewed from the up-down direction are detected. And the protrusion 12 on the lower surface of the battery 3 and the groove 32a of the roller 32 of the battery mounting portion 22 substantially coincide with each other in the left-right direction, and the lower surface of the battery 3 and the upper surfaces of the rollers 31 and 32 substantially coincide with each other. The inclination of the battery 3 with respect to the left-right direction when viewed from the side and the inclination of the battery insertion / removal mechanism 17 substantially coincide with each other, and the inclination of the battery 3 with respect to the left / right direction when viewed from the up-down direction Are adjusted so that the position, height, and inclination of the battery insertion / removal mechanism 17 in the left-right direction are substantially matched.

  Specifically, the horizontal position of the battery insertion / removal mechanism 17 is adjusted by the horizontal movement mechanism 20, the height of the battery insertion / removal mechanism 17 is adjusted by the elevating mechanism 18, and the vertical direction is adjusted by the rotation mechanism 19. The inclination of the battery insertion / removal mechanism 17 with respect to the left / right direction when viewed is adjusted. Further, by driving one of the first elevating mechanism 59 and the second elevating mechanism 60, or by changing the drive amount of the first elevating mechanism 59 and the drive amount of the second elevating mechanism 60, the front and rear directions can be seen. The inclination of the battery insertion / removal mechanism 17 with respect to the left / right direction is adjusted.

  When the position, height, and tilt of the battery insertion / removal mechanism 17 are adjusted, the battery mounting portion 22 and the battery engagement portion 24 move in the front-rear direction, and the battery 3 is pulled out from the bus 2. When the battery mounting portion 22 and the battery engaging portion 24 move in the front-rear direction, the engaging claw portion 41 is provided with a handle so that the battery 3 smoothly moves between the battery mount 6 and the battery mounting portion 22. Based on the detection result of the position of the battery 3 in the front-rear direction, the amount of movement of the battery mounting part 22 and the battery engagement part 24 in the front-rear direction is set so as to appropriately engage with the part 11. When the battery 3 is pulled out from the bus 2, the robot 5 rotates 180 ° and carries the battery 3 into the buffer station. Further, the robot 5 takes out the charged battery 3 from the buffer station, rotates 180 °, and then inserts the battery 3 into the bus 2.

  Note that the inclination of the battery cradle 6 with respect to the left-right direction when viewed from the top-bottom direction (that is, the inclination of the bus 2) varies depending on the stopping accuracy of the bus 2. In addition, the inclination of the battery cradle 6 with respect to the left-right direction when viewed from the front-rear direction (that is, the inclination of the bus 2) varies depending on the state of the ground where the bus 2 stops. Also, since a plurality of batteries 3 are mounted on the bus 2 and the weight of one battery 3 is several hundred kg, depending on the mounting position of the battery 3, the batteries 3 are sequentially transferred from the bus 2 when the battery 3 is replaced. As it is pulled out, the inclination of the bus 2 with respect to the left-right direction when viewed from the front-rear direction changes.

(Main effects of this form)
As described above, in this embodiment, the guide blocks 95 </ b> A and 95 </ b> E are fixed to the lower surface side of the rotating member 85 below the columnar member 64. For this reason, when the battery 3 is pulled out or inserted, the battery 3 is mounted on the battery mounting portion 22 and a large load is applied to the columnar member 64. A large load can be directly received by the guide blocks 95A and 95E and the guide rail 94 fixed to the lower surface side of the rotating member 85. Therefore, in this embodiment, it is possible to prevent the rotation member 85 from being deformed even if the rotation member 85 is thinned to reduce the rigidity of the rotation member 85. That is, in this embodiment, the rotating member 85 can be thinned.

  In addition, the load transmitted from the columnar member 64 to the rotating member 85 is distributed and transmitted to the plurality of guide blocks 95A to 95G. In this embodiment, the guide block 95B is used when the battery 3 is pulled out or inserted. The guide block 95C is disposed in the vicinity of the upper side of the guide block 102B, the guide block 95D is disposed in the vicinity of the upper side of the guide block 102D, and the guide block 95D is disposed in the vicinity of the upper side of the guide block 102D. Is disposed in the vicinity of the upper side of the guide block 102G, and the guide block 95G is disposed in the vicinity of the upper side of the guide block 102F. Therefore, the guide blocks 95B to 95D, 95G, The load that is dispersed and transmitted to 95F Guide block 102A~102D disposed on the lower surface side of the de member 87, 102F, 102G, it is possible to directly receive a fixed member 104 and the guide rail 101. Therefore, in this embodiment, even if the slide member 87 is thinned to reduce the rigidity of the slide member 87, the slide member 87 can be prevented from being deformed. That is, in this embodiment, the slide member 87 can be thinned.

  Thus, in this embodiment, it is possible to make the rotating member 85 and the slide member 87 thinner. Therefore, in this embodiment, it is possible to lower the battery insertion / removal mechanism 17 disposed above the rotation member 85 and the slide member 87 to a relatively low position. In particular, in the present embodiment, the motor 90 and the pulleys 91 and 92 are disposed on the radially outer side of the rotating member 85 (that is, the motor 90 and the pulleys 91 and 92 are disposed on the lower side or the upper side of the rotating member 85. Therefore, the battery pulling mechanism 17 can be lowered to a lower position. Therefore, in this embodiment, even if the battery 3 is mounted at a relatively low position on the bus 2, the battery 3 mounted on the bus 2 can be appropriately pulled out or inserted by the battery inserting / removing mechanism 17. become. That is, in this embodiment, even if the battery 3 is mounted at a relatively low position on the bus 2, the battery 3 mounted on the bus 2 can be appropriately replaced.

  In this embodiment, the guide blocks 95A and 95E are fixed to the lower surface side of the rotation member 85 and rotate together with the rotation member 85. Therefore, even if the rotation member 85 rotates, the guide blocks 95A and 95E rotate. The blocks 95A and 95E are always disposed below the columnar member 64. Therefore, even if the rotation member 85 rotates, the load applied to the columnar member 64 can be directly received by the guide blocks 95A and 95E and the guide rail 94.

  In this embodiment, when the battery 3 is pulled out or inserted, the guide block 95B is disposed between the guide block 102A and the guide block 102B in the left-right direction, and the guide block 95C is formed between the guide block 102B and the guide block 102C. The guide block 95D is disposed between the guide block 102C and the guide block 102D, the guide block 95F is disposed between the guide block 102G and the guide block 102H, and the guide block 95G is It is disposed between 102E and the guide block 102F. Therefore, when the battery 3 is pulled out or inserted, portions of the slide member 87 to which the load transmitted to the guide blocks 95B to 95D, 95G, and 95F acts are left and right by the guide blocks 102A to 102H, the fixing member 104, and the guide rail 101. It becomes possible to support on both sides of the direction. Therefore, in this embodiment, it is possible to effectively prevent the slide member 87 from being deformed.

  In this embodiment, when the battery 3 is pulled out or inserted, one guide rail 101 is disposed between the guide blocks 95B and 95D and the guide block 95C in the front-rear direction, and the other guide rail 101 is the guide block 95F. , 95G and the guide blocks 95A, 95E. Therefore, portions of the slide member 87 where the load transmitted to the guide block 95 acts can be arranged on both sides of the guide rail 101 in the front-rear direction. Therefore, in this embodiment, the portion of the slide member 87 where the load transmitted to the guide block 95 acts is concentrated on the inside of the two guide rails 101 in the front-rear direction. It becomes possible to prevent deformation.

  In this embodiment, one surface on which the teeth of the belt 93 are formed contacts the outer peripheral surface of the pulley 91, and the other flat surface on which the teeth of the belt 93 are not formed is the outer peripheral surface of the pulley 92 and the rotating member 85. A belt 93 is bridged between the pulleys 91 and 92 and the outer peripheral surface of the rotating member 85 so as to abut against the belt. Therefore, it is not necessary to form teeth on the outer peripheral surface of the rotating member 85. Therefore, in this embodiment, the configuration of the rotation member 85 can be simplified. In this embodiment, the teeth of the toothed pulley 91 fixed to the output shaft of the motor 90 and the teeth of the belt 93 mesh with each other, so that the power of the motor 90 can be efficiently transmitted to the belt 93. It becomes possible.

  In this embodiment, a part of the belt 93 that is always in contact with the outer peripheral surface of the rotating member 85 is fixed to the outer peripheral surface of the rotating member 85. Therefore, in this embodiment, even if the outer peripheral surface of the rotating member 85 is not formed with teeth, the belt 93 can be prevented from slipping on the outer peripheral surface of the rotating member 85, and the power of the motor 90 can be reduced. It is possible to reliably transmit the rotation member 85.

(Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited to this, and various modifications can be made without departing from the scope of the present invention.

  In the embodiment described above, one guide block 95A is disposed below the columnar member 64 constituting the first lifting mechanism 59, and one guide block is disposed below the columnar member 64 constituting the second lifting mechanism 60. 95E is arranged. In addition to this, for example, two or more guide blocks 95 are arranged below the columnar member 64 constituting the first lifting mechanism 59, and two or more guide blocks 95 constituting the second lifting mechanism 60 are arranged below the columnar member 64. The guide block 95 may be arranged.

  In the embodiment described above, the guide blocks 95 </ b> A and 95 </ b> E are disposed below the columnar member 64. In addition to this, for example, if it is possible to directly receive the load applied to the columnar member 64 by the guide blocks 95A and 95E and the guide rail 94, the guide blocks 95A and 95E are provided on the lower side of the columnar member 64. It may be arranged in the vicinity.

  In the embodiment described above, the guide blocks 95B to 95D, 95G, and 95F are disposed near the upper side of the guide blocks 102A to 102D, 102F, and 102G when the battery 3 is pulled out or inserted. In addition, for example, when the battery 3 is pulled out or inserted, the guide blocks 95B to 95D, 95G, and 95F and the guide blocks 102A to 102D, 102F, and 102G are overlapped in the vertical direction. , 95F may be disposed above the guide blocks 102A to 102D, 102F, 102G. In this case, the load distributed and transmitted to the guide blocks 95B to 95D, 95G, and 95F can be directly received by the guide blocks 102A to 102D, 102F, and 102G, the fixing member 104, and the guide rail 101. .

  In the embodiment described above, the guide rail 94 is fixed to the slide member 87 and the guide block 95 is fixed to the rotating member 85. In addition, for example, the guide rail 94 may be fixed to the rotating member 85 and the guide block 95 may be fixed to the slide member 87.

  In the embodiment described above, teeth that mesh with the teeth of the belt 93 are not formed on the outer peripheral surface of the rotating member 85, but teeth that mesh with the teeth of the belt 93 may be formed on the outer peripheral surface of the rotating member 85. In this case, the belt 93 is stretched over so that the one surface on which the teeth of the belt 93 are formed contacts the pulley 91 and the outer peripheral surface of the rotating member 85. In the above-described embodiment, the belt 93 is a toothed belt having teeth formed on one surface, but the belt 93 may be a flat belt without teeth. For example, the belt 93 may be a steel belt or the like.

  In the embodiment described above, the guide rail 94 is formed in an annular shape. In addition, for example, when the rotation angle of the rotation member 85 is narrow, or when the number of guide blocks 95 fixed to the lower surface side of the rotation member 85 is small, the guide rail 94 is replaced with a circle. A plurality of guide rails formed in an arc shape may be installed at a location necessary for guiding the rotating member 85.

  In the embodiment described above, the detection mechanism 21 is attached to the battery mounting portion 22 so that the light emitting portion and the light receiving portion are adjacent in the horizontal direction. In addition to this, as shown in FIG. 30, for example, the detection mechanism 21 may be attached to the battery mounting portion 22 so that the light emitting portion and the light receiving portion overlap in the vertical direction (vertical direction). When the detection mechanism 21 is arranged so that the light emitting unit and the light receiving unit are adjacent to each other in the horizontal direction, for example, as shown in FIG. 31, the boundary between the front surface of the battery holder 6 and the detection mark 8. In this case, the laser beam reflected from the front surface of the battery mount 6 is blocked by the detection mark 8 and may not return to the light receiving unit. However, the light emitting unit and the light receiving unit overlap in the vertical direction. If the detection mechanism 21 is arranged, it is possible to prevent such a problem from occurring.

  In the embodiment described above, the detection mark 8 is formed in a flat plate shape protruding from the front surface of the battery mount 6. In addition to this, for example, the detection mark 8 may be a recess recessed from the front surface of the battery mount 6. For example, as shown in FIG. 32, a substantially equilateral triangular through hole 6a penetrating the front wall of the battery cradle 6 and a reflection fixed to the rear surface of the front wall of the battery cradle 6 so as to close the through hole 6a. The detection mark 8 may be formed by the plate 110. In this case, since the through hole 6a can be formed in the front wall of the battery cradle 6 by a punching process when the battery cradle 6 is manufactured, the detection mark 8 formed in a flat plate shape is provided. Compared with the case of fixing to the front surface of the battery mount 6, the positional accuracy of the detection mark 8 can be increased.

  In the embodiment described above, the robot 5 is a robot for exchanging the battery 3 mounted on the bus 2, but the robot 5 is for exchanging the battery 3 of a vehicle other than the bus 2 such as a truck or a private car. It may be a robot.

2 Bus (vehicle)
DESCRIPTION OF SYMBOLS 3 Battery 5 Battery exchange robot 17 Battery insertion / extraction mechanism 18 Lifting mechanism 19 Rotation mechanism 20 Horizontal movement mechanism 22 Battery mounting part (movable part)
24 Battery engaging part (movable part)
63 Lifting member 64 Columnar member 85 Rotating member 87 Slide member 90 Motor (drive source)
91 pulley (pulley with teeth)
93 belt (toothed belt)
94 Guide rail (rotating guide rail)
95 Guide block (Rotating guide block)
95A, 95E guide block (turning guide block, first turning guide block)
95B to 95D, 95G, 95F Guide block (rotation guide block, second rotation guide block)
101 Guide rail (linear guide rail)
102 Guide block (linear motion guide block)
X Back and forth direction Y Left and right direction Z Up and down direction

Claims (8)

A battery exchange robot for exchanging a battery mounted on a vehicle,
When the direction in which the vehicle and the battery exchange robot face each other is the front-rear direction, and the direction substantially orthogonal to the front-rear direction and the up-down direction is the left-right direction,
A battery tuning slide mechanism for insertion of the battery into the withdrawal and the vehicle of the battery from the vehicle, a lifting mechanism for raising and lowering the battery tuning slide mechanism, the battery inserted drop mechanism and the vertical direction as an axial direction A rotation mechanism that rotates an elevating mechanism; and a horizontal movement mechanism that moves the battery insertion / removal mechanism, the elevating mechanism, and the rotation mechanism in the left-right direction,
The elevating mechanism includes an elevating member that moves in the vertical direction together with the battery insertion / removal mechanism, and a columnar member that holds the elevating member so as to be movable up and down.
The rotation mechanism includes a rotation member that is fixed to the upper surface side of the columnar member and is rotatable, and a rotation that is disposed on the lower surface side of the rotation member and guides the rotation member in a rotation direction. A guide rail, and a plurality of rotation guide blocks which are arranged on the lower surface side of the rotation member and engage with the rotation guide rail and which are relatively movable along the rotation guide rail,
The horizontal movement mechanism is a slide member in which the rotation member is rotatably attached to the upper surface side thereof, and the rotation guide rail and the rotation guide block are arranged on the upper surface side and movable in the left-right direction. A linear motion guide rail disposed on the lower surface side of the slide member for guiding the slide member in the left-right direction; and a linear motion guide rail disposed on the lower surface side of the slide member and engaged with the linear motion guide rail. And a plurality of linear motion guide blocks that can move relative to each other,
The rotation mechanism includes, as the rotation guide block, at least one first rotation guide block disposed at the lower side or the lower side of the columnar member when the battery is pulled out and inserted, and A battery exchanging robot comprising: at least one second rotation guide block disposed on or near the upper side of the linear motion guide block. 2. The battery replacement robot according to claim 1, wherein the second rotation guide block is disposed between the plurality of linear motion guide blocks in the left-right direction when the battery is pulled out and inserted. 3. The battery replacement robot according to claim 1, wherein the linear motion guide rail is disposed between the plurality of rotation guide blocks in the front-rear direction when the battery is pulled out and inserted. 4. The rotation guide block is fixed to the rotation member,
The battery replacement robot according to claim 1, wherein the rotation guide rail is fixed to the slide member. The rotation mechanism includes a drive source that rotates the rotation member;
The battery replacement robot according to claim 1, wherein the drive source is disposed on a radially outer side of the rotating member. The rotation mechanism includes a motor as the drive source, a toothed pulley fixed to the output shaft of the motor, and a toothed belt spanned between the toothed pulley and the rotation member,
One surface on which the teeth of the toothed belt are formed is in contact with the outer peripheral surface of the toothed pulley, and the other flat surface of the toothed belt is in contact with the outer peripheral surface of the rotating member. 6. The battery replacement robot according to claim 5, wherein   The battery replacement robot according to claim 6, wherein a part of the toothed belt is fixed to an outer peripheral surface of the rotating member. The battery tuning slide mechanism movable in a direction away from the direction and the vehicle approaches to the vehicle, movable to move in a direction approaching the vehicle at the time of withdrawal and during insertion of the battery in order to perform the withdrawal and insertion of the battery Part
The elevating mechanism includes the two columnar members disposed on both ends of the first direction orthogonal to the moving direction and the vertical direction of the movable part,
3. The battery exchange robot according to claim 1, wherein at least one of the first rotation guide blocks is disposed below or in the vicinity of the lower side of each of the two columnar members.

Images