WO2013006999A1

WO2013006999A1 - Positioning device and method for chassis battery replacement of electric vehicle

Info

Publication number: WO2013006999A1
Application number: PCT/CN2011/001683
Authority: WO
Inventors: 赵金龙; 厉秉强; 高先进; 王鑫
Original assignee: 山东电力研究院
Priority date: 2011-07-13
Filing date: 2011-10-08
Publication date: 2013-01-17

Abstract

Disclosed is a positioning device and method for implementing chassis battery replacement of an electric vehicle during the replacement of a chassis battery pack of an electric vehicle in combination with an fully automatic replacement apparatus. After an electric vehicle is accurately positioned, a battery can be uninstalled and installed rapidly and accurately by a rapid replacement robot, so as to provide a convenient, rapid, and economic battery replacement method for a charging station of an electric vehicle. A positioning device for battery replacement comprises a trapezoidal platform (1). A guiding groove (2) is disposed on the slope of the trapezoidal platform. A pair of V-shaped sliding grooves (4) for bearing the front wheels of a vehicle and a pair of minus sign-shaped sliding grooves (8) for bearing the rear wheels of a vehicle are disposed on the top of the trapezoidal platform. Corresponding positioning serving devices (7) are disposed in the sliding grooves respectively. A vehicle detection device is disposed on the positioning serving device. The positioning serving device and the vehicle detection device are connected to a control device, respectively.

Description

Instruction manual

Electric passenger car chassis power changing positioning device and method thereof

The invention relates to a device for realizing vehicle positioning when a battery pack of an electric passenger car chassis is fully replaced, in particular to cooperate with a fully automatic replacement device for realizing an electric passenger car when the battery pack of the electric passenger car chassis is replaced. Chassis power changing positioning device and method thereof.

Background technique

In recent years, with the intensification of environmental pollution and energy crisis, vigorously developing electric vehicles is an important choice to ensure China's energy security and realize the leap-forward development and sustainable development of China's automobile industry. Therefore, the development of electric vehicles has become an inevitable trend in the development of the automotive industry.

At present, electric vehicle energy supply mainly includes two categories: vehicle charging and mechanical switching. Among them, there are three charging methods for electric vehicle charging: one is the charging station; the other is the swipe-type charging pile that can be generally set up in the urban community and shopping mall parking spaces; the third is the residential electric socket. Civil power sockets not only involve electricity billing, grid redundancy, but also have a long charging time and cannot become the mainstream charging method. In the parking space, a flash-type charging pile is set up. It is likely that a large number of vehicles will be charged at the same time. Once the number of electric vehicles reaches a certain scale, harmonics will be generated, which will have a destructive impact on the urban power grid. negative. The charging service of the charging station must be completed in a short period of time. In view of the current rapid charging and battery technology, the damage caused by the rapid charging of the battery cannot be eliminated. The fast charging is done at the expense of the battery life. not worth it. Therefore, this mode has a lot of drawbacks.

Compared with the whole vehicle charging, the mechanical power exchange operation is simple, and the quick replacement of the passenger car battery pack can be completed within 5 minutes, the rapid replenishment of electric energy is realized, the waiting time of the customer is reduced, and the utilization rate of the charging station is improved. In addition, the battery pack can be centrally charged at night, realizing the peak load of the power load. Instruction manual

At the same time, it can improve the comprehensive utilization efficiency of power equipment and prolong the service life of the battery, which has high promotion value and economic significance.

Electric passenger car mechanical change from battery installation method: Back box mode, chassis mode, chassis mode is to put the battery in the chassis, there are two kinds from the replacement direction, one is up and down, one is side change. The back box mode occupies the space of the back box of the electric vehicle, the positioning requirements for the vehicle are low, the replacement efficiency is low, the replacement process requires manual participation, and is not suitable for scale and industrial development; the chassis mode battery is installed at the bottom of the car, due to the iron plate Separating the driver from the battery makes it a safer way. In addition, high replacement efficiency and high degree of automation make it possible to achieve mass production and large-scale commercialization. Since the replacement process does not require manual participation, the replacement process requires a higher level of vehicle positioning.

In the invention patent CN91910090807.8, which has been published by the State Intellectual Property Office of China, a method for replacing the battery of the electric passenger car chassis is described, which belongs to a mechanical switching mode. The electric passenger car is positioned as follows: There are four rigid lifting fulcrums on the bottom of the electric passenger car, and the lifting implements the fixed support of the electric passenger car to the appropriate height of the tire off the ground. During the lifting process, the precise positioning of the front and rear of the electric passenger car can not be satisfied. The redundancy error in the two directions directly affects the success rate of the quick change robot to replace the battery operation; whether the replacement vehicle reaches the lifting point, the safeguard measures are not Description, the support point of the lifting fulcrum (automobile, beam frame, frame welding frame) has higher requirements, and the positioning difficulty is relatively large. The fulcrum slips or the misalignment is easy to damage the vehicle chassis. In severe cases, the vehicle is tilted. Fall.

Summary of the invention

The present invention is directed to the existing electric passenger vehicle chassis (mechanical) power exchange mode problem, and proposes a working with a fully automatic replacement device for realizing electric passenger-car chassis replacement when replacing the electric vehicle chassis battery pack Electrical positioning device and method therefor. After the electric passenger car is accurately positioned, the battery can be quickly and accurately disassembled and installed by the quick-change robot, thereby providing a charging station for the electric passenger car. Instruction manual

A convenient, fast and economical way to replace batteries.

In order to achieve the above object, the technical solution adopted by the present invention is:

An electric passenger car chassis power-changing positioning device comprises a trapezoidal high platform, and a guiding groove is arranged on the slope of the trapezoidal high platform, and a pair of V-shaped chutes carrying a front wheel of the vehicle and a pair of bearing are arranged on the top of the trapezoidal high platform One type of chute of the rear wheel of the vehicle; each chute is further provided with a corresponding positioning servo device, and at least one pair of positioning servo devices is provided with a vehicle detecting device, and the positioning servo device and the vehicle detecting device are respectively connected with the control device.

The positioning servo device comprises a servo motor connected to the servo driver and the telescopic mechanism, the servo driver is connected with the control device; the telescopic mechanism is connected with the rubber stopper; the rubber stopper is further provided with a pressure sensor; the V-shaped chute A corresponding vehicle detecting device is further disposed on the corresponding two positioning servo devices.

The rubber stopper and the telescopic mechanism are connected by a hinge.

The control device comprises a main electric control cabinet and an operation console. The main control cabinet is internally provided with a PLC control module, an expansion module, a power supply module and a power supply system, and the operation console is provided with a display device and various control buttons; The PLC control module and the display device are connected and communicated through the PROFIBUS-DP bus; the control module adopts the Siemens S7-300 series 315-2DP type controller; the positioning servo device and the vehicle detection device are connected with the PLC control module.

The vehicle detecting device is a photoelectric sensor.

The trapezoidal platform is a hollow hollow structure, and a battery replacement working hole is arranged on the upper side and the side of the platform.

A working method for a power-replacement positioning device for an electric passenger car, the steps of which are:

1) The replacement vehicle enters the trapezoidal high platform under the action of the guide groove of the trapezoidal high platform slope, forcing the front wheel of the replacement vehicle to enter a pair of V-shaped chutes, and the rear wheel stays in the one-to-one type chute; Instruction manual

2) The photoelectric sensor detects that the vehicle stays at the replacement position of the trapezoidal high platform, and transmits the signal to the PLC control module;

3) The PLC control module drives four positioning servo devices, and the pressure sensor at the top of the rubber stopper detects that the pressure reaches a predetermined setting value, and stops the movement of the positioning servo device;

4) The PLC control module detects that the quick change robot completes the replacement of the battery of the electric passenger car;

5) The PLC control module drives the four positioning servos to return to the initial state, and the four positioning servos leave the vehicle tires;

6) Replace the vehicle and drive down the trapezoidal platform to complete the battery replacement. The PLC control module enters the waiting state.

In the present invention, the electric vehicle chassis battery replacement vehicle positioning device is composed of a mechanical unit and a control system. The mechanical unit includes a trapezoidal platform, four positioning servos acting on the tire, and a pair of V-shaped slides. Slot, one-to-one type chute, trapezoidal high platform will raise the replacement vehicle to a certain height from the ground, reserve a certain vertical working space for the battery pack replacement equipment; force the replacement of the front wheel of the vehicle under the action of the guiding groove of the high platform slope Staying in the V-shaped chute, the rear wheel stays in a type of chute; the four positioning servos acting on the tires are mutually retracted to achieve the left and right positioning of the vehicle attitude; each chute is matched with the photoelectric detecting sensor under the action of the vehicle's own weight. The front and rear positioning of the vehicle is realized. When the vehicle is positioned to the left and right, the rolling action of each chute on the tire of the automobile reduces the relative expansion and contraction force of the positioning servo device. The four positioning servos acting on the tires are respectively provided with servo motors that drive their movements.

The trapezoidal high platform is a hollow hollow structure. The battery replacement working hole is arranged on the upper side and the side of the high platform, which can facilitate the battery quick change robot to perform battery replacement and operation from the side or the bottom. The slope is provided with a wheel guiding groove, and the upper platform is provided with front and rear positioning. The chute and the positioning servo for positioning left and right.

There are two V-shaped chutes, each of which is arranged in a V shape. There are two types of chutes in the manual, and the single one is arranged in a line.

There are 4 positioning servos, which are arranged in pairs. The end of each telescopic mechanism is a rubber stopper. The top is equipped with a photoelectric detection sensor. The rubber stopper increases the contact area between the servo motion mechanism and the vehicle tire. At the same time, the servo is reduced. The telescopic movement of the moving mechanism causes damage to the side of the tire; the photoelectric sensor is used to detect whether there is a replacement vehicle on the high platform, whether the vehicle is positioned or not, and correspondingly for the replacement device

The rubber stopper and the telescopic mechanism are hinged and have a certain degree of freedom of swing to ensure the parallelism of the four mechanisms during telescopic work.

The positioning servo is driven by an AC servo motor. With the cooperation of the pressure sensor, the AC servo motor controls the telescopic mechanism to reach the predetermined horizontal position of the program.

The control device includes a main electric control cabinet and an operation console. The main control cabinet is internally equipped with a PLC control module, an expansion module, a power supply module, and a power supply system. The operation console is equipped with display devices and various control buttons. The PLC control module and the touch screen are connected by a PROFIBUS-DP bus.

The PLC control module uses Siemens S7-300 series 315-2DP type controller, and is connected with local display and operation equipment.

The invention has the beneficial effects that: it consists of a trapezoidal platform, four servo motion mechanisms acting on the tire, a pair of V-shaped chutes, and a pair of one-shaped chutes, and the replacement vehicle is forced to be replaced by the high-slope guide groove. The vehicle passively enters the V-shaped chute to realize the front and rear positioning of the vehicle. The control system controls the servo-driven mechanical telescopic movement according to the corresponding sensor signal. The end of the servo motion mechanism rubber stopper acts on the replacement of the vehicle tire, and the sliding of the V-shaped chute is used. Adjust the attitude of the replacement vehicle to achieve the left and right positioning of the vehicle.

The precise positioning of the replacement vehicle is achieved under the above process adjustment. At the same time, the replacement vehicle pressure is equalized in different parts of the positioning device, plus the sliding of the chute, the servo motion mechanism does not need to provide too large twist The manual moment can realize the quick positioning of the replacement vehicle.

DRAWINGS

FIG. 1 is a schematic diagram of a power-replacement positioning device for an electric passenger vehicle chassis according to an embodiment of the present invention.

Figure 2 is a schematic view of a V-shaped chute.

Figure 3 is a schematic view of a type of chute.

Figure 4 is a block diagram of the control system.

Figure 5 shows the workflow.

In the figure: 1, trapezoidal high platform, 2, guiding groove, 3, photoelectric sensor, 4, V-shaped chute, 5, wheel tires, 6, rubber stopper, 7, positioning servo device, 8, one type chute, 9, pressure sensor, 10, PLC control module, 11, display equipment, 12, front left servo drive, 13, front left servo motor, 14, front wheel right servo drive, 15, front wheel right servo Motor, 16, left rear servo drive, 17, rear left servo motor, 18, rear right servo drive, 19, rear right servo motor. detailed description

The invention will be further described below in conjunction with the drawings and embodiments.

1, FIG. 2, FIG. 3, FIG. 4, the mechanical unit of the electric vehicle chassis battery pack replacement vehicle positioning device includes a trapezoidal platform 1, four positioning servos 7 acting on the wheel tires 5, and a pair of V-shaped slides. Slot 4, one-to-one type chute 8, the trapezoidal platform 1 raises the replacement vehicle to a certain height from the ground, and reserves a certain vertical working space for the battery pack replacement device; The front wheel of the replacement vehicle is forced into the V-shaped chute 4, the rear wheel stays in a type of chute 8, and the four positioning servos 7 acting on the wheel tire 5 are retracted toward each other to realize the left and right positioning of the vehicle attitude; The slot 4 cooperates with the photoelectric detecting sensor 3 on the vehicle to realize the front and rear positioning of the vehicle under the action of the vehicle's own weight. When the vehicle is positioned to the left and right, the rolling action of the V-shaped chute 4 and the type chute 8 on the wheel tire 5 is reduced. small Instruction manual

The relative expansion and contraction force of the positioning servo device 7 is obtained. Four positioning servos acting on the wheel tires 5 are provided with servo drives and AC servo motors, respectively.

The trapezoidal platform 1 is a hollow hollow structure. The top of the trapezoidal platform 1 is provided with a battery replacement working hole on the side, the wheel is provided with a wheel guiding groove 2, and the upper table is provided with a V-shaped chute positioned front and rear.

4. One type chute 8. Positioning servo device for positioning left and right.

The positioning servo device 7 has four groups, each group consisting of a servo driver, an AC servo motor, a rubber stopper 6, and a telescopic mechanism, which are arranged in pairs, and each end of the group is provided with a rubber stopper 6, a pressure sensor 9, a rubber stopper. 6 increasing the contact area between the positioning servo device and the wheel tire 5, and at the same time, reducing the damage caused by the telescopic movement of the positioning servo device 7 on the side of the wheel tire 5; the photoelectric sensor 3 is used to detect whether there is a replacement vehicle or vehicle on the upper platform 1 Whether the positioning is completed or not, the corresponding detection signal is provided for the replacement device.

The rubber stopper 6 is hingedly connected with the telescopic mechanism portion, and has a certain degree of freedom of swing to ensure the parallelism of the four mechanisms during the telescopic operation.

The positioning servo device 7 is an AC servo drive. With the cooperation of the pressure sensor 9, the AC servo motor drives the servo telescopic mechanism to reach a predetermined horizontal position of the program.

In the four sets of positioning servo devices 7, the servo driver can be divided into a front wheel left servo driver 12, which is connected to the front wheel left servo motor 13;

Front wheel right servo drive 14, which is connected to the front wheel right servo motor 15;

The rear left servo drive 16 of the rear wheel is connected to the left servo motor 17 of the rear wheel;

The rear rear wheel servo drive 18 is connected to the rear right servo motor 19 of the rear wheel;

Each servo drive is connected to the PLC control module via the PROFIBUS-DP bus.

The whole control device includes a main electric control cabinet and an operation console. The main control cabinet is internally equipped with a PLC control module, an expansion module, a power supply module, and a power supply system. The operation console is equipped with a display device 11 and various types of operations. Instruction manual

Control button. The PLC control module and the display device are connected and communicated via a PROFIBUS-DP bus.

The PLC control module is also coupled to the photosensor 3.

The workflow of the present invention includes the following main steps:

1. The replacement vehicle enters the trapezoidal platform 1 under the action of the guide groove 2 of the trapezoidal platform 1 slope, and finally forces the replacement vehicle to passively enter the V-shaped chute 4 under the action of the V-shaped chute 4, and the rear wheel stays at One type of chute 8.

2. Photoelectric sensor 3 detects that the vehicle is stuck in the trapezoidal high platform 1 replacement position, and the signal is transmitted to the PLC control module.

3. PLC control module drive 4 positioning servos 7, rubber stopper 6 top pressure sensor 9 detects that the pressure reaches the predetermined setting value and stops the movement of the positioning servo device 7.

4. The PLC control module detects that the quick change robot has completed the replacement of the battery of the electric passenger car.

5. The PLC control module drives the four servo motion mechanisms 7 to return to the initial state, and the positioning servo device 7 leaves the wheel tires 5.

6. Replace the vehicle and drive down the trapezoidal high platform. 1. Complete the battery replacement. The PLC control module enters the wait state.

In the present invention, the photoelectric detecting sensor 3 determines that the vehicle has been in the front and rear position, the control system detects the signal, and the positioning servo device 7 drives the rubber stopper 6 to press the side surface of the wheel tire, and the feedback signal is applied to the pressure sensor 9 on the rubber stopper 6 to The control module stops the positioning of the servo device 7 by the pressure signal detected by the pressure sensor reaching the set pressure signal value, thereby realizing accurate positioning of the left and right positions of the electric passenger car. After the manual completes the precise positioning of the electric passenger car before and after and left and right, its positioning information is transmitted to the control module, and information interaction with other vehicle replacement systems is completed to complete the replacement of the battery of the electric passenger car chassis.

This device can be completed only by the coordinated movement of the mechanical part in four directions. Compared with the existing car body lifting method, the design is ingenious and considerate. The choice of supporting positioning points can be easily selected with the cooperation of other positioning measures; the reliability of the device operation, the positioning accuracy is high, and the positioning operation is correct. The car body has no damage, and it satisfies the requirements of the vehicle positioning accuracy of the fully automated replacement system of the electric vehicle chassis battery.

The above description of the present invention is intended to be illustrative, and the scope of the invention is not limited thereto, and equivalents or obvious modifications of the technical features are intended to fall within the scope of the present invention.

Claims

Claim

1. An electric passenger car chassis power-changing positioning device, characterized in that it comprises a trapezoidal platform (1), and a guide groove (2) is provided on a slope of the trapezoidal platform (1), in a trapezoidal platform (1) The top of the top is provided with a pair of V-shaped chutes (4) for carrying the front wheels of the vehicle and a pair of chutes (8) for carrying the rear wheels of the vehicle; each chute is also provided with a corresponding positioning servo device (7), respectively The positioning servo device (7) is provided with a vehicle detecting device, and the positioning servo device (7) and the vehicle detecting device are respectively connected to the control device.

2. The electric vehicle chassis reversing positioning device according to claim 1, wherein said positioning servo (7) comprises a servo motor connected to the servo driver and the telescopic mechanism, the servo driver and the control device Connection; the telescopic mechanism is connected to the rubber stopper (6); the rubber stopper (6) is also provided with a pressure sensor (9); the two positioning servos (7) corresponding to the V-shaped chute (4) are also provided There is a vehicle detection device.

The electric vehicle chassis reversing positioning device according to claim 1 or 2, wherein the vehicle detecting device is a photoelectric sensor (3).

The electric vehicle chassis reversing positioning device according to claim 2, wherein the rubber stopper (6) and the telescopic mechanism connecting portion are hingedly connected.

5 . The electric vehicle chassis reversing positioning device according to claim 1 , wherein the control device comprises a main electric control cabinet and an operation console, and a PLC control module is installed inside the main electric control cabinet. The expansion module, the power module, the power supply system, the operation console are equipped with display devices and various control buttons; the PLC control module and the display device are connected by PROFIBUS-DP bus; the control module adopts Siemens S7-300 series 315-2DP type controller; positioning servo (7) and vehicle detection device are connected to PLC control module.

6. The electric vehicle chassis power changing and positioning device according to claim 1, wherein the trapezoidal platform is a hollow structure, and a battery replacement working hole is disposed on the upper surface and the side surface of the platform. Claim

7. A method of operating a power-receiving positioning device for an electric passenger vehicle chassis according to claim 1, wherein the steps are:

1) Replace the vehicle into the trapezoidal platform (1) under the action of the guide groove (2) of the ladder (1) slope, forcing the front wheel of the vehicle to enter a pair of V-shaped chutes (4), rear wheel stop In a one-to-one type chute (8);

2) Photoelectric sensor (3) After detecting that the vehicle stays at the replacement position of the trapezoidal platform (1), the signal is transmitted to the PLC control module;

3) The PLC control module drives four positioning servos (7). The pressure sensor (9) at the top of the rubber stopper (6) detects that the pressure reaches a predetermined setting value and stops the movement of the positioning servo (7);

5) The PLC control module drives the four positioning servos (7) to return to the initial state, and the four positioning servos (7) leave the vehicle tires (5);

6) Replace the vehicle and drive down the trapezoidal platform (1). After completing the battery replacement, the PLC control module enters the waiting state.