JP6050982B2 - Battery exchange robot teaching method and battery exchange robot - Google Patents

Description

  The present invention relates to a teaching method of a battery exchange robot for exchanging a battery mounted on a vehicle. The present invention also relates to a battery exchange robot taught by such a battery exchange robot teaching method.

  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. A docking hole is formed in the battery mounting portion of the electric bus, and a docking arm that can be engaged with the docking hole is provided in the battery tray. When the battery is replaced, the docking arm engages with the docking hole, so that the battery mounting portion of the electric bus and the battery tray are aligned. In Patent Document 1, the weight of the battery mounted on the electric bus is several hundred kg.

Japanese translation of PCT publication No. 2008-520173

  In the battery exchange device described in Patent Document 1, since the docking arm is engaged with the docking hole when the battery is exchanged, the battery mounting portion of the electric bus and the battery tray can be connected even if the weight of the battery is heavy. It is possible to prevent a difference in height between the battery mounting portion and the battery tray when the battery is transferred between them. Therefore, in this battery exchange device, it is possible to smoothly exchange the battery between the battery mounting portion and the battery tray. However, the battery exchange device described in Patent Document 1 requires a large-scale mechanism such as a docking arm in order to smoothly exchange the battery between the battery mounting portion and the battery tray. As a result, the battery exchange device The structure of is complicated.

  Therefore, even if the configuration of the battery replacement robot is simple, the problem of the present invention is that the battery is placed between the battery mounting base of the vehicle on which the battery is mounted and the battery mounting portion of the battery replacement robot on which the battery is mounted. It is an object of the present invention to provide a teaching method for a battery exchange robot that enables smooth exchange. Another object of the present invention is to provide a battery exchange robot taught by such a battery exchange robot teaching method.

In order to solve the above-described problems, a teaching method of a battery exchange robot according to the present invention includes a battery mounting portion on which a battery is mounted when a battery mounted on a vehicle is pulled out and / or a battery is inserted into the vehicle, and the battery A battery engaging robot that replaces a battery mounted on a vehicle, the battery engaging portion engaging with the battery when the battery is pulled out and / or inserted, and moving the battery on the battery mounting portion. The vehicle mounting position when the battery is mounted on the vehicle battery mount, the battery connection position when the battery is mounted on both the battery mount and the battery mounting section, and the battery on the battery mounting section manual workers but the robot mounting position when mounted It characterized in that it taught by operation.

  According to the teaching method of the battery exchange robot of the present invention, the vehicle mounting position when the battery is mounted on the battery stand of the vehicle, and the robot mounting position when the battery is mounted on the battery mounting portion of the battery replacement robot. In addition, the battery connection position when the battery is mounted on both the battery mount and the battery mounting portion is taught. Therefore, if the teaching method of the battery exchange robot of the present invention is used, even if the battery exchange robot does not have the docking arm included in the battery exchange device described in Patent Document 1, the battery exchange robot is provided between the battery mount and the battery mounting portion. When the battery is transferred, it is possible to prevent the height difference between the battery mount and the battery mounting portion by appropriately operating the battery exchange robot, and as a result, the battery mount and the battery The battery can be exchanged smoothly with the mounting part. That is, by using the teaching method of the battery exchange robot according to the present invention, it is possible to smoothly exchange the battery between the battery mount and the battery mounting portion even if the configuration of the battery exchange robot is simple.

  In the present invention, for example, the battery replacement robot includes a holding member that holds the battery mounting portion and the battery engaging portion, and the battery mounting portion and the battery engaging portion are movable in a direction toward and away from the vehicle. In the battery connection position, the battery mounting portion moves in a direction approaching the vehicle and protrudes from the holding member. In this case, since the battery mounting part protrudes from the holding member at the battery connection position, the battery mounting part bends greatly when the battery is transferred from the battery mounting base to the battery mounting part. However, in the present invention, it is possible to suppress the occurrence of a large height difference between the battery mount and the battery mounting portion. The battery can be exchanged smoothly between the two.

  In the present invention, the vehicle mounting position is such that the battery engaging portion approaching the vehicle can be engaged with the battery mounted on the battery mount, and the battery mounting portion and the battery approaching the vehicle are mounted. The position is preferably when the battery can be transferred to and from the battery stand. With this configuration, since the position closer to the battery connection position is taught as the vehicle mounting position, when the battery is transferred from the battery mounting position to the battery mounting position, the battery mounting position is between the battery mounting position and the battery mounting position. It is possible to effectively suppress the occurrence of a large height difference.

  In the present invention, the robot mounting position is preferably a position when the battery is completely mounted on the battery mounting portion approaching the vehicle and the battery engaging portion is engaged with the battery. With this configuration, since the position closer to the battery connection position is taught as the robot mounting position, when the battery is transferred from the battery mounting section to the battery mounting section, it is between the battery mounting section and the battery mounting section. It is possible to effectively suppress the occurrence of a large height difference.

  In the present invention, as the battery transfer position, the first battery transfer position when the battery starts to transfer from the battery mounting base to the battery mounting section, or when the battery finishes transferring from the battery mounting section to the battery mounting base, It is preferable to teach the second battery connection position when the battery starts to be transferred from the battery mounting unit to the battery mounting unit or when the battery has been transferred from the battery mounting unit to the battery mounting unit. With this configuration, when a battery is exchanged between the battery cradle and the battery mounting portion, it is possible to effectively suppress a height difference between the battery cradle and the battery mounting portion. Become. Therefore, it is possible to smoothly exchange the battery between the battery mount and the battery mounting portion.

  The battery exchange robot can be taught using the teaching method of the battery exchange robot of the present invention. In the battery exchange robot taught by the teaching method of the battery exchange robot of the present invention, the battery can be smoothly exchanged between the battery mount and the battery mounting portion even if the configuration is simple.

  As described above, the battery exchange robot teaching method of the present invention allows the battery to be smoothly exchanged between the battery mount and the battery mounting portion even if the configuration of the battery exchange robot is simple. become. Further, in the battery exchange robot taught using the teaching method of the battery exchange robot of the present invention, the battery can be smoothly exchanged between the battery mount and the battery mounting portion even if the configuration is simple. It becomes possible.

1 is a perspective view of a battery exchange system according to an embodiment of the present invention. 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 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. 17, and (B) is an enlarged view of a portion N in FIG. It is a figure which shows the state at the time of the position detection of the bus | bath by the detection mechanism shown in FIG. 10 from an upper surface. It is the schematic for demonstrating the bus position detection method by the detection mechanism shown in FIG. It is a figure which shows the state at the time of the position detection of the battery by the detection mechanism shown in FIG. 10 from an upper surface. It is a figure for demonstrating the battery position detection method by the detection mechanism shown in FIG. It is a flowchart which shows the schematic flow of the battery replacement | exchange operation | movement of the battery replacement robot shown in FIG. It is a figure for demonstrating the extraction operation | movement of the battery from the bus | bath by the battery exchange robot shown in FIG. It is a figure for demonstrating the insertion operation of the battery to the bus | bath by the battery exchange robot shown in FIG. It is a figure for demonstrating the locus | trajectory of operation | movement of the battery mounting part and battery engaging part at the time of battery extraction operation | movement from the bus | bath by the battery exchange robot shown in FIG. It is a figure for demonstrating the locus | trajectory of operation | movement of the battery mounting part and battery engaging part at the time of the battery insertion operation | movement to the bus | bath by the battery exchange robot shown in FIG. It is a figure for demonstrating the locus | trajectory at the time of passing through a battery detection position, when it is a locus | trajectory of the operation | movement of the battery mounting part and battery engaging part at the time of battery extraction operation | movement from the bus | bath by the battery exchange robot shown in FIG. It is a front view of the battery accommodating part shown in FIG. It is a block diagram for demonstrating a part of data memorize | stored in the memory | storage part and 2nd memory | storage part of the control part of the battery exchange robot shown in FIG. 3 is a flowchart for explaining an example of a control method for the battery exchange robot shown in FIG. 2. (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 according to an embodiment of the present invention. 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 system 1 of this embodiment is a system for exchanging the battery 3 mounted on the vehicle 2. 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. 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 battery exchanging system 1 includes a battery exchanging robot 5 (hereinafter referred to as “robot 5”) for exchanging the battery 3 accommodated in the battery accommodating portion 4. 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.

  A detection plate 9 for detecting the position of the bus 2 is formed or fixed on the side surface 2 a of the bus 2. The detection plate 9 is formed in a flat plate shape, and is formed in a substantially rectangular shape having a substantially constant width in the vertical direction. This detection plate 9 is disposed, for example, on the front side of the battery housing portion 4 in the traveling direction of the bus 2. Further, the detection plate 9 is disposed so as to be exposed to the side surface 2a when a cover member (not shown) attached to the side surface 2a is removed.

(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. The battery accommodating portion 4 is formed with accommodating spaces for a plurality of batteries 3 so that a plurality of batteries 3 can be accommodated. That is, a plurality of batteries 3 can be mounted on the bus 2. Four batteries 3 can be mounted on the bus 2 of this embodiment, and the battery housing portion 4 includes four battery mounts 6 on which each of the four batteries 3 is mounted. Further, in this embodiment, the two battery mounts 6 are disposed so as to be adjacent in the left-right direction via the side wall 7 and are adjacent to the two battery mounts 6 adjacent in the left-right direction in the left-right direction. The other two battery mounts 6 are arranged so as to overlap in the vertical direction.

  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. That is, a pair of (two) detection marks 8 are formed on the front surface of the battery stand 6 with a predetermined interval in the left-right direction. As described above, the battery housing portion 4 of this embodiment includes the four battery mounts 6, and the battery housing portion 4 is formed with four pairs of detection marks 8. 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. Specifically, the detection mark 8 is formed in a substantially equilateral triangle shape whose width becomes narrower toward the upper side.

  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, thereby 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 for pulling out the four batteries 3 from the bus 2 and inserting the four batteries 3 into the bus 2, and a battery insertion / removal mechanism. An elevating mechanism 18 for elevating the mechanism 17, a rotating mechanism 19 for rotating the battery inserting / removing mechanism 17 and the elevating mechanism 18 about the vertical direction as an axial direction, a battery inserting / removing mechanism 17, the elevating mechanism 18, and the rotating mechanism 19 And a horizontal movement mechanism 20 for moving in the left-right direction. The robot 5 also includes a detection mechanism 21 for detecting the detection mark 8 and the detection plate 9.

  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 a view for explaining the battery moving mechanism 25 shown in FIG. 6 from above. 18A is an enlarged view of an M portion in FIG. 17, and FIG. 18B is an enlarged view of an N portion 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. In this embodiment, the two engaging claws 41 and the two air cylinders 42 of the base 43 are arranged so that the engaging claws 41 are engaged with the two handles 11 formed on the battery 3. It arrange | positions in the state which opened the predetermined space | interval at the front end surface.

  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.

(Configuration of lifting mechanism, first coupling mechanism and second coupling mechanism)
As shown in FIGS. 2 and 6, the elevating mechanism 18 has a direction orthogonal 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 a “first direction”). ) Are provided on the both ends of the first elevating mechanism 59 and the second elevating mechanism 60. 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 are provided in order to incline the holding member 26 with respect to the horizontal direction (that is, in the first direction when viewed from the moving direction of the battery mounting portion 22 and the battery engaging portion 24). In order to tilt the holding member 26 with respect to it), it can be driven individually. 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 horizontal direction.

  The first elevating mechanism 59 and the second elevating mechanism 60 include an elevating member 63 that is movable in the vertical direction, a columnar member 64 that holds the elevating member 63 so as to be able to elevate, and an elevating drive mechanism 65 that elevates the elevating member 63. I have. 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.

  As shown in FIG. 7, the elevating drive mechanism 65 includes a motor 67, a screw member 68 such as a ball screw, and a nut member 69 screwed to the screw member 68 as a configuration for elevating the elevating member 63. Yes. As shown in FIG. 6, the elevating drive mechanism 65 is configured to guide the elevating member 63, and engages with the guide rail 70 formed in a straight line, along the guide rail 70 and along the guide rail 70. The guide block 71 is relatively movable.

  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. 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. 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.

  The first connecting mechanism 61 connects the holding member 26 and the elevating member 63 so that the holding member 26 can be rotated relative to the elevating member 63 of the first elevating mechanism 59. Further, the second connecting mechanism 62 is configured so that the holding member 26 and the elevating member 63 are capable of relative rotation of the holding member 26 with respect to the elevating member 63 of the second elevating mechanism 60 and relative movement in the first direction. Are connected. 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 lifting mechanism 59 or the motor 67 of the second lifting mechanism 60 rotates, the holding member 26 tilts with respect to the horizontal direction. Further, when the motor 67 rotates so that the moving amount of the lifting member 63 of the first lifting mechanism 59 and the moving amount of the lifting member 63 of the second lifting mechanism 60 are different, the holding member 26 is lifted while being inclined with respect to the horizontal direction. To do.

(Configuration of rotation mechanism and horizontal movement mechanism)
As shown in FIG. 2, the rotation mechanism 19 includes a battery insertion / removal mechanism 17 and an elevating mechanism 18, and a rotation member 85 that can rotate, and a rotation drive mechanism 86 that rotates the rotation member 85. And. As shown in FIG. 2, the horizontal movement mechanism 20 is equipped with a battery insertion / removal mechanism 17, an elevating mechanism 18, and a rotation mechanism 19, and a slide member 87 that is movable in the left-right direction, and a horizontal that moves the slide member 87. And a drive mechanism 88.

  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. 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, a pulley, a belt, and the like 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, and a guide rail and a plurality of guide blocks that engage with the guide rail and are relatively movable along the guide rail. It has. The guide rail is formed in an annular shape and is fixed to the upper surface of the slide member 87. The plurality of guide blocks are fixed to the lower surface side of the rotating member 85, and are arranged in an annular shape centering on the center of curvature of the rotating member 85. A belt is stretched over the pulley fixed to the output shaft of the motor and the outer peripheral surface of the rotating member 85, and when the motor rotates, the rotating member 85 is guided by the guide rail and the guide block to slide. It rotates with respect to 87.

  The horizontal drive mechanism 88 includes a motor, a pulley, a belt, and the like 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 a plurality of guide rails that are linearly formed and a plurality of guide rails that are engaged with the guide rails and are relatively movable along the guide rails. And a guide block. The guide rail is disposed below the slide member 87. The guide block is fixed to the lower surface of the slide member 87. One end of the belt is fixed to the left end side of the guide rail, and the other end of the belt is fixed to the right end side of the guide rail. The belt is stretched around a pulley or the like fixed to the output shaft of the motor. When the motor rotates, the slide member 87 is linearly moved in the left-right direction by being guided by the guide rail and the guide block.

(Configuration of detection mechanism, bus position detection operation and battery position detection operation)
FIG. 19 is a diagram showing the state when the position of the bus 2 is detected by the detection mechanism 21 shown in FIG. FIG. 20 is a schematic diagram for explaining a method of detecting the position of the bus 2 by the detection mechanism 21 shown in FIG. FIG. 21 is a diagram showing a state when the position of the battery 3 is detected by the detection mechanism 21 shown in FIG. 10 from above. FIG. 22 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 such that the light emitting portion and the light receiving portion are adjacent in the horizontal direction, or the light emitting portion and the light receiving portion are adjacent in the vertical direction. In this embodiment, two detection mechanisms 21 are attached to the battery mounting portion 22 so as to correspond to a pair of (two) detection marks 8 formed on each of the four battery mounts 6. . Specifically, the detection mechanism 21 is fixed to the upper surfaces of both ends of the battery mounting portion 22 in the first direction orthogonal to the moving direction of the battery mounting portion 22 and the battery engaging portion 24. Two detection mechanisms 21 are fixed to the battery mounting portion 22 at the same interval as the interval between the pair of detection marks 8.

  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.

  The detection of the position of the bus 2 by the detection mechanism 21 is performed as follows, for example. That is, 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 at a position where the detection plate 9 is disposed in the left-right direction. At this time, as indicated by a solid line in FIG. 19, 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.

  From this state, as shown by a two-dot chain line in FIG. 19, the battery is mounted until the detection mechanism 21 that receives the laser light emitted from the light emitting portion of the detection mechanism 21 and reflected by the detection plate 9 is turned on. Part 22 advances toward bus 2. Thereafter, as shown by a two-dot chain line in FIG. 20A, the battery mounting portion 22 at a predetermined position in the vertical direction is moved upward as shown by a broken line in FIG. The approximate position of the upper end of the detection plate 9 is detected by 21. Thereafter, as shown by the solid line in FIG. 20A and the broken line in FIG. 20B, the battery mounting portion 22 is moved downward to a height for detecting the positions of both ends of the detection plate 9 in the left-right direction. Let

  Thereafter, as indicated by the solid line in FIG. 20B and the broken line in FIG. The approximate position is detected. Thereafter, the battery mounting portion 22 is moved to the other in the left-right direction as indicated by the solid line in FIG. 20C and the two-dot chain line in FIG. 20D, and the detection mechanism 21 moves the detection plate 9 in the left-right direction. Detect the position of both ends.

  Thereafter, as shown by the broken line in FIG. 20D, the battery mounting portion 22 is located at a predetermined distance from the position where one end of the detection plate 9 in the left-right direction is detected by the detection mechanism 21 to the other in the left-right direction. Then, the upper end of the detection plate 9 is detected by the detection mechanism 21 as shown by the solid line in FIG. 20D and the two-dot chain line in FIG. After that, as shown by the broken line in FIG. 20E, the battery mounting portion 22 is moved a predetermined distance from the position where the detection mechanism 21 detects the other end of the detection plate 9 in the left-right direction to the other in the left-right direction. After moving to a distant position and downward, it is moved upward as indicated by the solid line in FIG. 20E and the upper end of the detection plate 9 is detected by the detection mechanism 21.

  By moving the battery mounting portion 22 as described above, the detection mechanism 21 detects the position of the detection plate 9 in the front-rear direction, the left-right direction, and the up-down direction. Further, the position of the bus 2 is detected by detecting the position of the detection plate 9 in the front-rear direction, the left-right direction, and the vertical direction by the detection mechanism 21. Further, by moving the battery mounting portion 22 as described above, the detection mechanism 21 can detect the inclination of the detection plate 9 with respect to the left-right direction when viewed from the front-rear direction. That is, by moving the battery mounting portion 22 as described above, the detection mechanism 21 can detect the inclination of the bus 2 with respect to the left-right direction when viewed from the front-rear direction.

  After the detection mechanism 21 detects the position of the bus 2, for example, the detection mechanism 21 detects the position of the battery 3 as described below. That is, first, as shown in FIG. 21A, each of the pair of detection marks 8 of the battery mount 6 on which the battery 3 to be replaced is mounted and each of the two detection mechanisms 21 face each other. Next, the battery mounting portion 22 is moved in the left-right direction.

  Thereafter, the battery mounting portion 22 is advanced 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. 21 (B), (C) and FIGS. 22 (A), (B), the battery 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. The mounting portion 22 is moved in the left-right direction. More specifically, the battery mounting portion 22 is moved 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.

  When the battery mounting portion 22 is moved 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, the detection mechanism 8 detects a portion of the detection mark 8 ( That is, it is possible to detect the width of the portion that reflects the laser light (the broken line portion in FIG. 22C), hereinafter referred to as “detected portion 8a”. Since the detection mark 8 of this embodiment is formed in a substantially triangular shape whose width changes in the vertical direction, detecting the width of the detected portion 8a of the detection mark 8 increases the height of the detection mark 8. It is possible to detect the height of the battery holder 6 on which the detection mark 8 is formed by detecting the height of the detection mark 8. In this embodiment, the detection mechanism 21 detects the width of the detected portion 8a of the detection mark 8 to detect the height of the battery cradle 6 and the height of the battery cradle 6 is detected. The height of the battery 3 mounted on the battery stand 6 is detected.

  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 8a. 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 8a 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 are detected. The position of the battery cradle 6 in the front-rear direction is detected based on the distance between and the position of the battery cradle 6 in the front-rear direction, thereby detecting the position of the battery 3 that is positioned and mounted on the battery cradle 6. A position in the front-rear 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 and right direction when viewed from the direction and the inclination of the battery insertion and removal mechanism 17 substantially coincide with each other, and the inclination of the battery 3 with respect to the left and right direction when viewed from the top and bottom The position of the battery insertion / removal mechanism 17 in the left-right direction and the height when the battery 3 is replaced by the robot 5 so that the inclination substantially coincides. And tilt is adjusted.

  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.

(Outline of battery replacement operation by battery replacement robot)
FIG. 23 is a flowchart showing a schematic flow of the replacement operation of the battery 3 of the battery replacement robot 5 shown in FIG. FIG. 24 is a view for explaining the operation of pulling out the battery 3 from the bus 2 by the battery exchange robot 5 shown in FIG. FIG. 25 is a diagram for explaining the operation of inserting the battery 3 into the bus 2 by the battery exchange robot 5 shown in FIG.

  In the battery exchange system 1, when the bus 2 whose battery 3 is to be exchanged stops at a predetermined stop position, the position of the bus 2 is first detected by the above-described procedure (step S1). Thereafter, the operation of pulling out the battery 3 to be replaced from the bus 2 out of the four batteries 3 is performed (step S2). In step S2, specifically, the position of the battery 3 to be replaced (more specifically, the position of the detection mark 8 formed on the battery mount 6 on which the battery 3 to be replaced is mounted) is described above. The battery 3 is extracted from the bus 2 by the robot 5 (step S22), and then the extracted battery 3 is accommodated in the buffer station (step S23).

  In steps S <b> 1 and S <b> 2, first, the battery mounting portion 22 and the battery engaging portion 24 (see FIG. 24A) at the home position move in a direction approaching the bus 2. Specifically, as shown in FIG. 24B, the battery mounting portion 22 moves from the battery mount 6 to a position where the battery 3 can be transferred to the battery mounting portion 22, and the handle portion of the battery 3 is moved. 11, the battery engaging portion 24 moves to a position where the engaging claw portion 41 can be engaged.

  In this embodiment, the position of the battery 3 is detected by the above-described procedure before the battery mounting portion 22 and the battery engaging portion 24 at the home position move to the position shown in FIG. That is, 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. Then, the battery mounting portion 22 moves in the left-right direction (that is, the robot 5 moves in the left-right direction), and the position of the battery 3 is detected. In the subsequent operation, the movement amounts of the battery mounting portion 22 and the battery engaging portion 24 are adjusted based on the result of the position detection of the battery 3.

  In step S2, the engaging claw portion 41 descends from the state shown in FIG. 24 (B) and engages with the handle portion 11. Thereafter, as shown in FIG. 24C, the battery engaging portion 24 moves away from the bus 2, and the battery 3 starts to be transferred from the battery mount 6 to the battery mounting portion 22. When the battery engaging portion 24 moves by a predetermined amount and the battery 3 is completely mounted on the battery mounting portion 22 as shown in FIG. 24D, thereafter, the battery mounting portion 22 and the battery engaging portion 24 are moved. While synchronizing, as shown in FIG. 24E, the battery 3 moves away from the bus 2 to complete the extraction of the battery 3 from the bus 2. When the extraction of the battery 3 from the bus 2 is completed, the robot 5 rotates 180 ° and accommodates the battery 3 in the buffer station.

  Thereafter, the battery 3 is inserted into the portion of the bus 2 from which the battery 3 has been pulled out (step S3). Specifically, in step S3, the charged battery 3 is removed from the buffer station by the robot 5 (step S31), and then the removed battery 3 is inserted into the bus 2 (step S32).

  In step S3, when the robot 5 takes out the charged battery 3 from the buffer station, the robot 5 rotates 180 ° and is in the same state as when the battery 3 is completely removed from the bus 2 as shown in FIG. become. Thereafter, as shown in FIG. 25B, the battery mounting portion 22 and the battery engaging portion 24 move in a direction approaching the bus 2 while being synchronized. When the battery mounting portion 22 moves to a position where the battery 3 can be transferred from the battery mounting portion 22 to the battery mount 6, the battery engaging portion 24 approaches the bus 2 as shown in FIG. The battery 3 is inserted into the bus 2. When the battery 3 is inserted into the bus 2, as shown in FIG. 25 (D), the engaging claw portion 41 is raised, and as shown in FIG. 25 (E), the battery mounting portion 22 and the battery engaging portion 24 are After moving away from the bus 2 (specifically, moving to the home position), the insertion of the battery 3 into the bus 2 is completed.

  The operations in steps S2 and S3 are repeated until the replacement of the battery 3 that needs to be replaced in the stopped bus 2 is completed (until "Yes" in step S4). Usually, it repeats until all the batteries 3 of the bus | bath 2 which has stopped are replaced | exchanged. When the replacement of the battery 3 that needs to be replaced is completed, the robot 5 returns to the origin position (step S5), and the replacement operation of the battery 3 by the robot 5 ends.

(Battery replacement robot teaching method)
FIG. 26 is a diagram for explaining the trajectories of the operation of the battery mounting portion 22 and the battery engaging portion 24 when the battery 3 is pulled out of the bus 2 by the battery replacement robot 5 shown in FIG. FIG. 27 is a view for explaining the trajectory of the operation of the battery mounting portion 22 and the battery engaging portion 24 when the battery 3 is inserted into the bus 2 by the battery exchange robot 5 shown in FIG. FIG. 28 is a trajectory of the operation of the battery mounting portion 22 and the battery engaging portion 24 when the battery 3 is withdrawn from the bus 2 by the battery exchange robot 5 shown in FIG. 2 and passes through the battery detection position P20. It is a figure for demonstrating a locus | trajectory.

  In the battery exchange system 1, in order to properly operate the robot 5 and replace the battery 3 of the bus 2 appropriately, teaching (teaching) of the robot 5 is performed using the bus 2 stopped at a predetermined reference position. Do. In the teaching of the robot 5, the bus detection position for detecting the position of the bus 2, the battery detection position for detecting the position of each of the four batteries 3, and the extraction and insertion of each of the four batteries 3 are performed. The insertion / extraction position to perform is taught to the robot 5 by a manual operation by an operator.

  In the teaching of the bus detection position, the robot 5 is taught a position (state) where the detection mechanism 21 can detect the detection plate 9. In teaching the battery detection position, the robot 5 is taught a position (state) at which the two detection mechanisms 21 can detect the pair of detection marks 8. In the teaching of the battery detection position, the robot 5 is taught four positions at which each of the pair of detection marks 8 provided in the four sets can be detected.

  In the teaching of the slip position, a standby position (state) P1 shown in FIGS. 24 (A) and 25 (E), a vehicle mounting position (state) P2 shown in FIGS. 24 (B) and 25 (D), First battery connection position (state) P3 as the battery connection position shown in FIG. 24C, and second battery connection position (state) P4 as the battery connection position shown in FIG. The robot 5 is taught the robot mounting position (state) P5 shown in FIGS. 24D and 25B and the robot housing position (state) P6 shown in FIGS. 24E and 25A. .

  The standby position P1 stands by in a state where the battery mounting portion 22 and the battery engagement portion 24 are separated from the bus 2 (more specifically, at the home position), and the battery 3 is mounted on the battery stand 6. Is the position of time. The vehicle mounting position P2 is such that the engaging claw portion 41 of the battery engaging portion 24 approaching the bus 2 can be engaged with the battery 3 mounted on the battery mount 6 and the battery approaching the bus 2 This is the position when the battery 3 can be transferred between the mounting portion 22 and the battery mount 6 on which the battery 3 is mounted.

  The first battery connection position P <b> 3 is a position when the battery 3 is mounted on both the battery mount 6 and the battery mounting portion 22. Specifically, the first battery connection position P3 is a position when the battery 3 starts to be transferred from the battery mount 6 to the battery mount 22 (that is, the battery 3 is moved from the battery mount 22 to the battery mount 6). Position at the end of transfer). In this embodiment, the position when the battery 3 is mounted on one of the plurality of rollers 31 and 32 provided on the upper surface of the battery mounting portion 22 is the first battery connection position P3. It has become. Further, at the first battery connection position P <b> 3, the battery mounting portion 22 protrudes from the holding member 26 toward the bus 2.

  Similarly to the first battery connection position P3, the second battery connection position P4 is a position when the battery 3 is mounted on both the battery mount 6 and the battery mounting portion 22. Specifically, the second battery connection position P4 is a position when the battery 3 starts to be transferred from the battery mounting unit 22 to the battery mounting unit 6 (that is, the battery 3 is moved from the battery mounting unit 6 to the battery mounting unit 22). Position at the end of transfer). In this embodiment, the position when the battery 3 is mounted on the battery mount 6 by the arrangement pitch of the plurality of rollers 31 is the second battery connection position P4. Further, at the second battery connection position P4, the battery mounting portion 22 protrudes from the holding member 26 to the bus 2 side.

  The robot mounting position P <b> 5 is a position when the battery 3 is completely mounted on the battery mounting portion 22 approaching the bus 2 and the engagement claw portion 41 is engaged with the battery 3. The robot housing position P6 is a position when the battery mounting portion 22 on which the battery 3 is mounted and the battery engaging portion 24 engaged with the battery 3 are separated from the bus 2 and stored in the holding member 26. .

  In the teaching of the slip position, for each of the four batteries 3 mounted on the bus 2, the standby position P1, the vehicle mounting position P2, the first battery connection position P3, the second battery connection position P4, and the robot The mounting position P5 and the robot housing position P6 are taught to the robot 5.

  When the battery 3 is withdrawn from the bus 2, the robot 5 operates to move in the order of the standby position P1, the vehicle mounting position P2, the first battery connection position P3, the robot mounting position P5, and the robot housing position P6. Then, the battery 3 is removed from the bus 2. Further, when the battery 3 is inserted into the bus 2, the robot 5 moves in this order through the robot housing position P6, the robot mounting position P5, the second battery connection position P4, the vehicle mounting position P2, and the standby position P1. In operation, the battery 3 is inserted into the bus 2. Since the position of the battery 3 is detected when the battery 3 is removed from the bus 2, the robot 5 actually moves from the standby position P1 to the vehicle mounting position P2 via the battery detection position P20.

  Here, since the weight of each battery 3 is several hundred kg, in the process of moving the battery 3 between the battery mount 6 and the battery mounting portion 22, In addition, the height and inclination of the battery mounting portion 22 varies. In this embodiment, in order to suppress the occurrence of a height difference between the battery mount 6 and the battery mounting portion 22 due to variations in the height and inclination of the battery mount 6 and the battery mounting portion 22, When the battery 3 is pulled out, the lifting mechanism 18 raises the battery pulling mechanism 17 when the robot 5 moves from the first battery transfer position P3 to the robot mounting position P5, and when the battery 3 is plugged into the bus 2, the robot 3 When the robot 5 moves from the mounting position P5 to the second battery connection position P4, the elevating mechanism 18 lowers the battery insertion / removal mechanism 17.

  Therefore, when the operation of pulling out the battery 3 from the bus 2 is performed based on the teaching result of the robot 5, an arbitrary point of the battery mounting portion 22 follows a locus along arrows V1, V2, and V3 as shown in FIG. While drawing, the standby position P1, the vehicle mounting position P2, the first battery connection position P3, the robot mounting position P5, and the robot housing position P6 are moved in this order. When the battery 3 is pulled out from the bus 2, any one point of the battery engaging portion 24 is in a standby position while drawing a locus along arrows V4, V5, V6, V7 as shown in FIG. P1, the vehicle mounting position P2, the first battery connection position P3, the robot mounting position P5, and the robot housing position P6 are moved in this order.

  Further, when the battery 3 is inserted into the bus 2 based on the teaching result of the robot 5, any one point of the battery mounting portion 22 follows a path along arrows V11, V12, V13 as shown in FIG. While drawing, the robot housing position P6, the robot mounting position P5, the second battery connection position P4, the vehicle mounting position P2, and the standby position P1 are moved in this order. When the battery 3 is inserted into the bus 2, any one point of the battery engaging portion 24 is accommodated in the robot while drawing a locus along arrows V14, V15, V16, V17 as shown in FIG. The position P6, the robot mounting position P5, the second battery connection position P4, the vehicle mounting position P2, and the standby position P1 are moved in this order.

  When the battery 3 is pulled out from the bus 2, the position of the battery 3 is detected. When the battery mounting portion 22 and the battery engaging portion 24 pass through the battery detection position P20, the locus of an arbitrary point of the battery mounting portion 22 when the battery 3 is pulled out from the bus 2 is shown in FIG. As shown in FIG. 28B, the trajectory along the arrows V21, V22, V23, and V24, and the trajectory at an arbitrary point of the battery engaging portion 24, as shown in FIG. It becomes a locus along V28 and V29.

(Calibration of battery detection position and calibration of bus detection position)
When the teaching of the robot 5 is finished, a deviation between the detection position where the detection mark 8 is actually detected by the detection mechanism 21 when the bus 2 is stopped at the predetermined reference position and the taught battery detection position is detected. In order to correct the position of the pair of detection marks 8 when the bus 2 is stopped at a predetermined reference position, the battery detection position is calibrated. The calibration of the battery detection position is performed by detecting the pair of detection marks 8 using the two detection mechanisms 21 with the taught battery detection position as a reference position. The calibration of the battery detection position is performed for each of the four pairs of detection marks 8 provided.

  Further, by correcting the deviation between the detection position where the detection plate 9 is actually detected by the detection mechanism 21 when the bus 2 is stopped at the predetermined reference position and the taught bus detection position, In order to accurately grasp the position of the detection plate 9 when the bus 2 is stopped at the reference position, the bus detection position is calibrated. The bus detection position is calibrated by detecting the detection plate 9 using the detection mechanism 21 with the taught bus detection position as a reference position.

(Storing teaching data and calibration data)
FIG. 29 is a front view of the battery accommodating portion 4 shown in FIG. FIG. 30 is a block diagram for explaining a part of the data stored in the storage unit 92 and the second storage unit 93 of the control unit 91 of the battery exchange robot 5 shown in FIG.

  As described above, four batteries 3 can be mounted on the bus 2 of the present embodiment, and the battery housing portion 4 is provided with four pairs of detection marks 8. Hereinafter, when the four batteries 3 are distinguished from each other, as shown in FIG. 29, each of the four batteries 3 is referred to as a battery 3A, a battery 3B, a battery 3C, and a battery 3D. When the four pairs of detection marks 8 are distinguished from each other, as shown in FIG. 29, the detection marks 8 formed on the battery mount 6 on which the battery 3A is mounted are replaced with the detection marks 8A, The detection mark 8 formed on the battery mount 6 on which the battery 3B is mounted is the detection mark 8B, the detection mark 8 formed on the battery mount 6 on which the battery 3C is mounted is the detection mark 8C, and the battery 3D. The detection mark 8 formed on the battery mount 6 on which is mounted is defined as a detection mark 8D.

  The control unit 91 that controls the robot 5 includes a storage unit 92 and a second storage unit 93. The storage unit 92 is, for example, a flash memory, and the second storage unit 93 is, for example, a RAM (Random Access Memory). As shown in FIG. 30, the storage unit 92 stores teaching data for the robot 5, calibration data for the battery detection position, and calibration data for the bus detection position.

  That is, in the storage unit 92, the insertion / removal position teaching data A which is teaching data of the insertion / removal position of the battery 3A, the insertion / removal position teaching data B which is teaching data of the insertion / removal position of the battery 3B, and the insertion / removal position of the battery 3C The teaching position data C and the teaching position data D of the battery 3D are stored as teaching data, and a pair of detection marks 8A can be detected. Battery detection position teaching data A, which is battery detection position teaching data, and battery detection position teaching data B, which is battery detection position teaching data capable of detecting a pair of detection marks 8B, and a pair of detection marks 8C. Battery detection position teaching data C, which is teaching data of the battery detection position that enables detection of Battery detection position teaching data D which is teaching data of a battery detection position where the detection of the use mark 8D becomes possible are stored as teaching data. The storage unit 92 stores bus detection position teaching data which is teaching data of the bus detection position.

  The storage unit 92 also includes battery detection position calibration data A, which is calibration data of battery detection positions that enable detection of a pair of detection marks 8A, and battery detection positions that enable detection of a pair of detection marks 8B. The battery detection position calibration data B, which is the calibration data of the battery, the battery detection position calibration data C, which is the calibration data of the battery detection position that enables detection of the pair of detection marks 8C, and the detection of the pair of detection marks 8D. Battery detection position calibration data D that is calibration data of battery detection positions that can be stored is stored, and bus detection position calibration data that is calibration data of bus detection positions is stored.

  In the storage unit 92, the differential position teaching data A and the battery detection position calibration data A are stored as replacement data for the battery 3A, and the differential position teaching data B and the battery detection position calibration data B are exchanged for the battery 3B. Are stored as data for replacement, battery position teaching data C and battery detection position calibration data C are stored as replacement data for battery 3C, and battery position teaching data D and battery detection position calibration data D are stored in battery 3D. Is stored as replacement data. That is, in the storage unit 92, the insertion / extraction position teaching data of a certain battery 3 and the battery detection position calibration data regarding the detection mark 8 formed on the battery mount 6 on which the battery 3 is mounted are exchanged for the battery 3. It is stored as data for use.

  For this reason, when the battery 3 is replaced, if the battery 3 to be replaced is designated by an external device (not shown) to which the robot 5 is electrically connected as described later, the controller 91 designates the designated battery 3. Are read out and the calibration data of the battery detection position relating to the detection mark 8 formed on the battery mount 6 on which the battery 3 is mounted are read out.

(Control method for battery exchange robot)
FIG. 31 is a flowchart for explaining an example of a control method of the battery exchange robot 5 shown in FIG.

  In the battery exchange system 1, when the bus 2 where the battery 3 is exchanged stops at a predetermined stop position and the control unit 91 receives a position detection command signal for the bus 2 from an external device, the position of the bus 2 is determined according to the above procedure. Detection is performed (step S61). In step S61, the bus detection position teaching data is read from the storage unit 92, the robot 5 is operated based on the teaching data, and the actual position of the stopped bus 2 is detected. The position of the bus 2 detected in step S61 is stored in the second storage unit 93 of the control unit 91 as bus stop position data.

  Thereafter, the controller 91 calculates a bus position deviation amount which is a difference between the reference stop position of the bus 2 and the position where the bus 2 where the battery 3 is replaced is actually stopped (step S62). In step S62, the bus detection position calibration data is read from the storage unit 92, and the bus stop position data is read from the second storage unit 93. Further, the bus position deviation amount is calculated by comparing these data. The bus position deviation amount calculated in step S62 is stored in the second storage unit 93 as bus position deviation amount data.

  Thereafter, the control unit 91 calculates the correction position of the detection mark 8 based on the position where the bus 2 is actually stopped (step S63). In step S63, the battery detection position teaching data is read from the storage unit 92, and the bus position deviation amount data is read from the second storage unit 93. Further, by adding the value of the bus position deviation amount data to the value of the battery detection position teaching data, the correction detection mark position which is the correction position of the detection mark 8 based on the position where the bus 2 is actually stopped. Is calculated. The correction detection mark position calculated in step S63 is stored in the second storage unit 93 as correction detection mark position data.

  In step S63, each of the battery detection position teaching data A to battery detection position teaching data D is read from the storage unit 92, and the correction detection mark position for each of the four pairs of detection marks 8A to 8D. Is calculated. As shown in FIG. 30, the correction detection mark positions calculated for the pair of detection marks 8A are stored in the second storage unit 93 as correction detection mark position data A, and are calculated for the pair of detection marks 8B. The correction detection mark position is stored in the second storage section 93 as correction detection mark position data B, and the correction detection mark position calculated for the pair of detection marks 8C is used as correction detection mark position data C. The correction detection mark positions stored in the second storage unit 93 and calculated for the pair of detection marks 8D are stored in the second storage unit 93 as correction detection mark position data D.

  In the second storage unit 93, the correction detection mark position data A is stored as replacement data for the battery 3A, and the correction detection mark position data B is stored as replacement data for the battery 3B. The mark position data C is stored as replacement data for the battery 3C, and the correction detection mark position data D is stored as replacement data for the battery 3D. That is, the second storage unit 93 stores the correction detection mark position data calculated for the detection mark 8 formed on the battery mount 6 on which a certain battery 3 is mounted as replacement data for the battery 3. The

  Thereafter, the control unit 91 receives a battery designation signal for designating the battery 3 to be replaced among the four batteries 3 mounted on the bus 2 from the external device. When the controller 91 receives the battery designation signal, the position detection of the detection mark 8 of the battery cradle 6 on which the designated battery 3 is mounted is performed according to the above procedure (step S64). As described above, in the second storage unit 93, the correction detection mark position data calculated for the detection mark 8 formed on the battery mount 6 on which a certain battery 3 is mounted is the replacement data for the battery 3. Therefore, in step S64, the correction detection mark position data calculated for the detection mark 8 formed on the battery mount 6 on which the designated battery 3 is mounted is read from the second storage unit 93. It is. For example, when the battery 3A is designated, the correction detection mark position data A is read from the second storage unit 93, and when the battery 3B is designated, the correction detection mark position data B is second. Read from the storage unit 93. In step S64, the robot 5 operates based on the read correction detection mark position data, and the actual position of the detection mark 8 of the battery cradle 6 on which the designated battery 3 is mounted is detected. Is done.

  Thereafter, the control unit 91 calculates a detection mark position deviation amount that is a difference between the reference position of the detection mark 8 and the actual position of the detection mark 8 detected in step S64 (step S65). In step S65, battery detection position calibration data is read from the storage unit 92. As described above, in the storage unit 92, the battery detection position calibration data regarding the detection mark 8 formed on the battery mount 6 on which a certain battery 3 is mounted is stored as replacement data for the battery 3. In step S65, calibration data of the battery detection position relating to the detection mark 8 formed on the battery mount 6 on which the designated battery 3 is mounted is read from the storage unit 92. For example, when the battery 3A is designated, the battery detection position calibration data A is read from the storage unit 92, and when the battery 3B is designated, the battery detection position calibration data B is read from the storage unit 92. . In step S65, the detection mark position deviation amount is calculated by comparing the data of the position of the detection mark 8 detected in step S64 with the read battery detection position calibration data. The detection mark position deviation amount calculated in step S65 is stored in the second storage unit 93 as detection mark position deviation amount data.

  Thereafter, the controller 91 calculates a correction position of the insertion / removal position for extracting and inserting the designated battery 3 (step S66). In step S66, the insertion / extraction position teaching data is read from the storage unit 92. Specifically, in step S <b> 66, the specified insertion / extraction position teaching data of the battery 3 is read from the storage unit 92. For example, when the battery 3A is designated, the plug position teaching data A is read from the storage unit 92, and when the battery 3B is designated, the plug position teaching data B is read from the storage unit 92. . In step S66, the detection mark position deviation amount data is read from the second storage section 93, and the value of the detection mark position deviation amount data is added to the value of the difference position teaching data, thereby making it possible to detect the difference. A position correction position is calculated. Specifically, the correction position of the slip position calculated in step S66 is the correction position of the vehicle mounting position P2, the correction position of the first battery connection position P3, and the correction position of the second battery connection position P4. And the correction position of the robot mounting position P5. Further, the correction position of the slip position calculated in step S66 is stored in the second storage unit 93 as corrected slip position data.

  Thereafter, the robot 5 moves to the correction position of the vehicle mounting position P2, and the engaging claw portion 41 descends and engages with the handle portion 11 of the battery 3 (step S67). In step S67, the correction position of the vehicle mounting position P2 is read from the second storage unit 93. Thereafter, the robot 5 moves in this order to the correction position of the first battery connection position P3 and the correction position of the robot mounting position P5 (steps S68 and S69). In step S68, the correction position of the first battery connection position P3 is read from the second storage unit 93, and in step S69, the correction position of the robot mounting position P5 is read from the second storage unit 93. Thereafter, the robot 5 moves to the robot housing position P6 (step S70).

  Thereafter, the robot 5 is rotated 180 ° to store the battery 3 in the buffer station, and after the charged battery 3 is taken out from the buffer station and rotated 180 ° (step S71), the robot 5 is moved to the robot mounting position P5. Move to the correction position (step S72). In step S72, the correction position of the robot mounting position P5 is read from the second storage unit 93. Thereafter, the robot 5 moves in this order to the correction position of the second battery connection position P4 and the correction position of the vehicle mounting position P2 (steps S73, S74). In step S73, the correction position of the second battery connection position P4 is read from the second storage unit 93, and in step S74, the correction position of the vehicle mounting position P2 is read from the second storage unit 93. Thereafter, the robot 5 moves to the standby position P1 (step S75).

  As described with reference to the flowchart shown in FIG. 23, the operations from step S64 to S75 are repeated until the replacement of the battery 3 that needs to be replaced in the stopped bus 2 is completed. Usually, it repeats until all the batteries 3 of the bus | bath 2 which has stopped are replaced | exchanged.

(Main effects of this form)
As described above, in this embodiment, the vehicle mounting position P2 when the battery 3 is completely mounted on the battery mount 6 and the robot when the battery 3 is fully mounted on the battery mounting portion 22 are used. In addition to the mounting position P5, the first battery connecting position P3 and the second battery connecting position P4 when the battery is mounted on both the battery mount 6 and the battery mounting portion 22 are taught. Therefore, in this embodiment, even when the robot 5 does not include the docking arm included in the battery exchange device described in Patent Document 1, when the battery 3 is transferred between the battery mount 6 and the battery mounting portion 22, By appropriately operating the robot 5, it becomes possible to suppress a difference in height between the battery mount 6 and the battery mounting portion 22. The battery 3 can be exchanged smoothly between the two. That is, in this embodiment, even if the configuration of the robot 5 is simple, the battery 3 can be smoothly exchanged between the battery mount 6 and the battery mounting portion 22.

  Further, in this embodiment, since the battery mounting portion 22 protrudes toward the bus 2 from the holding member 26 at the first battery connection position P3, when the battery 3 is transferred from the battery mount 6 to the battery mounting portion 22. The battery mounting portion 22 is greatly bent, and a large level difference is likely to occur between the battery mounting base 6 and the battery mounting portion 22. However, in this embodiment, a large height difference is generated between the battery mounting base 6 and the battery mounting portion 22. It is possible to smoothly exchange the battery 3 between the battery mount 6 and the battery mounting portion 22 while suppressing the difference.

  In this embodiment, the vehicle mounting position P2 is such that the engaging claw portion 41 of the battery engaging portion 24 approaching the bus 2 can be engaged with the battery 3 mounted on the battery mount 6 and This is the position at which the battery 3 can be transferred between the approaching battery mounting portion 22 and the battery mount 6 on which the battery 3 is mounted. That is, in this embodiment, the position closer to the first battery connection position P3 is taught to the robot 5 as the vehicle mounting position P2. Therefore, in this embodiment, when the battery 3 is transferred from the battery mount 6 to the battery mounting portion 22, it is possible to effectively suppress a large difference in height between the battery mount 6 and the battery mounting portion 22. Is possible.

  In this embodiment, the robot mounting position P <b> 5 is a position when the battery 3 is completely mounted on the battery mounting portion 22 approaching the bus 2 and the engagement claw portion 41 is engaged with the battery 3. . That is, in this embodiment, a position closer to the second battery connection position P4 is taught to the robot 5 as the robot mounting position P5. Therefore, when the battery 3 is transferred from the battery mounting unit 22 to the battery mounting unit 6, it is possible to effectively suppress a large difference in height between the battery mounting unit 3 and the battery mounting unit 22. .

  In this embodiment, the robot 5 is taught the first battery connection position P3 and the second battery connection position P4. Therefore, when the battery 3 is transferred from the battery mount 6 to the battery mounting portion 22, it is possible to suppress a difference in height between the battery mount 6 and the battery mounting portion 22, and the battery mounting portion. When the battery 3 is transferred from the battery holder 6 to the battery holder 6, it is possible to suppress a difference in height between the battery holder 6 and the battery mounting portion 22. That is, in this embodiment, when the battery 3 is exchanged between the battery mount 6 and the battery mounting portion 22, it is possible to effectively suppress the difference in height between the battery mount 6 and the battery mounting portion 22. As a result, the battery 3 can be smoothly exchanged between the battery mount 6 and the battery mounting portion 22.

(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, the robot 5 is taught two battery connection positions, the first battery connection position P3 and the second battery connection position P4. In addition to this, for example, one battery connection position may be taught to the robot 5, and three or more battery connection positions may be taught to the robot 5.

  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 detection mechanism 21 is a laser sensor, but the detection mechanism 21 may not be a laser sensor. For example, the detection mechanism 21 may be a camera. In this case, the distance between the battery 3 and the detection mechanism 21 may be detected using the depth of field of the detection mechanism 21 (that is, the camera). The detection mechanism 21 may be a combination of an ultrasonic sensor and a laser sensor or a camera. In this case, the position of the battery 3 in the longitudinal direction is detected by the ultrasonic sensor, and the position of the battery 3 in the vertical and horizontal directions is detected by the laser sensor or the camera.

  In the embodiment described above, the detection mark 8 is formed in a substantially triangular shape whose width changes in the vertical direction, but the detection mark 8 is formed in a substantially trapezoidal shape whose width changes in the vertical direction. Also good. The detection mark 8 may be formed in a circular shape. When the detection mark 8 is formed in a circular shape, the detection mechanism 21 moves the battery mounting portion 22 so as to cross the detection mark 8 in the left-right direction and the vertical direction, so that the center position of the detection mark 8 is set. By detecting, the position of the battery 3 in the vertical and horizontal directions may be detected. In this case, for example, the position of the battery 3 in the front-rear direction may be detected from the distance between the center position of the detection mark 8 and the detection mechanism 21.

  In the embodiment described above, the detection mechanism 21 is attached to the battery mounting portion 22, but the detection mechanism 21 may be attached to the battery engagement portion 24. In the above-described embodiment, the robot 5 is a robot for replacing the battery 3 mounted on the bus 2. However, the robot 5 replaces the battery 3 of a vehicle other than the bus 2 such as a truck or a private car. It may be a robot for.

2 Bus (vehicle)
3 Battery 5 Robot (Battery exchange robot)
6 Battery stand 22 Battery mounting portion 24 Battery engaging portion 26 Holding member P2 Vehicle mounting position P3 First battery connection position (battery connection position)
P4 Second battery connection position (battery connection position)
P5 Robot mounting position

Claims (6)

A battery mounting portion on which the battery is mounted when the battery mounted on the vehicle is pulled out and / or when the battery is inserted into the vehicle; and the battery is engaged when the battery is pulled out and / or inserted A battery engaging robot for moving the battery on the battery mounting portion, and a teaching method for a battery replacement robot for replacing the battery mounted on the vehicle,
A vehicle mounting position when the battery is mounted on the battery mounting base of the vehicle, a battery transit position when the battery is mounted on both the battery mounting base and the battery mounting portion, and A teaching method for a battery exchanging robot, characterized by teaching a robot mounting position when the battery is mounted on a battery mounting portion by manual operation of an operator . The battery replacement robot includes a holding member that holds the battery mounting portion and the battery engaging portion,
The battery mounting portion and the battery engaging portion are movable in a direction approaching the vehicle and a direction away from the vehicle,
2. The teaching method for a battery exchange robot according to claim 1, wherein at the battery connection position, the battery mounting portion moves in a direction approaching the vehicle and protrudes from the holding member.   The vehicle mounting position is such that the battery engaging portion approaching the vehicle can be engaged with the battery mounted on the battery mount, and the battery mounting portion and the battery approaching the vehicle 3. The teaching method for a battery exchange robot according to claim 1 or 2, wherein the position is a position at which the battery can be transferred to or from the battery mount on which the battery is mounted.   The robot mounting position is a position when the battery is completely mounted on the battery mounting portion approaching the vehicle and the battery engaging portion is engaged with the battery. A teaching method for a battery exchange robot according to any one of claims 1 to 3.   As the battery connection position, when the battery starts to be transferred from the battery mount to the battery mount, or when the battery has been transferred from the battery mount to the battery mount. A connection position and a second battery connection position when the battery starts to transfer from the battery mounting portion to the battery mounting base or when the battery finishes transferring from the battery mounting base to the battery mounting portion; The method for teaching a battery exchange robot according to any one of claims 1 to 4, wherein:   A battery replacement robot taught by the battery replacement robot teaching method according to claim 1.

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