JP6181494B2 - Battery exchange robot, battery exchange system, and battery exchange robot control method - Google Patents

Description

  The present invention relates to a battery exchange robot for exchanging a battery mounted on a vehicle, and a battery exchange system having such a battery exchange robot. The present invention also relates to a method for controlling such a battery exchange robot.

  Conventionally, a battery exchange system including a battery exchange robot for exchanging a battery mounted on a bus has been proposed by the present applicant (see, for example, Patent Documents 1 to 3). In the battery exchange systems described in Patent Documents 1 to 3, a battery housing portion that houses a battery is attached to the bus. A connector for electrically connecting the battery and the bus is attached to the battery housing portion. A connector connected to the connector of the battery housing portion is attached to the back surface of the battery.

  Moreover, in the battery replacement systems described in Patent Documents 1 to 3, the battery replacement robot includes a battery insertion / removal mechanism that pulls out the battery from the battery housing and inserts the battery into the battery housing. The battery insertion / removal mechanism includes a battery mounting mechanism having a battery mounting portion on which the battery is mounted when the battery is withdrawn and inserted, and moves the battery on the battery mounting portion by engaging with the battery when the battery is withdrawn and inserted. A battery moving mechanism having a battery engaging portion.

  Furthermore, in the battery exchange systems described in Patent Documents 1 to 3, the battery mounting mechanism includes a mounting unit moving mechanism that moves the battery mounting unit in a direction approaching the bus and a direction away from the bus in addition to the battery mounting unit. Yes. In addition to the battery engaging portion, the battery moving mechanism includes an engaging portion moving mechanism that moves the battery engaging portion in a direction approaching the bus and a direction away from the bus. The battery engagement portion includes an engagement claw portion that engages a handle portion attached to the battery, an air cylinder that moves the engagement claw portion up and down, and a base portion to which the air cylinder is attached.

  In the battery exchange system described in Patent Documents 1 to 3, when the battery is pulled out from the bus, first, the battery mounting portion moves in a direction approaching the bus, and the battery engaging portion moves in a direction approaching the bus. After that, the engaging claw part descends and engages with the handle part of the battery. Thereafter, the battery engaging portion moves away from the bus. Further, when the battery engaging portion moves by a predetermined amount and the battery is mounted on the battery mounting portion, the battery mounting portion and the battery engaging portion move in a direction away from the bus while being synchronized. When inserting the battery into the bus, first, the battery mounting portion on which the battery is mounted and the battery engaging portion move in a direction approaching the bus while being synchronized. Thereafter, the battery engaging portion engaged with the battery handle moves in a direction approaching the bus, and the battery is inserted into the bus.

International Publication No. 2012/105528 International Publication No. 2012/105529 International Publication No. 2012/105530

  In the battery exchange systems described in Patent Documents 1 to 3, it is preferable to provide a battery locking mechanism in the battery housing portion in order to securely fix the battery housed in the battery housing portion to the battery housing portion. In view of this, it has been studied to install a mechanical lock mechanism in the battery housing portion that is operated by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery. Further, in the battery exchange systems described in Patent Documents 1 to 3, the connector provided in the battery and the connector provided in the battery housing portion are connected by the insertion force of the battery into the battery housing portion by the battery engaging portion. The

  In the battery exchange system described in Patent Documents 1 to 3, when a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery by the battery engaging portion is installed in the battery housing portion, for example, by a lock mechanism When locking the battery, if the battery is displaced relative to the lock mechanism and the lock mechanism and the battery interfere with each other, an overload is applied to the lock mechanism, the battery engaging portion, etc. The replacement robot may be damaged. Moreover, in the battery replacement system described in Patent Literatures 1 to 3, the connector provided in the battery and the connector provided in the battery housing portion are connected by the insertion force of the battery into the battery housing portion by the battery engaging portion. Therefore, when connecting the connectors, if the connectors are displaced and interfere with each other, an overload may be applied to the connector, the battery engaging portion, etc., and the battery housing portion, the battery, and the battery replacement robot may be damaged. .

  Therefore, the problem of the present invention is that a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery insertion force into the battery housing portion is Even when the connector on the battery side and the connector on the battery housing part side are connected, the battery can be locked by the lock mechanism or the connector on the battery side while preventing damage to the battery housing part, the battery and the battery replacement robot. It is an object to provide a battery exchange robot, a battery exchange system, and a control method for the battery exchange robot that can connect the connector to the connector on the housing unit side.

  In order to solve the above problems, a battery exchange robot of the present invention is a battery exchange robot for exchanging a battery mounted on a vehicle. A battery insertion / removal mechanism for pulling out and inserting the battery into the battery housing and a control unit for controlling the battery insertion / removal mechanism are provided. The battery has a battery-side connector for electrically connecting the vehicle and the battery. The battery storage unit includes a lock mechanism for locking the stored battery and a storage unit side connector connected to the battery side connector, and the battery insertion / removal mechanism includes a battery mounting unit on which the battery is mounted, and a battery Battery to move the battery by engaging with A mechanical lock mechanism that includes an engagement portion and a motor for driving the battery engagement portion, and the lock mechanism is operated by the insertion force of the battery into the battery housing portion by the battery engagement portion to lock the battery. The battery side connector and the housing part side connector are connected by the battery insertion force of the battery engaging part to the battery housing part by the battery engaging part, and the control part is a locking mechanism during the operation of inserting the battery into the battery housing part. Before the start of the connection operation in which at least one of the battery lock and the connection between the battery side connector and the housing side connector is performed, the first motor that stops the motor when the load of the motor exceeds a predetermined first reference value. When the motor is controlled by the control and the connection operation is started, the load of the motor is smaller than the first reference value. 2 Even if the reference value is exceeded, the motor is driven until a predetermined reference time elapses while the motor load exceeds the second reference value, and the reference time elapses while the motor load exceeds the second reference value. Then, the motor is controlled by the second control for stopping the motor.

  Further, in order to solve the above-described problem, the battery exchange robot control method of the present invention is attached to a vehicle and withdraws the battery from the battery housing portion in which the battery is housed and inserts the battery into the battery housing portion. The battery is equipped with a battery insertion / removal mechanism, the battery has a battery side connector for electrically connecting the vehicle and the battery, and the battery accommodating portion is connected to the lock mechanism for locking the accommodated battery and the battery side connector. A battery insertion / removal mechanism, a battery mounting portion on which the battery is mounted, a battery engaging portion that engages with the battery and moves the battery, and a battery engaging portion for driving the battery engaging portion. And a locking mechanism is provided by a battery engaging portion. -It is a mechanical locking mechanism that locks the battery by operating with the insertion force of the battery into the housing part. The battery side connector and the housing side connector are the insertion force of the battery into the battery housing part by the battery engaging part. The battery exchange robot connected by the control method of the battery exchange robot, at the time of inserting the battery into the battery housing portion, at least one of the battery lock by the lock mechanism and the connection between the battery side connector and the housing portion side connector is Before the start of the connecting operation to be performed, the motor is stopped when the load of the motor exceeds a predetermined first reference value, and when the connecting operation is started, the second reference value whose motor load is smaller than the first reference value. The motor is driven until a predetermined reference time has passed with the motor load exceeding the second reference value even if Together, characterized in that the motor is stopped when the reference time has elapsed in a state in which the load on the motor exceeds a second reference value.

  In the battery exchange robot of the present invention, the control unit performs at least one of locking of the battery by the lock mechanism and connection between the battery side connector and the storage unit side connector during the operation of inserting the battery into the battery storage unit. Before the start of the connection operation, the motor is controlled by the first control that stops the motor when the motor load exceeds a predetermined first reference value. When the connection operation is started, the motor load becomes lower than the first reference value. The motor is driven until a predetermined reference time elapses with the motor load exceeding the second reference value even when the second reference value is exceeded, and the reference is set when the motor load exceeds the second reference value. The motor is controlled by the second control that stops the motor when time elapses. In the battery exchange robot control method of the present invention, at the time of inserting the battery into the battery housing portion, at least one of the locking of the battery by the lock mechanism and the connection between the battery side connector and the housing portion side connector is performed. Before starting the connection operation, the motor is stopped when the motor load exceeds a predetermined first reference value. When the connection operation is started, the motor load is set to a second reference value smaller than the first reference value. Even if the motor load exceeds the second reference value, the motor is driven until a predetermined reference time elapses, and when the reference time elapses with the motor load exceeding the second reference value, the motor is Stopped.

  In the present invention, after the connection operation is started, the motor is stopped when the reference time elapses with the motor load exceeding the second reference value smaller than the first reference value before the connection operation starts. When locking the battery with the lock mechanism, the battery is displaced with respect to the lock mechanism and the lock mechanism and the battery interfere with each other. When the battery side connector and the housing side connector are connected, the motors stop when the motor is overloaded to such an extent that the connectors are displaced and interfere, causing damage to the battery replacement robot, etc. It becomes possible to make it.

  In the present invention, when the connection operation is started, the motor is driven until a predetermined reference time elapses with the motor load exceeding the second reference value even if the motor load exceeds the second reference value. Therefore, when locking the battery with the locking mechanism, or when connecting the battery side connector and the housing side connector, the motor is subjected to a short overload that does not damage the battery replacement robot. However, the battery can be locked by the lock mechanism, and the battery-side connector and the accommodating portion-side connector can be connected.

  Therefore, in the present invention, a mechanical locking mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery side with the insertion force of the battery into the battery housing portion. Even when connecting the connector of the battery and the connector on the battery housing side, the battery can be locked by the locking mechanism while preventing damage to the battery housing portion, the battery and the battery replacement robot, or the battery side connector and the housing portion It is possible to connect to the side connector.

  Further, in the present invention, before the start of the connection operation, the motor does not stop unless the motor load exceeds the first reference value that is larger than the second reference value, so that the acceleration / deceleration of the motor can be increased. . Therefore, it is possible to shorten the battery moving time from the start of the battery insertion operation to the battery housing portion until the connection operation is started.

  In the present invention, for example, the first control is a current control that stops the motor when the current value of the motor exceeds a first reference current value that is a first reference value, and the second control is a current control that causes the motor current value to be the first reference value. The motor is driven until the reference time elapses with the motor current value exceeding the second reference current value even if the second reference current value, which is the second reference value, is exceeded, and the motor current value is the second reference current value. This is current control for stopping the motor when the reference time elapses in a state where the value is exceeded.

  In the present invention, for example, the battery is at least one of a lock start position where the lock mechanism starts to lock the battery and a connector connection start position where the connection between the battery side connector and the housing portion side connector is started. When the engaging portion moves, the connection operation is started.

  In the present invention, it is preferable that the rotation speed of the motor before the start of the connection operation is higher than the rotation speed of the motor after the start of the connection operation. With this configuration, the moving speed of the battery engaging portion before the start of the connection operation increases, so the battery moving time from the start of the battery insertion operation to the battery housing portion to the start of the connection operation is reduced. It can be shortened. Also, with this configuration, since the rotation speed of the motor after the start of the connection operation is slow, when the battery is locked by the lock mechanism, the battery is displaced with respect to the lock mechanism, and the lock mechanism and the battery are When an overload is applied to the motor that causes interference and damage to the battery replacement robot, etc., or when connecting the battery side connector and the housing side connector, the connectors interfere with each other, causing the battery to be displaced. When an overload that causes damage to the exchange robot or the like is applied to the motor, the motor can be stopped in a short time. Therefore, it is possible to effectively prevent damage to the battery housing unit, the battery, and the battery replacement robot.

  In the present invention, when the connection operation is started, the control unit starts measuring the driving time of the motor after the connection operation is started, and the lock mechanism locks the battery and connects the battery side connector and the housing unit side connector. It is preferable that the battery engaging portion is retracted in the battery pull-out direction after a predetermined time has elapsed after the start of the connecting operation until the battery engaging portion moves to the completed connection operation completion position. . If the battery engagement part does not move to the connection operation completion position even though the motor drive time after the start of the connection operation has passed, the interference between the lock mechanism and the battery or the battery side connector Interference with the housing side connector has occurred, and it is assumed that these components are overloaded. Therefore, if comprised in this way, it will become possible to remove the overload applied to a locking mechanism etc. and to prevent damage to a battery accommodating part, a battery, and a battery exchange robot. It is possible to stop the battery engaging part by stopping the motor when the driving time of the motor after the start of the connection operation has passed a predetermined time. Since the overload applied to the mechanism or the like cannot be removed, there is a risk that the battery housing, the battery, and the battery replacement robot may be damaged.

  The battery replacement robot of the present invention can be used in a battery replacement system including a battery housing unit. In this battery exchange system, a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery side with the insertion force of the battery into the battery housing portion. Even when connecting the connector of the battery and the connector on the battery housing side, the battery can be locked by the locking mechanism while preventing damage to the battery housing portion, the battery and the battery replacement robot, or the battery side connector and the housing portion It is possible to connect to the side connector. Further, in this battery exchange system, it is possible to shorten the movement time of the battery from the start of the operation of inserting the battery into the battery housing portion until the connection operation is started.

  As described above, in the battery exchange robot, the battery exchange system, and the control method for the battery exchange robot according to the present invention, the mechanical lock mechanism that operates by the insertion force of the battery into the battery housing portion to lock the battery is the battery housing portion. Even if the connector on the battery side and the connector on the battery housing part side are connected by the insertion force of the battery into the battery housing part, the battery housing part, the battery and the battery replacement robot are prevented from being damaged. However, the battery can be locked by the lock mechanism, and the battery-side connector and the housing portion-side connector can be connected.

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 the schematic for demonstrating the structure of the battery shown in FIG. 1, and a battery accommodating part. 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. 5 from the front. It is a figure for demonstrating the battery mounting mechanism shown in FIG. 5 from the upper surface. It is a figure for demonstrating the battery moving mechanism shown in FIG. 5 from a side surface. It is a figure for demonstrating a state when the battery engaging part shown in FIG. 9 moves to the direction away from a bus | bath from a side surface. It is a figure for demonstrating the battery moving mechanism shown in FIG. 5 from the upper surface. 3 is a flowchart for explaining a battery replacement operation of the battery replacement robot shown in FIG. 2. 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 | movement of the battery to the bus | bath by the battery exchange robot shown in FIG. 3 is a flowchart for explaining control during battery insertion operation of the battery exchange robot shown in FIG. 2. 3 is a flowchart for explaining overload control during battery insertion operation of the battery exchange robot shown in FIG. 2.

  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 13 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 13 is formed in a flat plate shape and a substantially rectangular shape whose width is substantially constant in the vertical direction. The detection plate 13 is disposed, for example, on the front side of the battery housing portion 4 in the traveling direction of the bus 2. The detection plate 13 is 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 schematic diagram for explaining the configuration of the battery 3 and the battery housing 4 shown 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. For example, four batteries 3 can be mounted on the bus 2, and the battery housing portion 4 includes four battery mounts 6 on which each of the four batteries 3 is mounted.

  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. The detection mark 8 is formed in a substantially equilateral triangle shape whose width in the left-right direction is gradually narrowed toward the upper side.

  Further, as shown in FIG. 4, the battery accommodating portion 4 includes a lock mechanism 9 that locks the accommodated battery 3 and a connector 10 as an accommodating portion side connector for electrically connecting the bus 2 and the battery 3. And. The lock mechanism 9 includes a lock member 11 and an urging member 12. The connector 10 is disposed on the back side of the battery housing portion 4.

  For example, the lock member 11 is held by the side wall 7 so as to be movable in the left-right direction. The lock member 11 is urged inward in the left-right direction by an urging member (not shown), and protrudes from the side wall 7 to the inside of the battery housing portion 4. Further, the lock member 11 is formed in, for example, a substantially triangular prism shape, and is configured by an inclined surface 11a that is inclined with respect to a ZX plane configured by the front-rear direction and the vertical direction, and a horizontal direction and a vertical direction. And an end face 11b parallel to the YZ plane. The end surface 11 b constitutes an end surface on the back side of the lock member 11. The inclined surface 11 a is inclined so as to spread outward in the left-right direction as it goes toward the front side of the battery housing portion 4. The lock member 11 may be held on the battery mount 6 so as to be movable in the vertical direction. In this case, the inclined surface 11a is inclined so as to spread outward in the vertical direction as it goes toward the front side of the battery housing portion 4.

  The biasing member 12 is, for example, a compression coil spring. The urging member 12 faces the front side of the battery housing portion 4 so that an end surface 15b of an engagement projection 15 described later formed on the battery 3 and an end surface 11b of the lock member 11 are in contact with each other with a predetermined contact pressure. The battery 3 is energized.

  A handle 14 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, a handle portion 14 is formed on each of the left and right ends of the front surface of the battery 3. As shown in FIG. 4, the battery 3 includes an engagement protrusion 15 that engages with the lock member 11 and a connector 16 as a battery-side connector connected to the connector 10. The connector 16 is attached to the back end surface (back surface) of the battery 3 housed in the battery housing portion 4.

  For example, the engagement protrusions 15 are fixed to the left and right side surfaces of the battery 3 and protrude from the left and right side surfaces of the battery 3 to the outside in the left and right direction. The engagement protrusion 15 is formed in, for example, a substantially triangular prism shape, and includes an inclined surface 15a inclined with respect to the ZX plane and an end surface 15b parallel to the YZ plane. The end surface 15 b constitutes an end surface on the near side of the engagement protrusion 15. The inclined surface 15 a is inclined so as to spread outward in the left-right direction as it goes toward the front side of the battery housing portion 4. Further, the inclination angle of the inclined surface 11a with respect to the ZX plane is substantially equal to the inclination angle of the inclined surface 15a with respect to the ZX plane.

  In this embodiment, when the battery 3 is accommodated in the battery accommodating portion 4, when the battery 3 is inserted into the battery accommodating portion 4, the inclined surface 15 a of the engaging protrusion 15 and the inclined surface 11 a of the lock member 11 are eventually obtained. Touch. When the battery 3 is further inserted into the battery housing part 4 in this state, the lock member 11 moves outward in the left-right direction against the urging force of the urging member, as shown in FIG. 4B. When the battery 3 is further inserted until the engagement protrusion 15 passes through the lock member 11, the lock member 11 moves inward in the left-right direction by the urging force of the urging member. Further, when the battery 3 is further inserted until the engaging protrusion 15 passes through the lock member 11, the biasing member 12 comes into contact with the back end surface of the battery 3, and the battery 3 is moved toward the front side of the battery housing portion 4. Energize.

  Then, as shown in FIG. 4C, the end surface 15b of the engagement projection 15 formed on the battery 3 and the end surface 11b of the lock member 11 come into contact with each other with a predetermined contact pressure, and are stored in the battery storage portion 4. The battery 3 is locked. As described above, the lock mechanism 9 according to this embodiment is a mechanical lock mechanism that is operated by the insertion force of the battery 3 into the battery housing portion 4 to lock the battery 3. Specifically, the lock mechanism 9 according to the present embodiment is a mechanical lock that is operated by the insertion force of the battery 3 into the battery housing portion 4 by a battery engaging portion 24 described later constituting the robot 5 to lock the battery 3. Mechanism. In this embodiment, the connector 10 and the connector 16 are connected by the insertion force of the battery 3 into the battery housing portion 4. Specifically, the connector 10 and the connector 16 are connected by the insertion force of the battery 3 into the battery housing part 4 by the battery engaging part 24 described later.

  In this embodiment, when the battery 3 is further pushed into the back side of the battery housing portion 4 from the state shown in FIG. 4C (that is, from the state where the battery 3 is locked to the lock mechanism 9), the lock member The lock mechanism 9 is configured such that 11 is retracted and the contact state between the end surface 15b and the end surface 11b is released. Therefore, when the battery 3 is further pushed into the back side of the battery housing part 4 from the state in which the battery 3 is locked to the lock mechanism 9, the locked state of the battery 3 by the lock mechanism 9 is released, and the battery housing part 4 The battery 3 can be pulled out.

(Schematic configuration of battery replacement robot)
As shown in FIG. 2, the robot 5 includes a battery insertion / removal mechanism 17 that extracts each of the four batteries 3 from the battery housing portion 4 and inserts each of the four batteries 3 into the battery housing portion 4. , An elevating mechanism 18 for elevating and lowering the battery detaching mechanism 17, a rotating mechanism 19 for rotating the battery detaching mechanism 17 and the elevating mechanism 18 with the vertical direction as an axial direction, a battery detaching mechanism 17, the elevating mechanism 18 and a rotation mechanism. And a horizontal movement mechanism 20 for moving the movement mechanism 19 in the left-right direction. The robot 5 also includes a detection mechanism 21 for detecting the detection mark 8 and the detection plate 13. The battery insertion / removal mechanism 17, the lifting / lowering mechanism 18, the rotation mechanism 19, and the horizontal movement mechanism 20 are connected to a control unit 27 (see FIG. 2) that controls the robot 5, and these configurations are controlled by the control unit 27. Is done. The detection mechanism 21 is also connected to the control unit 27.

  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. 5) 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. Further, the battery insertion / removal mechanism 17 is held by the holding member 26. The holding member 26 is formed in a substantially rectangular tube shape that is open at both ends in the moving direction of the battery mounting portion 22 and the battery engaging portion 24.

(Configuration of battery mounting mechanism)
FIG. 5 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 shown in FIG. 2 from the front. 6 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 from the HH direction of FIG. FIG. 7 is a view for explaining the battery mounting mechanism 23 shown in FIG. 5 from the front. FIG. 8 is a view for explaining the battery mounting mechanism 23 shown in FIG. 5 from above.

  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. 8, 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.

  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 motor 33 is connected to the control unit 27. Further, the motor 33 includes an encoder (not shown) for detecting the rotation speed and the rotation amount. 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 holding member 26. 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 holding member 26. 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 holding member 26.

(Configuration of battery moving mechanism)
FIG. 9 is a view for explaining the battery moving mechanism 25 shown in FIG. 5 from the side. FIG. 10 is a view for explaining the state when the battery engaging portion 24 shown in FIG. 9 moves away from the bus 2 from the side. FIG. 11 is a diagram for explaining the battery moving mechanism 25 shown in FIG. 5 from above.

  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 holding member 26.

  The battery engaging portion 24 includes an engaging claw portion 41 that engages with the handle portion 14 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 14 formed on the battery 3. It arrange | positions in the state which opened the predetermined space | interval at the front end surface.

  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 rear end portion of the holding member 26. The motor 44 is connected to the control unit 27. Further, the motor 44 includes an encoder (not shown) for detecting the rotation speed and the rotation amount. The screw member 45 is rotatably held on the upper surface portion of the holding member 26. 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 holding member 26 via the belt fixing member 55. Specifically, when the movable holding member 40 protrudes from the holding member 26 and the belt fixing member 55 is arranged in the vicinity of the pulley 47, the belt fixing member 54 is arranged in the vicinity of the pulley 48, and the holding member The belt 49 is fixed to the belt 49 so that the belt fixing member 54 is disposed in the vicinity of the pulley 47 when the movement holding member 40 is accommodated in the belt 26 and the belt fixing member 55 is disposed in the vicinity of the pulley 48. It is fixed to the base 43 and the holding member 26 via members 54 and 55.

  The guide rail 50 is fixed to the upper surface portion of the holding member 26, 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 this embodiment, when the motor 44 rotates, the moving holding member 40 is guided by 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, and is linear with respect to the holding member 26. Move on. 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 linearly moves relative to the movement holding member 40.

(Configuration of lifting mechanism, first coupling mechanism and second coupling mechanism)
As shown in FIGS. 2 and 5, the elevating mechanism 18 is orthogonal to the moving direction of the battery mounting portion 22 and the battery engaging portion 24 (hereinafter, this direction is referred to as “first direction”) and the vertical direction. The first elevating mechanism 59 and the second elevating mechanism 60 are provided on both ends of the direction (hereinafter, this direction is referred to as “second direction”). The first elevating mechanism 59 is connected to one end side of the holding member 26 in the second direction by the first connecting mechanism 61. The second elevating mechanism 60 is connected to the other end side of the holding member 26 in the second direction by the second connecting mechanism 62. The first elevating mechanism 59 and the second elevating mechanism 60 can be individually driven to tilt the holding member 26 with respect to the horizontal direction. 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. 5, 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. 6, 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. 5, 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 motor 67 is connected to the control unit 27. 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 second direction. Are connected.

(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 rotating member 85 is disposed on the upper side of the slide member 87. Further, the rotation member 85 is rotatable about the center of curvature thereof. The lower ends of the two columnar members 64 are fixed to the upper surface of the rotating member 85. 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. 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 slide member 87 is formed in a substantially rectangular plate shape whose longitudinal direction is the left-right direction. 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 that are relatively movable along the guide rails. And a guide block. 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. Further, the belt is stretched around a pulley or the like fixed to the output shaft of the motor, and 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 method and battery position detection method)
The detection mechanism 21 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 a reflector such as the side surface 2a of the bus 2 or the front surface of the battery mount 6. It is a laser sensor. As shown in FIG. 8, the detection mechanism 21 is attached to the upper surface on the front end side of the battery mounting portion 22. 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. . 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. Further, the distance between the detection mechanism 21 and the reflecting object can be detected by using the detection mechanism 21 in the on state.

  When the battery 3 is pulled out from the bus 2, first, the position of the bus 2 is detected by the detection mechanism 21 and the detection plate 13. Specifically, the position of the bus 2 is detected by detecting the positions of the upper end and the left and right ends of the detection plate 13 by the detection mechanism 21 and calculating the positions of the detection plate 13. Further, after the position of the bus 2 is detected by the detection mechanism 21, the position of the battery 3 is detected by the detection mechanism 21 and the detection mark 8.

  Specifically, 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, and both ends of the detection mark 8 in the left-right direction are moved. By detecting, the position of the detection mark 8 in the left-right direction is calculated. Further, by detecting both ends of the detection mark 8 in the left-right direction, the width of the portion of the detection mark 8 where the laser beam crosses is calculated. Since the detection mark 8 is formed in a substantially triangular shape whose width in the left-right direction is gradually narrowed toward the upper side, the detection mark 8 can be detected by calculating the width of the portion of the detection mark 8 where the laser beam crosses. The height of the mark 8 can be calculated. Also, by calculating the position of the detection mark 8 and the height of the detection mark 8 in the left-right direction, the position and height of the battery stand 6 on which the detection mark 8 is formed are calculated, The position and height in the left-right direction of the battery 3 that is positioned and mounted on the battery mount 6 are detected. Further, by calculating the distance between the detection mechanism 21 and the detection mark 8, the position in the front-rear direction of the battery cradle 6 on which the detection mark 8 is formed is calculated, and is positioned and mounted on the battery cradle 6. The position of the battery 3 in the front-rear direction is detected.

  Further, based on the height of one detection mark 8 of the pair of detection marks 8 and the height of the other detection mark 8, the inclination of the battery cradle 6 with respect to the left-right direction when viewed from the front-rear direction is determined. The inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction is calculated. Further, when viewed from the up and down direction based on the distance between one detection mark 8 of the pair of detection marks 8 and the detection mechanism 21 and the distance between the other detection mark 8 and the detection mechanism 21. The inclination of the battery pedestal 6 with respect to the left and right direction is calculated, and the inclination of the battery 3 with respect to the left and 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. Then, the position, height, and inclination of the battery insertion / removal mechanism 17 in the left-right direction by the elevating mechanism 18, the rotation mechanism 19, and the horizontal movement mechanism 20 so that the battery 3 can be properly pulled out from the battery housing portion 4. Is adjusted.

(Outline of battery replacement operation by battery replacement robot)
FIG. 12 is a flowchart for explaining the replacement operation of the battery 3 of the battery replacement robot 5 shown in FIG. FIG. 13 is a diagram for explaining the operation of pulling out the battery 3 from the bus 2 by the battery exchange robot 5 shown in FIG. FIG. 14 is a view 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 in which the battery 3 is exchanged stops at a predetermined stop position, the position of the bus 2 is first detected as described above (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 (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 as described above. (Step S21), the battery 3 is then pulled out from the bus 2 by the robot 5 (Step S22), and then the extracted battery 3 is stored 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. 13A) at the home position move in a direction approaching the bus 2. Specifically, as shown in FIG. 13B, the battery mounting portion 22 moves from the battery mounting base 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. 14, the battery engaging portion 24 moves to a position where the engaging claw portion 41 can be engaged. In the present embodiment, the position of the battery 3 is detected before the battery mounting portion 22 and the battery engaging portion 24 at the home position move to the position shown in FIG.

  In step S2, as shown in FIG. 13C, the engaging claw portion 41 descends and engages with the handle portion 14. As described above, the battery 3 accommodated in the battery accommodating portion 4 is locked by the lock mechanism 9. Further, as described above, when the battery 3 is further pushed into the back side of the battery housing portion 4 from the state in which the battery 3 is locked to the lock mechanism 9, the lock state of the battery 3 by the lock mechanism 9 is released, The battery 3 can be pulled out from the battery housing 4. Therefore, when the engaging claw portion 41 is engaged with the handle portion 14, as shown in FIG. 13C, the battery engaging portion 24 slightly pushes the battery 3 into the back side of the battery accommodating portion 4 (that is, The battery 3 is released from the locked state by the lock mechanism 9 by moving slightly toward the bus 2.

  Thereafter, as shown in FIG. 13D, 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. 13E, thereafter, the battery mounting portion 22 and the battery engaging portion 24 are moved. While synchronizing, as shown in FIG. 13 (F), 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 pulled out from the bus 2 as shown in FIG. become. Thereafter, as shown in FIG. 14B, 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, as shown in FIGS. 14C and 14D, the battery engaging portion 24. Moves in a direction approaching the bus 2, and the battery 3 is inserted into the bus 2. When the battery 3 is inserted into the bus 2, as shown in FIG. 14 (E), the engaging claw portion 41 is raised, and as shown in FIG. 14 (F), 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.

  In the battery exchange system 1, in order to appropriately replace the battery 3 of the bus 2 by appropriately operating the robot 5, the teaching of the robot 5 is performed in advance using the bus 2 stopped at a predetermined reference position. (Teaching) is performed. The robot 5 operates along the taught position (teaching position) and performs the replacement operation of the battery 3.

(Control method when battery is inserted)
FIG. 15 is a flowchart for explaining the control during the insertion operation of the battery 3 of the battery exchange robot 5 shown in FIG. FIG. 16 is a flowchart for explaining overload control during the insertion operation of the battery 3 of the battery exchange robot 5 shown in FIG.

  As described above, when the battery 3 is inserted into the battery housing portion 4, the inclined surface 15 a of the engaging protrusion 15 and the inclined surface 11 a of the lock member 11 start to contact each other, and the battery 3 is locked by the lock mechanism 9. Be started. When the battery 3 is inserted into the battery housing 4, the connector 10 and the connector 16 start to be engaged, and the connection between the connector 10 and the connector 16 is started. Hereinafter, when the battery 3 is inserted into the battery housing portion 4 by the battery engaging portion 24 and the lock of the battery 3 by the lock mechanism 9 is started, the position of the battery engaging portion 24 is defined as a lock start position. The position of the battery engaging portion 24 when the battery 3 is inserted into the battery housing portion 4 by the battery engaging portion 24 and the connection between the connector 10 and the connector 16 is started is defined as a connector connection start position.

  In this embodiment, when the battery 3 is inserted into the battery housing portion 4, the locking mechanism 9 and the connector 10 are configured so that the locking of the battery 3 by the locking mechanism 9 is started before the connection between the connector 10 and the connector 16. When the battery engaging portion 24 is moved to the lock start position, the battery engaging operation of the battery 3 by the battery engaging portion 24 is started. In addition, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10 and 16 are connected so that the connection between the connector 10 and the connector 16 is started before the lock mechanism 9 locks the battery 3. When the battery engagement portion 24 is arranged, when the battery engagement portion 24 moves to the connector connection start position, the battery 3 connection operation by the battery engagement portion 24 is started. Further, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10, 16 are started so that the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 are started simultaneously. When the battery engaging portion 24 is arranged, the battery engaging portion 24 starts the connection operation of the battery 3 when the battery engaging portion 24 moves to the lock start position and the connector connection start position.

  That is, in this embodiment, when the battery engaging portion 24 moves to at least one of the lock start position and the connector connection start position during the insertion operation of the battery 3 into the battery housing portion 4, the battery 3 by the battery engaging portion 24 is moved. The connection operation is started, and at the time of the connection operation, at least one of the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 is performed. Further, in this embodiment, when the lock of the battery 3 by the lock mechanism 9 is completed and the connection between the connector 10 and the connector 16 is completed, the connection operation of the battery 3 by the battery engaging portion 24 is completed. When the connection operation is completed and the battery mounting portion 22 and the battery engaging portion 24 move to the home position, the insertion of the battery 3 into the battery housing portion 4 is completed.

  Assuming that the position of the battery engagement portion 24 when the connection operation of the battery 3 by the battery engagement portion 24 is started is the connection operation start position, for example, the position of the battery engagement portion 24 shown in FIG. This is the operation start position. Further, assuming that the position of the battery engagement portion 24 when the connection operation of the battery 3 by the battery engagement portion 24 is completed is the connection operation completion position, for example, the position of the battery engagement portion 24 shown in FIG. This is the connection operation completion position. In this embodiment, when teaching the robot 5, the connection operation start position and the connection operation completion position are taught to the robot 5.

  The lock mechanism 9 and the connectors 10 and 16 are arranged so that the lock mechanism 9 starts to be locked by the lock mechanism 9 before the connection between the connector 10 and the connector 16 when the battery 3 is inserted into the battery housing portion 4. When the battery engaging portion 24 is arranged, after the battery engaging portion 24 has moved to the lock start position and further moved a predetermined amount to the back side of the battery housing portion 4, the battery engaging portion 24 starts connecting operation of the battery 3. May be. In addition, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10 and 16 are connected so that the connection between the connector 10 and the connector 16 is started before the lock mechanism 9 locks the battery 3. When the battery engaging portion 24 is arranged, after the battery engaging portion 24 has moved to the connector connection start position and further moved a predetermined amount to the back side of the battery housing portion 4, the battery engaging portion 24 starts connecting operation of the battery 3 May be. Further, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10, 16 are started so that the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 are started simultaneously. When the battery engaging portion 24 is disposed, after the battery engaging portion 24 moves to the lock start position and the connector connection starting position and further moves to the back side of the battery housing portion 4, the battery engaging portion 24 moves the battery 3. The connection operation may be started.

  In this embodiment, when the battery engaging portion 24 is inserted into the battery housing portion 4, the motor 44 that drives the battery engaging portion 24 is controlled before and after the connection operation is started. The method is different.

  Prior to the start of the connection operation, the control unit 27 controls the robot 5 by position control for controlling the robot 5 so that the robot 5 operates along the teaching position. That is, before the connection operation starts, the control unit 27 controls the motor 44 by position control for controlling the motor 44 by controlling the rotation amount of the motor 44. Further, before the connection operation starts, the control unit 27 controls the motor 44 by the first control that stops the motor 44 when the load of the motor 44 exceeds a predetermined first reference value. In this embodiment, the current value of the motor 44 is measured as a load of the motor 44, and the control unit 27 turns off the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before starting the connection operation. The motor 44 is controlled by current control to be stopped. That is, the first control of the present embodiment is current control. In practice, the controller 27 stops the motor 44 when the value obtained by multiplying the current value of the motor 44 by a predetermined constant exceeds the value obtained by multiplying the first reference current value by a similar constant.

  On the other hand, even if the connection operation is started, the control unit 27 controls the motor 44 by position control. However, when the connection operation is started, the control unit 27 is configured as shown in the flowcharts of FIGS. 15 and 16. The motor 44 is controlled. That is, as shown in FIG. 15, when the battery engaging portion 24 starts to insert the battery 3 into the battery accommodating portion 4, the battery engaging portion 24 moves to the connection operation start position and the connection operation is started. (Step S41), the control unit 27 starts overload control as the second control (Step S42). The overload control of this embodiment is current control as will be described below.

  When the connection operation is started, the control unit 27 starts measuring the drive time of the motor 44 after the connection operation is started (step S43). Thereafter, the control unit 27 determines whether or not the battery engagement unit 24 has moved to the connection operation completion position (step S44). In step S44, when the battery engaging portion 24 has moved to the connection operation completion position, the control portion 27 raises the engaging claw portion 41 that is engaged with the handle portion 14 of the battery 3. The battery mounting portion 22 and the battery engaging portion 24 are retracted away from the bus 2 (step S45), and the operation of inserting the battery 3 into the battery housing portion 4 by the battery engaging portion 24 is completed.

  On the other hand, if the battery engaging unit 24 has not moved to the connection operation completion position in step S44, the control unit 27 determines that the drive time of the motor 44 after the start of the connection operation started in step S43 is a predetermined time. It is determined whether or not the reference time has elapsed (step S47). If the drive time of the motor 44 has not passed the reference time in step S47, the process returns to step S44.

  In step S47, when the drive time of the motor 44 has passed the reference time, the control unit 27 raises the engagement claw portion 41 engaged with the handle portion 14 of the battery 3 after raising the engagement claw portion 41. Then, the motor 44 is reversely rotated to retract the battery engaging portion 24 in a direction away from the bus 2 (step S48). That is, if the drive time of the motor 44 has passed the reference time before the battery engaging portion 24 moves to the connection operation completion position, the control portion 27 retracts the battery engaging portion 24 in the direction in which the battery 3 is withdrawn. Let In the present embodiment, the battery mounting unit 22 is not retracted in the direction in which the battery 3 is pulled out in step S48, but the battery mounting unit 22 may be retracted in the direction in which the battery 3 is pulled out in step S48.

  Thereafter, if the overload control started in step S42 has not ended, the control unit 27 ends the overload control (step S49), and the battery 3 is supplied to the battery housing unit 4 by the battery engaging unit 24. Plug-in operation ends abnormally. When the overload control ends, the threshold value of the current value of the motor 44 is switched from the second reference current value described below to the first reference current value.

  When overload control is started in step S42, as shown in FIG. 16, the control unit 27 calculates the current value of the motor 44 corresponding to the load of the motor 44 (step S51). It is determined whether or not the current value exceeds the second reference current value (step S52). The second reference current value is smaller than the first reference current value. In step S42, when overload control is started, the threshold value of the current value of the motor 44 is switched from the first reference current value to the second reference current value. Actually, in step S51, a value obtained by multiplying the current value of the motor 44 by a predetermined constant is calculated, and in step S52, a value obtained by multiplying the current value of the motor 44 by this constant is the second reference current value. It is determined whether or not a value obtained by multiplying the same constant by.

  In step S52, when the current value of the motor 44 does not exceed the second reference current value, the control unit 27 determines whether or not the battery engagement unit 24 has moved to the connection operation completion position (step S53). ). In step S53, when the battery engaging portion 24 has not moved to the connection operation completion position, the process returns to step S51, and when the battery engagement portion 24 has moved to the connection operation completion position, the control unit 27. Ends the overload control. When ending the overload control, the threshold value of the current value of the motor 44 is switched from the second reference current value to the first reference current value.

  On the other hand, when the current value of the motor 44 exceeds the second reference current value in step S52, the control unit 27 sets the duration of the state where the current value of the motor 44 exceeds the second reference current value. Measurement is performed (step S54), and it is determined whether or not the continuation time has passed a predetermined reference time (step S55). In step S55, when the continuation time has passed the reference time, the control unit 27 stops the motor 44 (step S56) and ends the overload control. On the other hand, in step S55, if the duration time has not passed the reference time, the process proceeds to step S53.

  The process proceeds from step S55 to steps S53, S51, and S52. If the current value of the motor 44 does not exceed the second reference current value in step S52, the current value of the motor 44 exceeds the second reference current value. The duration of the active state is reset. On the other hand, the process proceeds from step S55 to steps S53, S51, and S52. If the current value of the motor 44 exceeds the second reference current value in step S52, the current value of the motor 44 exceeds the second reference current value. The duration of the current state is not reset, and the duration of the state in which the current value of the motor 44 exceeds the second reference current value is added in step S54.

  In this embodiment, when the battery 3 is inserted into the battery housing portion 4, the rotational speed of the motor 44 before the connection operation is started (that is, the moving speed of the battery engagement portion 24) is the motor after the connection operation is started. It is faster than the rotational speed of 44.

(Main effects of this form)
As described above, in the present embodiment, when the connection operation is started during the operation of inserting the battery 3 into the battery housing unit 4, the control unit 27 has the first reference current value smaller than the first reference current value before the start of the connection operation. The motor 44 is stopped when a predetermined reference time elapses with the current value of the motor 44 exceeding the two reference current values. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9, the battery 3 is displaced with respect to the lock mechanism 9, and the lock mechanism 9 and the battery 3 interfere to cause damage to the robot 5 or the like. When an excessive load is applied to the motor 44 or when the connector 10 and the connector 16 are connected, the connectors 10 and 16 are displaced to interfere with each other, and the robot 5 is damaged. When the motor 44 is applied to the motor 44, the motor 44 can be stopped.

  Further, in this embodiment, when the connection operation is started, even if the current value of the motor 44 exceeds the second reference current value, the reference time elapses with the current value of the motor 44 exceeding the second reference current value. Until then, the motor 44 is driven. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9 or when the connector 10 and the connector 16 are connected, the motor 44 is subjected to a short overload that does not damage the robot 5 or the like. However, the battery 3 can be locked by the lock mechanism 9 and the connector 10 and the connector 16 can be connected.

  Therefore, in this embodiment, the mechanical lock mechanism 9 that locks the battery 3 by operating with the insertion force of the battery 3 into the battery housing portion 4 is installed in the battery housing portion 4, and the battery is connected to the battery housing portion 4. Even when the connector 10 and the connector 16 are connected with an insertion force of 3, the battery 3 is locked by the lock mechanism 9 while the battery housing 4, the battery 3 and the robot 5 are prevented from being damaged. And the connector 16 can be connected.

  In this embodiment, the motor 44 does not stop unless the current value of the motor 44 exceeds the first reference current value larger than the second reference current value before the start of the connection operation. Therefore, in this embodiment, the acceleration / deceleration of the motor 44 before the start of the connection operation can be increased. Therefore, in this embodiment, it is possible to shorten the movement time of the battery 3 from the start of the operation of inserting the battery 3 into the battery housing portion 4 until the connection operation is started. Further, in this embodiment, since the rotation speed of the motor 44 before the start of the connection operation is higher than the rotation speed of the motor 44 after the start of the connection operation, the operation of inserting the battery 3 into the battery housing portion 4 is started. It is possible to further shorten the movement time of the battery 3 until the connection operation is started.

  In this embodiment, the rotation speed of the motor 44 after the start of the connection operation is slower than the rotation speed of the motor 44 before the connection operation is started. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9, the battery 3 is displaced with respect to the lock mechanism 9, and the lock mechanism 9 and the battery 3 interfere to cause damage to the robot 5 or the like. When an excessive load is applied to the motor 44 or when the connector 10 and the connector 16 are connected, the connector 10 and the connector 16 are displaced to interfere with each other, and the robot 5 and the like are damaged. When a load is applied to the motor 44, the motor 44 can be stopped in a short time. Therefore, it is possible to effectively prevent damage to the battery housing part 4, the battery 3, and the robot 5.

  In this embodiment, when the driving time of the motor 44 after the start of the connection operation has passed the reference time before the battery engagement unit 24 moves to the connection operation completion position after the start of the connection operation, the control unit 27 3, the battery engaging portion 24 is retracted in the pulling direction. Therefore, in this embodiment, it is possible to prevent damage to the battery housing part 4, the battery 3, and the robot 5. That is, when the battery engagement portion 24 does not move to the connection operation completion position even though the drive time of the motor 44 after the connection operation starts has passed the reference time, the lock mechanism 9 and the battery 3 Interference or interference between the connector 10 and the connector 16 has occurred, and it is assumed that these components are overloaded. In this embodiment, the battery engaging portion 24 moves to the connection operation completion position. In the meantime, when the drive time of the motor 44 after the start of the connection operation has passed the reference time, the control unit 27 retracts the battery engaging unit 24 in the direction in which the battery 3 is withdrawn. It is possible to remove the applied overload and prevent damage to the battery housing 4, the battery 3, and the robot 5.

(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, when the driving time of the motor 44 has passed the reference time in step S47, the control unit 27 reverses the motor 44 and retracts the battery engaging unit 24 in the direction away from the bus 2. I am letting. In addition, for example, in step S47, when the driving time of the motor 44 has passed the reference time, the control unit 27 may stop the battery engaging unit 24. That is, in step S47, when the driving time of the motor 44 has passed the reference time, the control unit 27 may stop the motor 44.

  In the embodiment described above, before the connection operation starts, the control unit 27 stops the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value. In addition to this, for example, the control unit 27 measures a load value other than the current value of the motor 44 as a load of the motor 44 before the connection operation starts, and the measured load exceeds a predetermined first reference value. The motor 44 may be stopped when For example, the control unit 27 measures the load of the motor 44 using a pressure sensor that measures the contact pressure between the battery 3 and the engaging claw portion 41 during the operation of inserting the battery 3 into the battery housing unit 4, and the connection. Before the start of operation, the motor 44 may be stopped when the load of the motor 44 measured by the pressure sensor exceeds a predetermined first reference value.

  Further, in the above-described form, the control unit 27, in overload control, even if the current value of the motor 44 exceeds the second reference current value, the control unit 27 performs a predetermined reference in a state where the current value exceeds the second reference current value. The motor 44 is driven until the time elapses, and the motor 44 is stopped when the reference time elapses while the current value of the motor 44 exceeds the second reference current value. In the control, a load value other than the current value of the motor 44 is measured as the load of the motor 44. Even if the measured load exceeds a predetermined second reference value, the load exceeds the second reference value. The motor 44 may be driven until a predetermined reference time elapses, and the motor 44 may be stopped when the reference time elapses with the load exceeding the second reference value. For example, in the overload control, the control unit 27 measures the load of the motor 44 using the above-described pressure sensor, and even if the detected value of the pressure sensor exceeds a predetermined second reference value, the detected value is the second reference value. The motor 44 may be driven until a predetermined reference time elapses in a state where the value is exceeded, and the motor 44 may be stopped when the reference time elapses in a state where the detected value exceeds the second reference value.

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

1 Battery replacement system 2 Bus (vehicle)
3 Battery 4 Battery compartment 5 Robot (Battery exchange robot)
9 Locking mechanism 10 Connector (container side connector)
16 connector (battery side connector)
17 Battery insertion / removal mechanism 22 Battery mounting part 24 Battery engagement part 27 Control part 44 Motor

Claims (7)

In the battery exchange robot for exchanging the battery installed in the vehicle,
A battery insertion / removal mechanism that is attached to the vehicle and that pulls out the battery from a battery accommodation unit in which the battery is accommodated and inserts the battery into the battery accommodation unit, and a control unit that controls the battery insertion / removal mechanism And
The battery includes a battery-side connector for electrically connecting the vehicle and the battery,
The battery accommodating portion includes a lock mechanism that locks the accommodated battery, and an accommodating portion-side connector connected to the battery-side connector,
The battery insertion / removal mechanism includes a battery mounting portion on which the battery is mounted, a battery engaging portion that engages with the battery and moves the battery, and a motor that drives the battery engaging portion. ,
The lock mechanism is a mechanical lock mechanism that operates by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery,
The battery side connector and the housing portion side connector are connected by the insertion force of the battery into the battery housing portion by the battery engaging portion,
The control unit is a connection in which at least one of the lock of the battery by the lock mechanism and the connection between the battery side connector and the storage unit side connector is performed during the operation of inserting the battery into the battery storage unit. Before the start of operation, the motor is controlled by a first control that stops the motor when the load of the motor exceeds a predetermined first reference value, and when the connection operation is started, the load of the motor is Even if the second reference value smaller than the first reference value is exceeded, the motor is driven until a predetermined reference time elapses while the load of the motor exceeds the second reference value, and the load of the motor is The motor is controlled by a second control that stops the motor when the reference time elapses in a state where the second reference value is exceeded. Battery exchange robot to. The first control is current control for stopping the motor when a current value of the motor exceeds a first reference current value that is the first reference value;
In the second control, even if the current value of the motor exceeds a second reference current value that is the second reference value, the reference time elapses with the motor current value exceeding the second reference current value. 2. The current control according to claim 1, wherein the motor is driven until the motor is driven, and the motor is stopped when the reference time elapses while the current value of the motor exceeds the second reference current value. Battery replacement robot.   The battery engagement portion up to at least one of a lock start position where the battery is locked by the lock mechanism and a connector connection start position where the connection between the battery side connector and the housing portion side connector is started The battery replacement robot according to claim 1, wherein the connection operation is started when the battery moves.   4. The battery replacement robot according to claim 1, wherein a rotation speed of the motor before the connection operation is started is higher than a rotation speed of the motor after the connection operation is started. 5.   When the connection operation is started, the control unit starts measuring the driving time of the motor after the connection operation starts, and locks the battery by the lock mechanism and the battery side connector and the housing unit side connector. When the drive time of the motor after the start of the connection operation passes a predetermined time before the battery engagement portion moves to the connection operation completion position where the connection to the battery is completed, the battery is pulled in the battery pulling direction. The battery replacement robot according to claim 1, wherein the engaging portion is retracted.   A battery exchange system comprising: the battery exchange robot according to claim 1; and the battery housing unit. A battery attaching / detaching mechanism that is attached to a vehicle and that pulls out the battery from a battery housing portion in which the battery is housed and inserts the battery into the battery housing portion; and the battery includes the vehicle and the battery. A battery side connector for electrical connection, wherein the battery housing portion includes a lock mechanism for locking the battery housed therein, and a housing portion side connector connected to the battery side connector; The difference mechanism includes a battery mounting portion on which the battery is mounted, a battery engaging portion that engages with the battery and moves the battery, and a motor that drives the battery engaging portion, and the lock The mechanism accommodates the battery by the battery engaging portion. A mechanical locking mechanism that locks the battery by operating with the insertion force of the battery to the battery, and the battery side connector and the housing portion side connector are connected to the battery housing portion by the battery engaging portion. A control method of a battery exchange robot connected by a battery insertion force,
During the operation of inserting the battery into the battery housing portion, before the start of the connection operation in which at least one of the locking of the battery by the lock mechanism and the connection between the battery side connector and the housing portion side connector is performed. , When the load of the motor exceeds a predetermined first reference value, the motor is stopped,
When the connection operation is started, even if the load of the motor exceeds a second reference value that is smaller than the first reference value, a predetermined reference time is maintained in a state where the load of the motor exceeds the second reference value. A control method for a battery exchange robot, wherein the motor is driven until a lapse of time, and the motor is stopped when the reference time elapses with a load of the motor exceeding the second reference value.

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