WO2013125473A1 - バッテリー交換ロボット - Google Patents

バッテリー交換ロボット Download PDF

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Publication number
WO2013125473A1
WO2013125473A1 PCT/JP2013/053806 JP2013053806W WO2013125473A1 WO 2013125473 A1 WO2013125473 A1 WO 2013125473A1 JP 2013053806 W JP2013053806 W JP 2013053806W WO 2013125473 A1 WO2013125473 A1 WO 2013125473A1
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WO
WIPO (PCT)
Prior art keywords
battery
holding member
diameter
engaging
engaging portion
Prior art date
Application number
PCT/JP2013/053806
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
矢澤　隆之
佳久 増澤
Original Assignee
日本電産サンキョー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電産サンキョー株式会社 filed Critical 日本電産サンキョー株式会社
Priority to CN201380001447.4A priority Critical patent/CN103596819B/zh
Publication of WO2013125473A1 publication Critical patent/WO2013125473A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/256—Carrying devices, e.g. belts
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2220/00—Batteries for particular applications
    • H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present invention relates to a battery exchange robot for exchanging a battery mounted on a vehicle.
  • the battery exchange device described in Patent Document 1 includes an advance / retreat mechanism that pulls out and inserts a battery.
  • the advance / retreat mechanism moves in a horizontal direction by rotation of a screw portion to which a motor is connected and the screw portion.
  • An arm portion that engages a handle formed on the battery is formed at the center of the moving block.
  • the battery handle is composed of two plates fixed to the front surface of the battery at a predetermined interval, and an elongated flat plate-like holding portion disposed between the two plates.
  • the arm portion includes a locking portion that locks to the holding portion of the handle.
  • the locking portion is formed in a square groove shape (a U shape) whose bottom surface is open.
  • the handle holding portion formed on the battery is formed in an elongated flat plate shape, and the locking portion of the arm portion locked to the holding portion has a lower surface. It is formed in a square groove shape that opens. Therefore, in this battery exchange device, when the battery mounted on the electric vehicle is inclined with respect to the battery exchange device, it becomes difficult to lock the locking portion to the holding portion. That is, in this battery exchange device, if the battery is not accurately mounted on the electric vehicle, it is difficult to lock the locking portion with the holding portion, and as a result, it is difficult to replace the battery.
  • an object of the present invention is to provide a battery exchanging robot capable of appropriately exchanging a battery mounted on a vehicle even if the battery is not mounted on the vehicle with high accuracy.
  • a battery exchange robot for exchanging a battery mounted on a vehicle, wherein the battery is pulled out and / or inserted into the vehicle.
  • a battery engaging portion that engages the battery when the battery is operated, a holding member that holds the battery engaging portion so that the battery engaging portion can be rotated with the vertical direction as the axis of rotation, and a holding
  • a clamp mechanism that stops rotation of the battery engaging portion relative to the member, and the clamp mechanism is in an unclamped state in which the battery engaging portion can rotate relative to the holding member when the battery engaging portion engages with the battery. It is characterized by becoming.
  • the battery engaging portion that engages with the battery when the battery is pulled out or inserted is held by the holding member so that the vertical direction can be turned. ing.
  • the clamp mechanism that stops the rotation of the battery engaging portion relative to the holding member is an unclamp that can rotate the battery engaging portion relative to the holding member when the battery engaging portion engages the battery. It is in a state. Therefore, in the present invention, even when the battery mounted on the vehicle is inclined with respect to the battery replacement robot, the battery engaging portion is rotated with respect to the holding member when the battery engaging portion is engaged with the battery. Thus, the battery engaging portion can be appropriately engaged with the battery. That is, in the present invention, even when the battery is not accurately mounted on the vehicle, the battery engaging portion can be appropriately engaged with the battery, and the battery can be appropriately extracted from the vehicle. It becomes possible to replace the battery installed in the battery properly.
  • the battery engaging robot can be appropriately pulled out from the vehicle by appropriately engaging the battery engaging portion with the battery. It is possible to simplify the adjustment in teaching. Further, in the present invention, the clamp mechanism can stop the rotation of the battery engaging portion with respect to the holding member. Therefore, when the battery exchange robot is in a standby state where the battery is not being exchanged, the battery engagement with respect to the holding member is performed. It is possible to prevent the joint from wobbling.
  • the battery includes a handle portion for pulling out the battery from the vehicle
  • the battery engagement portion includes a hook-shaped engagement claw portion that engages with the handle portion
  • the clamp mechanism includes the engagement claw.
  • the battery when the direction in which the vehicle and the battery exchange robot face each other is the front-rear direction and the direction substantially orthogonal to the front-rear direction and the up-down direction is the left-right direction, for example, the battery is placed on both ends of the battery in the left-right direction.
  • Two handle parts are provided, and the battery engaging part is provided with two engaging claws arranged so as to correspond to the handle parts.
  • the rotation of the battery with respect to the battery engaging portion can be prevented by the two handle portions and the engaging claw portion, the battery is stabilized when the battery is pulled out or inserted. It becomes possible.
  • each of the two engaging claws since each of the two engaging claws must be engaged with each of the two handles, the battery mounted on the vehicle is inclined with respect to the battery replacement robot. In this case, it is difficult to engage each of the two engagement claws with each of the two handle portions.
  • two engagement claw portions are provided for each of the two handle portions. When engaging each, the battery engaging portion can be rotated with respect to the holding member so that each of the two engaging claws can be properly engaged with each of the two handle portions. Become.
  • the battery exchange robot includes a battery mounting portion on which the battery is mounted when the battery is pulled out and / or inserted, and the battery engaging portion is mounted on the battery when the battery is pulled out and / or inserted.
  • a guide groove for guiding the battery in the moving direction of the battery is formed on either the battery or the battery mounting portion, and a guide groove is formed on either the battery or the battery mounting portion. It is preferable that an engaging projection for engaging with the groove is formed. If comprised in this way, when moving a battery on a battery mounting part, it will become possible to suppress the fluctuation
  • the clamp mechanism is preferably in an unclamped state when the battery is moving on the battery mounting portion.
  • the clamp mechanism is attached to either the battery engaging portion or the holding member, the driving source attached to either the battery engaging portion or the holding member, the shaft member connected to the driving source, and the battery engaging portion or the holding member. And an engagement member formed with an engagement hole for engaging the shaft member.
  • the shaft member and the engagement member are arranged at positions deviating from the rotation center of the battery engagement portion.
  • the large diameter portion is provided with an elastic member formed of an elastic material and having an inner diameter substantially equal to the outer diameter of the small diameter shaft portion, and the clamp mechanism has a large diameter on the inner peripheral side of the small diameter portion.
  • the battery When the shaft is arranged, the battery against the holding member -The clamped state that stops the rotation of the engaging portion is removed, the large-diameter shaft portion is detached from the inner peripheral side of the small-diameter portion, and the small-diameter shaft portion is disposed on the inner peripheral side of the small-diameter portion and the inner peripheral side of the elastic member.
  • the battery is in an unclamped state, and in the unclamped state, the battery engaging portion is preferably rotatable with respect to the holding member within a range of elastic deformation of the elastic member.
  • the shaft center of the shaft member substantially coincides with the shaft center of the engagement hole using the elastic force of the elastic member. It becomes possible to make it. Therefore, it becomes easy to switch the clamp mechanism from the unclamped state where the large-diameter shaft portion is detached from the inner peripheral side of the small-diameter portion to the clamp state where the large-diameter shaft portion is arranged on the inner peripheral side of the small-diameter portion. Moreover, if comprised in this way, it will become possible to prevent that a battery engaging part rotates excessively in an unclamped state.
  • the battery replacement robot of the present invention can appropriately replace the battery mounted on the vehicle even if the battery is not mounted on the vehicle with high accuracy.
  • FIG. 1 is a perspective view of a battery exchange system in which a battery exchange robot according to an embodiment of the present invention is used. It is a perspective view which shows the E section of FIG. 1 from another angle. It is an enlarged view of the F section of FIG. It is a front view which shows the state in which the battery was accommodated in the battery accommodating part shown in FIG. It is an enlarged view of the G section of FIG. It is a figure which shows the battery insertion / extraction mechanism and lifting mechanism shown in FIG. 2 from the front. It is a figure which shows a battery insertion / extraction mechanism and a raising / lowering mechanism from the HH direction of FIG. It is a figure for demonstrating the battery mounting mechanism shown in FIG. 6 from the front.
  • FIG. 20 It is an enlarged view of the L section of FIG. It is a figure for demonstrating the battery moving mechanism shown in FIG. 6 from an upper surface.
  • (A) is an enlarged view of the M portion in FIG. 19, and (B) is an enlarged view of the N portion in FIG. 19. It is a figure which shows a part of battery engaging part, a holding member, and a clamp mechanism from the OO direction of FIG. 20 (A).
  • (A) is a cross-sectional view taken along the line SS of FIG. 21, and (B) is an enlarged view of a T portion in (A) when the clamp mechanism is in an unclamped state. It is a figure for demonstrating the raising / lowering mechanism shown in FIG. 6 from an upper surface.
  • FIGS. 7A and 7B are diagrams for explaining the configuration of the first coupling mechanism shown in FIG. 6.
  • FIG. 7A is a diagram for explaining the first coupling mechanism from the front, and FIG. It is a figure for demonstrating 1 connection mechanism.
  • FIGS. 7A and 7B are diagrams for explaining the configuration of the second coupling mechanism shown in FIG. 6.
  • FIG. 7A is a diagram for explaining the second coupling mechanism from the front, and FIG. It is a figure for demonstrating 2 connection mechanisms. It is a figure for demonstrating a state when the holding member shown in FIG. 6 is inclined from the front. It is a figure for demonstrating the rotation mechanism and horizontal movement mechanism which are shown in FIG. 2 from the front. It is a figure for demonstrating the rotation mechanism and horizontal movement mechanism which are shown in FIG.
  • FIG. 2 It is a figure for demonstrating a rotation mechanism and a horizontal movement mechanism from the RR direction of FIG. (A) is an enlarged view of a U portion in FIG. 28, and (B) is an enlarged view of a V portion in FIG. 28. It is a figure for demonstrating the detection method of the approximate position of the battery by the detection mechanism shown in FIG. It is a figure for demonstrating the detection method of the position of the battery by the detection mechanism shown in FIG. It is a figure for demonstrating the attachment method of the detection mechanism concerning other embodiment of this invention. It is a figure for demonstrating the effect when a detection mechanism is attached with the attachment method shown in FIG. (A) is a figure for demonstrating from the front the detection mark concerning other embodiment of this invention, (B) is sectional drawing of the WW cross section of (A).
  • FIG. 1 is a perspective view of a battery exchange system 1 in which a battery exchange robot 5 according to an embodiment of the present invention is used.
  • FIG. 2 is a perspective view showing the E portion of FIG. 1 from another angle.
  • each of the three directions orthogonal to each other is defined as an X direction, a Y direction, and a Z direction.
  • the Z direction coincides with the vertical direction (vertical direction).
  • the X direction is the front-rear direction and the Y direction is the left-right direction.
  • the battery exchange robot 5 (hereinafter referred to as “robot 5”) of this embodiment is a robot for exchanging the battery 3 mounted on the vehicle 2, and is used in the battery exchange system 1.
  • the vehicle 2 of this embodiment is an electric bus. Therefore, hereinafter, the vehicle 2 is referred to as “bus 2”.
  • a battery housing portion 4 in which a plurality of batteries 3 are housed is attached to the bus 2.
  • the battery accommodating portion 4 is arranged so as to be exposed to the side surface 2a when a cover member (not shown) attached to one side surface 2a of the bus 2 is removed. Further, the battery accommodating portion 4 is disposed below the seat of the bus 2. When the battery 3 is replaced, the bus 2 is stopped so that the traveling direction thereof substantially coincides with the left-right direction.
  • the robot 5 faces the side surface 2a of the bus 2 in the front-rear direction so that the battery 3 housed in the battery housing portion 4 can be replaced.
  • the robot 5 pulls out the battery 3 housed in the battery housing portion 4 and carries it into a buffer station (not shown), and unloads the charged battery 3 housed in the buffer station from the buffer station. Insert into the housing 4.
  • FIG. 3 is an enlarged view of a portion F in FIG.
  • FIG. 4 is a front view showing a state in which the battery 3 is accommodated in the battery accommodating portion 4 shown in FIG.
  • FIG. 5 is an enlarged view of a portion G in FIG.
  • the battery housing part 4 includes a battery cradle 6 on which the battery 3 is mounted and left and right side walls 7, and the battery cradle 6 and the side walls 7 form a housing space for the battery 3.
  • the battery accommodating portion 4 of the present embodiment accommodating spaces for a plurality of batteries 3 are formed, and a plurality of batteries 3 can be accommodated.
  • the battery accommodating part 4 is arrange
  • a detection mark 8 for indirectly detecting the position of the battery 3 is formed on the front surface of the battery stand 6.
  • the detection mark 8 is formed on each of both ends in the left-right direction of the battery mount 6. Further, as shown in FIG. 3, the detection mark 8 is formed in a flat plate shape that protrudes from the front surface of the battery mount 6, and is formed in a substantially triangular shape whose width changes in the vertical direction.
  • the detection mark 8 is fixed to the flat plate member 9, and the flat plate member 9 is fixed to the front surface of the battery table 6, whereby the front surface of the battery table 6.
  • a detection mark 8 is formed on the surface.
  • a handle portion 11 for pulling out the battery 3 from the battery housing portion 4 is formed on the front surface of the battery 3.
  • the handle portion 11 is formed on each of the left and right ends of the front surface of the battery 3.
  • the handle portion 11 is composed of both end portions 11 a that form the left and right ends of the handle portion 11, and a front end portion 11 b that connects the ends of the both end portions 11 a, and is viewed from above and below. Is formed in a gate shape.
  • a protrusion 12 as an engagement protrusion that engages with a guide groove 32a formed on a roller 32 described later is formed so as to protrude downward (see FIG. 5).
  • the battery 3 includes a fixing member 13 (see FIG. 4) for fixing the battery 3 to the battery housing portion 4 and a release member 14 (see FIG. 3) for releasing the fixed state of the battery 3 with respect to the battery housing portion 4. ).
  • the fixing member 13 is attached to the battery 3 so as to protrude from the left and right side surfaces of the battery 3.
  • the fixing member 13 is attached to the front side of the battery 3.
  • the fixing member 13 is held by the battery 3 so as to be movable in the left-right direction.
  • the fixing member 13 is urged outward in the left-right direction by an urging member (not shown).
  • the urging force of the urging member causes the right and left outer end portions of the fixing member 13 to engage with the engagement holes formed in the side wall 7 of the battery housing portion 4, so that the battery housing portion 4 is brought into contact with the battery housing portion 4. 3 is fixed.
  • the fixing member 13 functions to position the battery 3 in the front-rear direction and the up-down direction in the battery housing portion 4.
  • the release member 14 is disposed on the back side of the front end portion 11 b of the handle portion 11.
  • the release member 14 is held by the battery 3 so as to be movable in the front-rear direction.
  • the release member 14 is urged toward the front side of the battery 3 by an urging member (not shown).
  • an urging member not shown.
  • the fixing member 13 moves inward in the left-right direction, and the engagement hole formed in the side wall 7 of the battery housing portion 4 engages with the fixing member 13. The state is released, and the battery 3 can be pulled out from the battery housing 4.
  • a connector connected to a connector disposed at the back of the battery housing 4 is attached to the back surface of the battery 3.
  • a positioning pin for positioning the battery 3 in the up / down / left / right directions in the battery housing 4 is attached to the back surface of the battery 3.
  • the robot 5 includes a battery insertion / removal mechanism 17 that pulls out the battery 3 from the bus 2 and inserts the battery 3 into the bus 2, a lifting mechanism 18 that lifts and lowers the battery insertion / removal mechanism 17, A rotation mechanism 19 for rotating the battery insertion / removal mechanism 17 and the lifting mechanism 18 with the vertical direction as an axial direction, and a horizontal movement mechanism 20 for moving the battery insertion / removal mechanism 17, the lifting mechanism 18 and the rotation mechanism 19 in the left-right direction; It has. Further, the robot 5 includes a detection mechanism 21 for detecting the detection mark 8 (see FIG. 10).
  • the battery insertion / removal mechanism 17 includes a battery mounting mechanism 23 having a battery mounting portion 22 on which the battery 3 is mounted when the battery 3 is pulled out and inserted, and a battery mounting mechanism that is engaged with the battery 3 when the battery 3 is pulled out and inserted. And a battery moving mechanism 25 having a battery engaging portion 24 (see FIG. 6) for moving the battery 3 on the portion 22.
  • the battery mounting portion 22 and the battery engaging portion 24 are movable in a direction approaching the bus 2 and a direction away from the bus 2.
  • the battery insertion / removal mechanism 17 is held by a holding member 26 formed in a substantially rectangular tube shape.
  • the holding member 26 includes a first holding member 27 constituting the lower end side thereof and a second holding member 28 constituting the upper end side thereof.
  • the first holding member 27 is formed in a rectangular groove shape that opens on the upper side
  • the second holding member 28 is formed in a rectangular groove shape that opens on the lower side.
  • the holding member 26 is a substantially square in which both ends of the battery mounting portion 22 and the battery engaging portion 24 in the moving direction are opened by the first holding member 27 and the second holding member 28 being combined and fixed in the vertical direction. It is formed in a cylindrical shape.
  • FIG. 6 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 shown in FIG. 2 from the front.
  • FIG. 7 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 from the HH direction of FIG.
  • FIG. 8 is a view for explaining the battery mounting mechanism 23 shown in FIG. 6 from the front.
  • FIG. 9 is a view for explaining the battery mounting mechanism 23 shown in FIG. 6 from the side.
  • FIG. 10 is a view for explaining the battery mounting mechanism 23 shown in FIG. 6 from above.
  • FIG. 11 is an enlarged cross-sectional view of the roller 32 shown in FIG.
  • the battery mounting mechanism 23 includes a mounting unit moving mechanism 30 that moves the battery mounting unit 22 in a direction approaching the bus 2 and a direction away from the bus 2 in addition to the battery mounting unit 22 described above.
  • 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.
  • 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 roller 31 and the roller 32 are arranged with a predetermined interval in a direction orthogonal to the moving direction of the battery mounting portion 22.
  • the roller 31 is a flat roller.
  • the roller 32 is formed with a guide groove 32 a for guiding the battery 3 in the moving direction of the battery 3. That is, the roller 32 is a grooved roller in which a guide groove 32a that is recessed toward the inner peripheral side is formed on the outer peripheral surface.
  • the guide groove 32a is formed so that the protrusion 12 formed on the lower surface of the battery 3 can be engaged.
  • the guide groove 32a The protrusion 12 is engaged.
  • the protrusion 12 is engaged with the guide groove 32 a
  • the battery 3 is positioned with respect to the battery mounting portion 22 in a direction orthogonal to the moving direction of the battery mounting portion 22.
  • the guide groove 32 a and the protrusion 12 suppress the wobbling of the battery 3 in the direction orthogonal to the moving direction of the battery mounting portion 22.
  • the mounting unit moving mechanism 30 includes a motor 33, a screw member 34 such as a ball screw, and a nut member 35 that is screwed into the screw member 34 as a configuration for moving the battery mounting unit 22. Further, the mounting unit moving mechanism 30 is configured to guide the battery mounting unit 22, and is linearly formed, and engages with the guide rail 36 and is relatively movable along the guide rail 36. A guide block 37 is provided.
  • the motor 33 is fixed to the upper surface side of the rear end portion of the battery mounting portion 22.
  • the screw member 34 is rotatably held on the lower surface side of the battery mounting portion 22.
  • the motor 33 and the screw member 34 are connected via a pulley, a belt, or the like.
  • the nut member 35 is fixed to the first holding member 27.
  • the guide rail 36 is fixed to the lower surface side of the battery mounting portion 22, and the guide block 37 is fixed to the first holding member 27. Therefore, in this embodiment, when the motor 33 rotates, the battery mounting portion 22 is guided by the guide rail 36 and the guide block 37 and moves linearly with respect to the first holding member 27.
  • FIG. 12 is a view for explaining the battery moving mechanism 25 shown in FIG. 6 from the front.
  • FIG. 13 is a view for explaining the battery moving mechanism 25 shown in FIG. 6 from the side.
  • FIG. 14 is a view for explaining the state when the battery engaging portion 24 shown in FIG. 13 moves away from the bus 2 from the side.
  • FIG. 15 is an enlarged view of a portion J in FIG.
  • FIG. 16 is a diagram for explaining the configuration of the engaging claw portion 41 shown in FIG. 15.
  • FIG. 17 is an enlarged view of a portion K in FIG.
  • FIG. 18 is an enlarged view of a portion L in FIG.
  • FIG. 19 is a view for explaining the battery moving mechanism 25 shown in FIG. 6 from above.
  • FIG. 20A is an enlarged view of a portion M in FIG. 19, and FIG. 20B is an enlarged view of a portion N in FIG.
  • FIG. 21 is a view showing a part of the battery engaging portion 24, the holding member 115, and the clamp mechanism 116 from the OO direction of FIG. 22A is a cross-sectional view taken along the line SS of FIG. 21, and FIG. 22B is an enlarged view of the T portion in FIG. 22A when the clamp mechanism 116 is in an unclamped state.
  • FIG. 21 is a view showing a part of the battery engaging portion 24, the holding member 115, and the clamp mechanism 116 from the OO direction of FIG. 22A is a cross-sectional view taken along the line SS of FIG. 21, and FIG. 22B is an enlarged view of the T portion in FIG. 22A when the clamp mechanism 116 is in an unclamped state.
  • FIG. 22B is an enlarged view of the T portion in FIG. 22A when the clamp mechanism 116 is in an unclamped state.
  • the battery moving mechanism 25 is a holding member that holds the battery engaging portion 24 so that the battery engaging portion 24 can be rotated with the vertical direction as the axis of rotation. 115, an engaging portion moving mechanism 39 that moves the battery engaging portion 24 and the holding member 115 in a direction approaching the bus 2 and a direction away from the bus 2, and the battery engaging portion 24 and the holding member 115 are movably held. In addition, a movable holding member 40 movably held by the second holding member 28 is provided. Further, the battery moving mechanism 25 includes a clamp mechanism 116 that stops the rotation of the battery engaging portion 24 with respect to the holding member 115.
  • the battery engaging portion 24 includes a hook-shaped engaging claw portion 41 that engages with the handle portion 11 of the battery 3, an air cylinder 42 that moves the engaging claw portion 41 up and down, and a base portion 43 to which the air cylinder 42 is attached. It has.
  • the base 43 is elongated in a direction substantially orthogonal to the moving direction of the battery engaging portion 24 and the vertical direction.
  • the engaging claw portion 41 is fixed to the movable side of the air cylinder 42, and the fixed side of the air cylinder 42 is fixed to the distal end surface of the base portion 43.
  • the two engaging claws 41 and the two air cylinders 42 of the base 43 are arranged so that the engaging claws 41 are engaged with the two handles 11 formed on the battery 3. It arrange
  • the engaging claw portion 41 includes a fixing portion 41 a that is fixed to the air cylinder 42 and a claw portion 41 b that engages with the handle portion 11.
  • the front surface 41c of the claw portion 41b includes a vertical surface 41d that is parallel to the vertical direction, and an inclined surface 41e that is connected to the lower end of the vertical surface 41d and is inclined rearward as it goes downward.
  • the rear surface 41f of the claw portion 41b is connected to the vertical surface 41g parallel to the vertical direction, the inclined surface 41h that is connected to the lower end of the vertical surface 41g and is inclined downward toward the front side, and the lower end of the inclined surface 41h.
  • a vertical surface 41j that is connected and parallel to the vertical direction.
  • the vertical surface 41d, the vertical surface 41g, and the vertical surface 41j are substantially parallel to each other.
  • the lower end of the inclined surface 41e and the lower end of the vertical surface 41j are connected.
  • the upper end of the inclined surface 41e and the upper end of the vertical surface 41j are formed at substantially the same position in the vertical direction.
  • the claw portion 41 b enters from the upper side between the front end portion 11 b of the handle portion 11 and the front surface of the battery 3 and engages with the handle portion 11.
  • the inclined surface 41 e of the claw portion 41 b is formed on the side wall 7 of the battery housing portion 4 by pushing the release member 14 as shown in FIG.
  • the engagement state between the engagement hole and the fixing member 13 is released. Therefore, when the claw portion 41 b is engaged with the handle portion 11, the battery 3 can be pulled out and inserted by the battery pulling mechanism 17.
  • the vertical surface 41d abuts on the release member 14, and the vertical surface 41g is the front end portion.
  • a claw portion 41b is formed so as to come into contact with 11b.
  • the vertical surface 41d is prevented from causing rattling of the claw portion 41b between the release member 14 and the front end portion 11b.
  • the vertical surface 41g is set to a distance t (that is, a thickness t on the upper end side of the claw portion 41b in the moving direction of the battery engaging portion 24).
  • the gap is formed so that a gap is formed between the front end portion 11b and the vertical surface 41j.
  • a surface 41e and a vertical surface 41j are formed.
  • the inclined surface 41h functions to gradually reduce the rattling of the claw portion 41b between the release member 14 and the front end portion 11b.
  • the moving 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 holding member 115 is formed in a substantially rectangular parallelepiped block shape.
  • the holding member 115 is fixed to one end of the moving holding member 40 in the moving direction of the battery engaging portion 24.
  • a shaft member 117 serving as a rotation center of the battery engaging portion 24 is fixed to the holding member 115 with the vertical direction as the axial direction.
  • the holding member 115 is formed with a holding portion 115 a that holds an engagement member 123 described later that constitutes the clamp mechanism 116.
  • the holding part 115 a is formed so as to protrude in one direction substantially orthogonal to the moving direction of the battery engaging part 24 and the vertical direction. Further, the holding portion 115 a is disposed on the upper side of the base portion 43.
  • the shaft member 117 is disposed on the inner peripheral side of the bearing 118 attached to the base portion 43.
  • the bearing 118 of this embodiment is a tapered roller bearing, and an inner ring of the bearing 118 is fixed to the outer peripheral surface of the shaft member 117, and an outer ring of the bearing 118 is fixed to a mounting hole formed in the base portion 43.
  • the bearing 118 is attached to the center position of the base portion 43 in a direction substantially orthogonal to the moving direction of the battery engaging portion 24 and the vertical direction.
  • the clamp mechanism 116 supports the air cylinder 119 as a drive source attached to the base 43, the shaft member 121 connected to the rod of the air cylinder 119 via the floating joint 120, and the lower end side of the shaft member 121 movably.
  • the air cylinder 119 is fixed to the base 43 so that the rod protrudes upward. Further, the air cylinder 119 is attached at a position shifted from the center of the base portion 43 in a direction substantially orthogonal to the moving direction of the battery engaging portion 24 and the vertical direction.
  • the shaft member 121 includes a substantially cylindrical large-diameter shaft portion 121a and a substantially cylindrical small-diameter shaft portion 121b having an outer diameter smaller than that of the large-diameter shaft portion 121a.
  • the large-diameter shaft portion 121a is on the lower side. It is attached to the upper end side of the floating joint 120 so that the small diameter shaft portion 121b is arranged on the upper side.
  • the support member 122 is a sliding bearing formed in a substantially cylindrical shape with a flange, and is fixed to the base portion 43. Further, the support member 122 is disposed on the upper side of the air cylinder 119.
  • the inner diameter of the support member 122 is substantially equal to the outer diameter of the large-diameter shaft portion 121a of the shaft member 121.
  • the large-diameter shaft portion 121 a is disposed on the inner peripheral side of the support member 122 and can move in the vertical direction along the inner peripheral surface of the support member 122.
  • the engaging member 123 is a sliding bearing formed in a substantially cylindrical shape with a flange.
  • the engaging member 123 is fixed to the holding portion 115 a of the holding member 115, and is disposed at a position shifted from the shaft member 117 serving as the rotation center of the battery engaging portion 24.
  • the engagement hole 123a formed on the inner peripheral side of the engagement member 123 includes a small diameter portion 123b, a medium diameter portion 123c having a larger inner diameter than the small diameter portion 123b, and a large diameter portion 123d having a larger inner diameter than the medium diameter portion 123c. And is composed of.
  • the engaging member 123 is fixed to the holding portion 115a so that the small diameter portion 123b, the medium diameter portion 123c, and the large diameter portion 123d are arranged in this order from the lower side. Further, the engaging member 123 is disposed on the upper side of the support member 122 so that the axial center thereof substantially coincides with the axial center of the support member 122.
  • the inner diameter of the small diameter portion 123b is substantially equal to the outer diameter of the large diameter shaft portion 121a of the shaft member 121.
  • An elastic member 124 formed of an elastic material such as rubber or sponge is attached to the large diameter portion 123d.
  • the elastic member 124 of this embodiment is made of urethane rubber.
  • the elastic member 124 is formed in a flat cylindrical shape.
  • the inner diameter of the elastic member 124 is substantially equal to the outer diameter of the small-diameter shaft portion 121b of the shaft member 121.
  • the upper end side of the small diameter portion 121b protrudes above the elastic member 124, and the lower end side of the small diameter shaft portion 121b is disposed on the inner peripheral side of the medium diameter portion 123c and the inner peripheral side of the elastic member 124. ing.
  • the large-diameter shaft portion 121a is detached from the inner peripheral side of the small-diameter portion 123b, and the small-diameter shaft portion 121b is connected to the inner periphery of the small-diameter portion 123b.
  • the inner diameter side of the middle diameter portion 123c and the inner circumference side of the elastic member 124 is formed between the inner peripheral surface of the small diameter portion 123b and the outer peripheral surface of the small diameter shaft portion 121b, and the elastic member 124 is formed of an elastic material.
  • the engaging portion 24 can be turned.
  • the rod of the air cylinder 119 is retracted, the large diameter shaft portion 121a is detached from the inner peripheral side of the small diameter portion 123b, the inner peripheral side of the small diameter portion 123b, the inner peripheral side of the medium diameter portion 123c, and the elasticity.
  • the clamp mechanism 116 is in an unclamped state in which the battery engaging portion 24 can rotate with respect to the holding member 115.
  • the inner diameter of the elastic member 124 is substantially equal to the outer diameter of the small-diameter shaft portion 121b, and when the clamp mechanism 116 is in an unclamped state, within the range of elastic deformation of the elastic member 124, The battery engaging portion 24 can be rotated with respect to the holding member 115.
  • the clamp mechanism 116 is normally in a clamped state.
  • the engaging claw portion 41 is lowered and engaged with the handle portion 11 of the battery 3, and when the battery engaging portion 24 moves the battery 3 on the battery mounting portion 22, The clamp mechanism 116 is in an unclamped state.
  • the engaging portion moving mechanism 39 is configured to move the battery engaging portion 24, the moving holding member 40, and the holding member 115, and includes a motor 44, a screw member 45 such as a ball screw, and a nut that is screwed into the screw member 45. A member 46, pulleys 47 and 48, and a belt 49 spanning the pulleys 47 and 48 are provided.
  • the engaging portion moving mechanism 39 is configured to guide the battery engaging portion 24, the movement holding member 40 and the holding member 115, and engages with the guide rail 50 formed in a linear shape and the guide rail 50.
  • a guide block 51 that is relatively movable along the guide rail 50 and as a configuration for guiding the battery engaging portion 24 and the holding member 115, the guide rail 52 formed in a linear shape, and the guide rail 52
  • a guide block 53 that engages and is relatively movable along the guide rail 52 is provided.
  • the motor 44 is fixed to the upper surface of the rear end portion of the second holding member 28.
  • the screw member 45 is rotatably held on the upper surface portion of the second holding member 28.
  • the motor 44 and the screw member 45 are connected via a pulley, a belt, or the like.
  • the nut member 46 is fixed to the rear end portion of the movement holding member 40.
  • the pulley 47 is rotatably held at the rear end portion of the movement holding member 40, and the pulley 48 is rotatably held at the front end portion of the movement holding member 40.
  • the belt 49 is fixed to the holding member 115 via the belt fixing member 54 and the like, and is fixed to the upper surface portion of the second holding member 28 via the belt fixing member 55.
  • the movable holding member 40 protrudes from the second holding member 28 and the belt fixing member 55 is disposed in the vicinity of the pulley 47 as shown in FIG. 17, the pulley as shown in FIG.
  • the belt fixing member 54 is disposed in the vicinity of 48, and the movable holding member 40 is accommodated in the second holding member 28, and the belt fixing member 55 is disposed in the vicinity of the pulley 48 as shown in FIG.
  • the belt 49 is fixed to the holding member 115 and the second holding member 28 via the belt fixing members 54 and 55 so that the belt fixing member 54 is disposed in the vicinity of the pulley 47.
  • the guide rail 50 is fixed to the upper surface portion of the second holding member 28, and the guide block 51 is fixed to the upper surface of the movable holding member 40.
  • the guide rail 52 is fixed to the lower surface of the movable holding member 40, and the guide block 53 is fixed to the upper end side of the holding member 115.
  • the moving holding member 40 when the motor 44 is rotated, the moving holding member 40 is guided to the guide rail 50 and the guide block 51 together with the battery engaging portion 24 and the holding member 115 by the screw member 45 and the nut member 46, and the second holding. It moves linearly with respect to the member 28.
  • the motor 44 rotates, the battery engaging portion 24 and the holding member 115 are guided by the guide rail 52 and the guide block 53 by the pulleys 47 and 48 and the belt 49, and linearly move with respect to the moving holding member 40. Move relative.
  • the battery engaging portion 24 moves away from the bus 2 to move the battery 3 on the battery mounting portion 22.
  • the clamp mechanism 116 is in an unclamped state.
  • the battery engaging portion 24 moves by a predetermined amount and the battery 3 is mounted on the battery mounting portion 22, the battery mounting portion 22 and the battery engaging portion 24 thereafter move away from the bus 2 while being synchronized. .
  • the engaging claw portion 41 is lifted and detached from the handle portion 11, the extraction of the battery 3 from the bus 2 is completed.
  • the clamp mechanism 116 is in a clamped state.
  • the battery mounting portion 22 and the battery engagement portion 24 move in a direction approaching the bus 2 while being synchronized. Thereafter, the battery mounting portion 22 stops and the battery engaging portion 24 moves in a direction approaching the bus 2 to insert the battery 3 into the bus 2.
  • the clamp mechanism 116 switches from the clamped state to the unclamped state, and the insertion of the battery 3 into the bus 2 is finished.
  • the clamp mechanism 116 switches from the unclamped state to the clamped state. That is, when the battery engaging portion 24 moves the battery 3 on the battery mounting portion 22, the clamp mechanism 116 is in an unclamped state. Thereafter, the engaging claw portion 41 is raised, the battery mounting portion 22 and the battery engaging portion 24 are moved away from the bus 2, and the insertion of the battery 3 into the bus 2 is completed.
  • the first holding member 27 is fixed with a positioning member 56 for positioning and fixing the battery 3 pulled out from the bus 2.
  • the positioning member 56 is formed with an engaging recess 56 a with which the fixing member 13 is engaged.
  • FIG. 23 is a view for explaining the elevating mechanism 18 shown in FIG. 6 from above.
  • FIG. 24 is a diagram for explaining the configuration of the first coupling mechanism 61 shown in FIG. 6, (A) is a diagram for explaining the first coupling mechanism 61 from the front, and (B) is a diagram of (A). It is a figure for demonstrating the 1st connection mechanism 61 from PP direction.
  • FIG. 25 is a diagram for explaining the configuration of the second coupling mechanism 62 shown in FIG. 6, (A) is a diagram for explaining the second coupling mechanism 62 from the front, and (B) is a diagram of (A). It is a figure for demonstrating the 2nd connection mechanism 62 from QQ direction.
  • FIG. 26 is a diagram for explaining a state when the holding member 26 shown in FIG. 6 is tilted from the front.
  • the elevating mechanism 18 is disposed on each of both ends of a direction perpendicular to the moving direction of the battery mounting portion 22 and the battery engaging portion 24 and the vertical direction (hereinafter, this direction is referred to as “first direction”).
  • first direction A first lifting mechanism 59 and a second lifting mechanism 60 are provided.
  • the first elevating mechanism 59 is connected to one end side of the first holding member 27 in the first direction by the first connecting mechanism 61.
  • the second elevating mechanism 60 is connected to the other end side of the first holding member 27 in the first direction by the second connecting mechanism 62.
  • the first elevating mechanism 59 and the second elevating mechanism 60 can be 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.
  • the columnar member 64 is formed in a column shape elongated in the vertical direction. As shown in FIG. 6, the upper end of the columnar member 64 constituting the first elevating mechanism 59 and the upper end of the columnar member 64 constituting the second elevating mechanism 60 are connected by a connecting member 66, and two pieces The columnar member 64 and the connecting member 66 constitute a portal frame.
  • the elevating drive mechanism 65 includes a motor 67, a screw member 68 such as a ball screw, and a nut member 69 screwed to the screw member 68 as a configuration for elevating the elevating member 63.
  • the elevating drive mechanism 65 is configured to guide the elevating member 63 as a guide rail 70 formed in a linear shape, and a guide block that engages with the guide rail 70 and is relatively movable along the guide rail 70. 71.
  • the motor 67 is fixed to the upper end side of the columnar member 64.
  • the screw member 68 is rotatably held by the columnar member 64.
  • the motor 67 and the screw member 68 are connected via a coupling 72 (see FIG. 7).
  • the nut member 69 is fixed to the elevating member 63.
  • the guide rail 70 is fixed to the side surface of the columnar member 64. Specifically, the guide rails 70 are fixed to both side surfaces of the columnar member 64 in the moving direction of the battery mounting portion 22 and the battery engaging portion 24.
  • 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 is inserted into the substantially cylindrical tubular member 73 fixed to one end side of the first holding member 27 in the first direction, and the inner peripheral side of the tubular member 73.
  • a shaft holding member 75 that is fixed to the lifting member 63 constituting the first lifting mechanism 59 and holds both end sides of the shaft member 74.
  • the shaft member 74 is held by the shaft holding member 75 with the moving direction of the battery mounting portion 22 and the battery engaging portion 24 as the axial direction.
  • the inner peripheral surface of the cylindrical member 73 is a cylindrical surface, and the shaft member 74 is formed in an elongated columnar shape.
  • a tapered roller bearing 76 is disposed between the inner peripheral surface of the cylindrical member 73 and the outer peripheral surface of the shaft member 74.
  • the cylindrical member 73 is rotatable relative to the shaft member 74, and the holding member 26 is rotatable relative to the lifting member 63 of the first lifting mechanism 59 around the shaft member 74. Yes.
  • the second coupling mechanism 62 includes a shaft holding member 77 fixed to the other end side in the first direction of the first holding member 27, and a shaft member whose both end sides are held by the shaft holding member 77. 78, a shaft holding member 79 fixed to the lifting member 63 constituting the second lifting mechanism 60, a shaft member 80 whose both ends are held by the shaft holding member 79, and the shaft member 78 and the shaft member 80, respectively. And a link member 81 in which two insertion holes 81a are formed.
  • the shaft member 78 is held by the shaft holding member 77 with the moving direction of the battery mounting portion 22 and the battery engaging portion 24 as the axial direction, and the shaft member 80 has the moving direction of the battery mounting portion 22 and the battery engaging portion 24 as the axis. It is held by the shaft holding member 79 as a direction. Moreover, the shaft members 78 and 80 are arrange
  • the inner peripheral surface of the insertion hole 81a is a cylindrical surface, and the shaft members 78 and 80 are formed in an elongated columnar shape.
  • a tapered roller bearing 82 is disposed between the inner peripheral surface of the insertion hole 81 a and the outer peripheral surfaces of the shaft members 78 and 80.
  • the link member 81 is rotatable relative to each of the shaft members 78, 80, and the relative rotation of the link member 81 around the shaft member 80 with respect to the lifting member 63 of the second lifting mechanism 60, The relative rotation of the link member 81 about the shaft member 78 with respect to the holding member 26 is possible. Therefore, relative rotation of the holding member 26 with respect to the lifting member 63 of the second lifting mechanism 60 and relative movement in the first direction are possible.
  • the holding member 26 is parallel to the horizontal direction. Go up and down while maintaining the state.
  • the motor 67 rotates so that the moving amount of the lifting member 63 of the first lifting mechanism 59 is equal to the moving amount of the lifting member 63 of the second lifting mechanism 60
  • the holding member 26 is parallel to the horizontal direction. Go up and down while maintaining the state.
  • the motor 67 rotates so that the amount of movement differs, the holding member 26 tilts with respect to the horizontal direction, for example, as shown in FIG.
  • FIG. 27 is a view for explaining the rotation mechanism 19 and the horizontal movement mechanism 20 shown in FIG. 2 from the front.
  • FIG. 28 is a view for explaining the rotation mechanism 19 and the horizontal movement mechanism 20 shown in FIG. 2 from above.
  • FIG. 29 is a view for explaining the rotation mechanism 19 and the horizontal movement mechanism 20 from the RR direction of FIG. 30A is an enlarged view of a U portion in FIG. 28, and
  • FIG. 30B is an enlarged view of a V portion in FIG.
  • the rotation mechanism 19 includes a rotation member 85 that can be rotated while the battery insertion / removal mechanism 17 and the elevating mechanism 18 are mounted, and a rotation drive mechanism 86 that rotates the rotation member 85.
  • the horizontal movement mechanism 20 includes a slide member 87 on which the battery insertion / removal mechanism 17, the elevating mechanism 18, and the rotation mechanism 19 are mounted and movable in the left-right direction, and a horizontal drive mechanism 88 that moves the slide member 87. Yes.
  • Rotating member 85 is formed in a substantially disc shape.
  • the slide member 87 is formed in a substantially rectangular plate shape whose longitudinal direction is the left-right direction.
  • the width of the slide member 87 in the left-right direction is larger than the diameter of the rotating member 85, and the width of the slide member 87 in the front-rear direction is smaller than the diameter of the rotating member 85.
  • Rotating member 85 is disposed on the upper side of slide member 87.
  • the turning member 85 can turn around the center of curvature.
  • the lower ends of the columnar members 64 are fixed to both ends of the upper surface of the rotating member 85 in the first direction orthogonal to the moving direction of the battery mounting portion 22 and the battery engaging portion 24.
  • the rotation drive mechanism 86 includes a motor 90, pulleys 91 and 92, and a belt 93 as a configuration for rotating the rotation member 85.
  • the rotation drive mechanism 86 is configured to guide the rotation member 85 in the rotation direction, and engages with the guide rail 94 and the guide rail 94 and is capable of relatively moving along the guide rail 94.
  • a guide block 95 is provided.
  • the motor 90 and the pulleys 91 and 92 are disposed on the radially outer side of the rotating member 85 in the left-right direction.
  • the motor 90 is fixed to the upper surface side of the slide member 87 so that its output shaft faces downward.
  • a reduction gear is attached to the output shaft of the motor 90, and a pulley 91 is fixed to the reduction gear.
  • the pulley 91 is a toothed pulley having teeth formed on the outer peripheral surface.
  • a pulley 92 is disposed on each of the front side and the rear side of the pulley 91.
  • the pulley 92 is disposed on the upper surface side of the slide member 87 and is rotatably supported by the slide member 87.
  • the belt 93 is a toothed belt having teeth formed on one surface.
  • the belt 93 is stretched over the pulleys 91 and 92 and the outer peripheral surface of the rotating member 85.
  • one surface on which the teeth of the belt 93 are formed contacts the outer peripheral surface of the pulley 91, and the other surface on which the teeth of the belt 93 are not formed contacts the outer peripheral surfaces of the pulley 92 and the rotating member 85.
  • a belt 93 is bridged between the pulleys 91 and 92 and the outer peripheral surface of the rotating member 85 so as to be in contact with each other.
  • the pulley 92 is a tension pulley for applying tension to the belt 93.
  • the rotation range of the rotation member 85 of this embodiment is about 180 °. Therefore, the belt 93 has a portion that is always in contact with the outer peripheral surface of the rotating member 85. In this embodiment, a part of the belt 93 that is always in contact with the outer peripheral surface of the rotating member 85 is fixed to the outer peripheral surface of the rotating member 85. In this embodiment, when the robot 5 rotates 180 ° with respect to the position where the battery 3 is pulled out or inserted into the bus 2, the battery 3 can be carried into and out of the buffer station.
  • the guide rail 94 is formed in an annular shape and is fixed to the upper surface of the slide member 87. Specifically, when viewed from above and below, the guide rail 94 is positioned on the upper surface of the slide member 87 so that the center of curvature of the guide rail 94 formed in an annular shape and the center of curvature of the rotation member 85 substantially coincide with each other. It is fixed to.
  • the guide block 95 is fixed to the lower surface side of the rotating member 85.
  • the plurality of guide blocks 95 are arranged in an annular shape centering on the center of curvature of the rotating member 85.
  • the plurality of guide blocks 95 are arranged at an equiangular pitch with the center of curvature of the rotation member 85 as the center.
  • the rotation member 85 when the motor 90 rotates, the rotation member 85 is guided by the guide rail 94 and the guide block 95 and rotates with respect to the slide member 87. When the motor 90 rotates, the rotating member 85 rotates about the center of curvature.
  • the horizontal drive mechanism 88 includes a motor 97, pulleys 98 and 99, and a belt 100 as a configuration for moving the slide member 87. Further, the horizontal drive mechanism 88 is configured to guide the slide member 87 in the left-right direction, and is engaged with the two guide rails 101 formed in a straight line, the guide rails 101 and along the guide rails 101. And a plurality of relatively movable guide blocks 102.
  • the two guide rails 101 are arranged at a predetermined interval in the front-rear direction. Moreover, the guide rail 101 is being fixed to the upper surface of the several support member 103 (refer FIG. 1) arrange
  • the guide block 102 is fixed to the lower surface of the slide member 87. Specifically, two fixing members 104 are fixed to the lower surface of the slide member 87 with a predetermined interval in the front-rear direction, and a plurality of guide blocks 102 are fixed to each lower surface of the fixing member 104. Is fixed.
  • the fixing member 104 is formed in a block shape elongated in the left-right direction. The plurality of guide blocks 102 are fixed to the lower surface of the fixing member 104 at a constant pitch in the left-right direction.
  • the motor 97 and the pulleys 98 and 99 are arranged on the outer side in the radial direction of the rotating member 85 in the left-right direction and on the opposite side of the motor 90 and the pulleys 91 and 92 with the rotating member 85 interposed therebetween.
  • the motor 97 is fixed to the upper surface side of the slide member 87 so that its output shaft faces the front-rear direction.
  • a reduction gear is attached to the output shaft of the motor 97, and a pulley 98 is fixed to the reduction gear.
  • the pulley 98 is a toothed pulley having teeth formed on the outer peripheral surface.
  • a pulley 99 is disposed on each of the lower left side and the lower right side of the pulley 98.
  • the pulley 99 is rotatably supported by the slide member 87.
  • the belt 100 is a toothed belt having teeth formed on one surface.
  • One end of the belt 100 is fixed to the support member 103 arranged at the left end of the plurality of support members 103, and the other end of the belt 100 is fixed to the support member 103 arranged at the right end of the plurality of support members 103. It is fixed.
  • the belt 100 is stretched around pulleys 98 and 99. A part of one surface of the belt 100 on which teeth are formed is engaged with the outer peripheral surface of the pulley 98, and on the outer side of the pulley 99 in the left-right direction, one surface of the belt 100 faces downward, The other surface of the belt 100 faces upward.
  • the pulley 99 is a tension pulley for applying tension to the belt 100.
  • a brush 106 for removal is attached. Specifically, a brush 106 is attached to one end in the left-right direction of the slide member 87 via a brush holding member 107, and the brush 106 is attached to the other end in the left-right direction of the slide member 87 via a brush holding member 108. Is attached.
  • the brush 106 is held by the brush holding members 107 and 108 so that the tip of the brush contacts the other surface of the belt 100.
  • the brush 106 is placed on the other surface of the belt 100.
  • Foreign matter such as dust is swept by the brush 106 and removed.
  • the brush 106 of this embodiment is a flat brush, and is held by the brush holding members 107 and 108 so that the thickness direction thereof is slightly inclined with respect to the left-right direction as shown in FIG. Therefore, the foreign matter swept away by the brush 106 when the slide member 87 moves in the left-right direction falls from the other surface of the belt 100 to one side in the front-rear direction as the slide member 87 moves.
  • the battery replacement system 1 detects whether or not an operator has entered the movable range of the battery insertion / removal mechanism 17, the lifting / lowering mechanism 18, and the rotation mechanism 19 mounted on the slide member 87.
  • a detection mechanism (not shown) for stopping the emergency stop 97 is provided.
  • This detection mechanism is an optical sensor having a light emitting part and a light receiving part arranged so as to face each other. In this embodiment, one of the light emitting part or the light receiving part is attached to the left end side of the slide member 87, and the other of the light emitting part or the light receiving part is disposed above the support member 103 disposed at the left end of the plurality of support members 103.
  • the work is performed on the left side of the slide member 87 within the movable range in the left-right direction of the battery insertion / removal mechanism 17, the elevating mechanism 18, and the rotating mechanism 19. It is detected that a person has entered.
  • one of the light emitting part or the light receiving part is attached to the right end side of the slide member 87, and the other of the light emitting part or the light receiving part is arranged above the support member 103 arranged at the right end of the plurality of support members 103.
  • the light emitting unit includes a plurality of light emitting elements arranged in the front-rear direction
  • the light receiving unit includes a plurality of light receiving elements arranged in the front-rear direction.
  • FIG. 31 is a diagram for explaining a method of detecting the approximate position of the battery 3 by the detection mechanism 21 shown in FIG.
  • FIG. 32 is a diagram for explaining a method of detecting the position of the battery 3 by the detection mechanism 21 shown in FIG.
  • the detection mechanism 21 is a laser sensor that includes a light emitting unit that emits laser light, and a light receiving unit that receives the laser light emitted from the light emitting unit and reflected by the side surface 2a of the bus 2, the front surface of the battery mount 6, and the like. is there. As shown in FIG. 10, the detection mechanism 21 is attached to the upper surface on the front end side of the battery mounting portion 22. The detection mechanism 21 is attached to the battery mounting portion 22 so that the light emitting portion and the light receiving portion are adjacent in the horizontal direction. In the present embodiment, two detection mechanisms 21 are attached to the battery mounting portion 22 so as to correspond to the two detection marks 8 formed on the battery mount 6.
  • the detection mechanism 21 is fixed to the upper surfaces of both ends of the battery mounting portion 22 in the first direction orthogonal to the moving direction of the battery mounting portion 22 and the battery engaging portion 24.
  • two detection mechanisms 21 are fixed to the battery mounting portion 22 at the same interval as the interval between the two detection marks 8.
  • the detection mechanism 21 is turned on when a reflector that reflects the laser light emitted from the light emitting unit is within a predetermined measurement range, and is turned off when the reflector that reflects the laser light is not within the measurement range. become.
  • the detection mechanism 21 can detect the distance between the detection mechanism 21 and the reflecting object when the detection mechanism 21 is on.
  • the detection of the position of the battery 3 by the detection mechanism 21 is performed as follows, for example. First, when the bus 2 in which the battery 3 is replaced stops at a predetermined stop position, for example, the battery insertion / removal mechanism 17 stands by in front of the battery 2 in the traveling direction of the bus 2. At this time, as indicated by a solid line in FIG. 31, the front surface of the battery mounting portion 22 faces the side surface 2 a of the bus 2, and the battery mounting portion 22 is retracted away from the bus 2. At this time, for example, the battery insertion / removal mechanism 17 stands by at a position where the detection mark 8 and the detection mechanism 21 are substantially at the same height.
  • one detection mechanism 21 detects a step 2 b formed at the boundary between the battery mount 6 and the side surface 2 a.
  • the laser light emitted from the light emitting part of one detection mechanism 21 is reflected by the front surface of the battery cradle 6.
  • the detection mechanism 21 is turned on when the laser light from the light emitting portion of the detection mechanism 21 is reflected by the side surface 2a of the bus 2, the laser light from the light emitting portion of the detection mechanism 21 is The detection range of the detection mechanism 21 is set so that the detection mechanism 21 is turned off when reflected from the front surface of the battery mount 6.
  • one detection mechanism 21 passes through the step 2b, one detection mechanism 21 is turned off. That is, the step 2b is detected when one detection mechanism 21 is turned off. Further, when the step 2b is detected, the left and right ends of the battery mount 6 are detected, and when the left and right ends of the battery mount 6 are detected, the battery mount 6 is mounted on the battery mount 6. The approximate position of the battery 3 is detected.
  • the detection mechanism 21 When one detection mechanism 21 is turned off, the detection mechanism detected at any two points by one or the other detection mechanism 21 when the battery mounting portion 22 moves in the left-right direction toward the battery housing portion 4. Based on the distance between 21 and the side surface 2a of the bus 2, the inclination of the bus 2 with respect to the left-right direction when viewed from the vertical direction is detected.
  • the two detection marks 8 and the two detection mechanisms 21 face each other.
  • the mounting portion 22 further moves in the left-right direction.
  • the inclination of the battery insertion / removal mechanism 17 with respect to the left / right direction is adjusted. Specifically, the tilt of the battery insertion / removal mechanism 17 is adjusted by rotating the rotation member 85.
  • the battery mounting portion 22 advances toward the battery mount 6 until the detection mechanism 21 that receives the laser light emitted from the light emitting portion of the detection mechanism 21 and reflected by the detection mark 8 is turned on. Thereafter, as shown in FIGS. 32B and 32C, the battery mounting portion 22 moves in the left-right direction so that the laser light from the light-emitting portion of the detection mechanism 21 crosses the detection mark 8 in the left-right direction. More specifically, the battery mounting portion 22 moves in the left-right direction so that the laser beams from the respective light-emitting portions of the two detection mechanisms 21 traverse each of the two detection marks 8 in the left-right direction.
  • the battery mounting portion 22 when the battery mounting portion 22 moves in the left-right direction and stops until the laser light from the light emitting portion of the detection mechanism 21 crosses the detection mark 8 in the left-right direction, the battery mounting portion 22 in the left-right direction stops.
  • the center and the center of the battery 3 substantially coincide with each other, and the battery insertion / removal mechanism 17 reaches the approximate extraction position of the battery 3.
  • the detection mechanism 21 when the detection mechanism 21 is turned on when the laser light from the light emitting unit of the detection mechanism 21 is reflected by the detection mark 8, the laser light from the light emitting unit of the detection mechanism 21 is the battery.
  • the detection range of the detection mechanism 21 is set so that the detection mechanism 21 is turned off when reflected by the front surface of the cradle 6. Therefore, the detection mark 8 is detected by the detection mechanism 21 by moving the battery mounting portion 22 in the left-right direction so that the laser light from the light emitting portion of the detection mechanism 21 crosses the detection mark 8 in the left-right direction. It is possible to detect the width of the detected portion of the detection mark 8 (that is, the portion that reflects the laser beam; hereinafter referred to as “detected portion”).
  • the detection mark 8 of the present embodiment is formed in a substantially triangular shape whose width changes in the vertical direction. Therefore, it is possible to detect the height of the detection mark 8 by detecting the width of the detected portion of the detection mark 8, and by detecting the height of the detection mark 8, the detection mark 8 can be detected. It is possible to detect the height of the battery cradle 6 in which 8 is formed. In this embodiment, the height of the battery cradle 6 is detected by detecting the width of the detected portion of the detection mark 8 by the detection mechanism 21, and the height of the battery cradle 6 is detected. The height of the battery 3 positioned and mounted on the cradle 6 is detected.
  • the detection mark 8 is detected by moving the battery mounting portion 22 so that the laser light from the light emitting portion of the detection mechanism 21 traverses the detection mark 8 in the left-right direction, and detecting the detection mark 8 by the detection mechanism 21. It is possible to detect the center position in the left-right direction of the eight detected portions. In this embodiment, for example, the position of the battery cradle 6 in the left-right direction is detected based on this center position, and the position of the battery cradle 6 in the left-right direction is detected, so that the battery cradle 6 is positioned. The position of the mounted battery 3 in the left-right direction is detected.
  • the distance between the center position in the left-right direction of the detected portion of the detection mark 8 and the detection mechanism 21 can be detected by the detection mechanism 21.
  • the center position and the detection mechanism 21 The position of the battery cradle 6 in the front-rear direction is detected based on the distance, and the position of the battery cradle 6 in the front-rear direction is detected, so that the front and rear of the battery 3 positioned and mounted on the battery cradle 6 are detected. A position in the direction is detected.
  • the height of the battery cradle 6 detected by one of the two detection mechanisms 21 and the height of the battery cradle 6 detected by the other detection mechanism 21 are viewed in the front-rear direction.
  • the inclination of the battery mount 6 with respect to the left-right direction is detected.
  • the inclination of the battery stand 6 with respect to the left-right direction when viewed from the front-rear direction is detected.
  • the inclination of the battery mount 6 with respect to the left-right direction when viewed from the up-down direction is detected. Further, by detecting the inclination of the battery pedestal 6 with respect to the left-right direction when viewed from the vertical direction, the inclination of the battery 3 with respect to the left-right direction when viewed from the vertical direction is detected.
  • the position of the battery 3 in the front-rear and left-right directions, the height of the battery 3, the inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction, and the inclination of the battery 3 with respect to the left-right direction when viewed from the up-down direction are detected.
  • the protrusion 12 on the lower surface of the battery 3 and the guide groove 32a of the roller 32 of the battery mounting portion 22 substantially coincide with each other in the left-right direction, and the lower surface of the battery 3 and the upper surfaces of the rollers 31 and 32 substantially coincide with each other.
  • the inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction and the inclination of the battery removal mechanism 17 substantially coincide with each other, and the inclination of the battery 3 with respect to the left-right direction when viewed from the up-down direction and the battery removal mechanism 17
  • the position, height, and inclination of the battery insertion / removal mechanism 17 in the left-right direction are adjusted so that the inclination of the battery is substantially the same.
  • the horizontal position of the battery insertion / removal mechanism 17 is adjusted by the horizontal movement mechanism 20, the height of the battery insertion / removal mechanism 17 is adjusted by the elevating mechanism 18, and the vertical direction is adjusted by the rotation mechanism 19.
  • the inclination of the battery insertion / removal mechanism 17 with respect to the left / right direction when viewed is adjusted. Further, by driving one of the first elevating mechanism 59 and the second elevating mechanism 60, or by changing the drive amount of the first elevating mechanism 59 and the drive amount of the second elevating mechanism 60, the front and rear directions can be seen. The inclination of the battery insertion / removal mechanism 17 with respect to the left / right direction is adjusted.
  • the battery mounting portion 22 and the battery engagement portion 24 move in the front-rear direction, and the battery 3 is pulled out from the bus 2.
  • the engaging claw portion 41 is provided with a handle so that the battery 3 smoothly moves between the battery mount 6 and the battery mounting portion 22.
  • the amount of movement of the battery mounting part 22 and the battery engagement part 24 in the front-rear direction is set so as to appropriately engage with the part 11.
  • the inclination of the battery cradle 6 with respect to the left-right direction when viewed from the top and bottom varies depending on the mounting accuracy of the battery cradle 6 to the bus 2 and the stopping accuracy of the bus 2. Further, the inclination of the battery cradle 6 with respect to the left-right direction when viewed from the front-rear direction varies depending on the mounting accuracy of the battery cradle 6 to the bus 2 and the state of the ground where the bus 2 stops. Also, since a plurality of batteries 3 are mounted on the bus 2 and the weight of one battery 3 is several hundred kg, depending on the mounting position of the battery 3, the batteries 3 are sequentially transferred from the bus 2 when the battery 3 is replaced. As it is pulled out, the inclination of the bus 2 with respect to the left-right direction when viewed from the front-rear direction changes.
  • each of the two engaging claw parts 41 is provided in each of the two handle parts 11 When engaging the battery, the battery engaging portion 24 is rotated with respect to the holding member 115 to appropriately engage the two engaging claws 41 with the two handle portions 11 respectively.
  • the battery engaging portion 24 is rotated with respect to the holding member 115 to appropriately engage the two engaging claws 41 with the two handle portions 11 respectively.
  • each of the two handle portions 11 is provided.
  • Each of the two engaging claws 41 can be appropriately engaged to properly pull out the battery 3 from the bus 2, and as a result, the battery 3 mounted on the bus 2 can be appropriately replaced. It becomes possible.
  • each of the two handle portions 11 is provided. Since it is possible to properly pull out the battery 3 from the bus 2 by appropriately engaging each of the two engaging claws 41, it is possible to simplify adjustment in teaching of the robot 5. .
  • the clamp mechanism 116 when the battery engaging portion 24 moves the battery 3 on the battery mounting portion 22, the clamp mechanism 116 is in an unclamped state, and the battery engaging portion 24 can be rotated with respect to the holding member 115. It has become. Therefore, even if the front surface of the battery 3 mounted on the bus 2 is tilted with respect to the left-right direction, or the handle portion 11 attached to the front surface of the battery 3 parallel to the left-right direction is tilted with respect to the left-right direction. In addition, when the battery 3 is mounted on the battery mounting portion 22, the battery engaging portion 24 is rotated with respect to the holding member 115, so that the guide groove 32 a of the roller 32 and the protrusion 12 of the battery 3 are properly engaged. Can be combined.
  • the battery 3 is appropriately attached to the battery mounting portion 22. As a result, the battery 3 mounted on the bus 2 can be appropriately replaced.
  • the handle portion 11 is formed on each of the left and right ends of the front surface of the battery 3, and the two engagement portions 41 are engaged with each of the two handle portions 11.
  • the claw portion 41 is disposed in a state where a predetermined interval is provided on the distal end surface of the base portion 43. Therefore, in this embodiment, the rotation of the battery 3 relative to the battery engaging portion 24 can be prevented by the two handle portions 11 and the engaging claw portions 41. Therefore, in this embodiment, the battery 3 can be stabilized when the battery 3 is pulled out or inserted.
  • the front surface of the battery 3 mounted on the bus 2 is in the horizontal direction.
  • the two engaging claws are provided in each of the two handle parts 11. Although it becomes difficult to engage each of the parts 41, in this embodiment, as described above, when engaging each of the two engaging claws 41 with each of the two handle parts 11, the battery The engaging portion 24 is rotated with respect to the holding member 115, so that the two engaging claws 41 can be appropriately engaged with the two handle portions 11, respectively.
  • the guide groove 32 a is formed on the roller 32, and the protrusion 12 is formed on the lower surface of the battery 3. For this reason, when the battery 3 is moved on the battery mounting portion 22, the battery 3 can be stabilized by suppressing the fluctuation of the battery 3 in the direction orthogonal to the moving direction of the battery 3.
  • the protrusion 12 since the protrusion 12 must be engaged with the guide groove 32a, if the front surface of the battery 3 mounted on the bus 2 is inclined with respect to the left-right direction, or If the handle portion 11 attached to the front surface of the parallel battery 3 is inclined with respect to the left-right direction, it is difficult to engage the protrusion 12 with the guide groove 32a when the battery 3 is mounted on the battery mounting portion 22.
  • the battery engaging portion 24 is rotated with respect to the holding member 115, and the guide groove 32a of the roller 32 and the battery It is possible to appropriately engage the three protrusions 12.
  • the rotation of the battery engaging portion 24 relative to the holding member 115 can be stopped by the clamp mechanism 116. Therefore, in this embodiment, except when the engaging claw portion 41 is lowered and engaged with the handle portion 11 of the battery 3 and when the battery engaging portion 24 moves the battery 3 on the battery mounting portion 22. It is possible to prevent the battery engaging portion 24 from wobbling with respect to the holding member 115.
  • the small diameter shaft portion 121b is disposed on the inner peripheral side of the elastic member 124 having an inner diameter substantially equal to the outer diameter thereof. Therefore, when the clamping mechanism 116 is in the unclamped state, if the external force is not applied to the battery engaging portion 24, the elastic force of the elastic member 124 is used to engage the shaft center of the shaft member 121. It becomes possible to make the axial center of the hole 123a substantially coincide.
  • the clamp mechanism 116 changes from an unclamped state in which the large diameter shaft portion 121a is disengaged from the inner peripheral side of the small diameter portion 123b to a clamp state in which the large diameter shaft portion 121a is disposed on the inner peripheral side of the small diameter portion 123b. It becomes easy to switch.
  • the battery engaging portion 24 when the clamp mechanism 116 is in an unclamped state, the battery engaging portion 24 can be rotated with respect to the holding member 115 within the elastic deformation range of the elastic member 124. When the clamp mechanism 116 is in the unclamped state, it is possible to prevent the battery engaging portion 24 from rotating excessively.
  • the battery 3 has two handle portions 11 formed therein.
  • one handle portion 11 may be formed in the battery 3 as in the battery described in Patent Document 1 described above.
  • the battery engaging portion 24 only needs to have one engaging claw portion 41.
  • three or more handle portions 11 may be formed in the battery 3.
  • the battery 3 is pulled out from the bus 2 by engaging the handle portion 11 of the battery 3 and the engaging claw portion 41 of the battery engaging portion 24.
  • the battery 3 may be pulled out from the bus 2 using a magnetic attractive force generated between a magnet fixed to the battery 3 and a magnet fixed to the battery engaging portion 24. Further, a magnetic attractive force generated between a magnet fixed to one of the battery 3 and the battery engaging portion 24 and a magnetic member fixed to either the battery 3 or the battery engaging portion 24 is used. Then, the battery 3 may be pulled out from the bus 2.
  • the guide groove 32a is formed in the roller 32 of the battery mounting portion 22, and the protrusion 12 as the engaging protrusion that engages with the guide groove 32a is formed in the battery 3.
  • a guide groove for guiding the battery 3 in the moving direction of the battery 3 may be formed in the battery 3, and an engaging protrusion that engages with the guide groove may be formed on the roller 32.
  • the guide groove 32 a is not formed on the roller 32, and the protrusion 12 may not be formed on the battery 3.
  • the clamp mechanism 116 may be in a clamped state.
  • the clamp mechanism 116 moves when the battery engaging portion 24 moves the battery 3 on the battery mounting portion 22. It may be in a clamped state.
  • the air cylinder 119 and the support member 122 are fixed to the base 43 of the battery engaging portion 24, and the engaging member 123 is fixed to the holding portion 115a of the holding member 115.
  • the air cylinder 119 and the support member 122 may be fixed to the holding portion 115 a, and the engagement member 123 may be fixed to the base portion 43.
  • the drive source that moves the shaft member 121 up and down is the air cylinder 119.
  • the drive source that moves the shaft member 121 up and down may be a hydraulic cylinder or an electric cylinder. Also good.
  • the drive source that moves the shaft member 121 up and down may be a rotary motor or a linear motor.
  • the elastic member 124 is attached to the large-diameter portion 123d of the engaging member 123, but the elastic member 124 may not be attached to the large-diameter portion 123d.
  • the clamp mechanism 116 when the clamp mechanism 116 is in an unclamped state, the battery with respect to the holding member 115 is within a gap formed between the outer peripheral surface of the small diameter shaft portion 121b and the inner peripheral surface of the small diameter portion 123b.
  • the engaging portion 24 can be turned.
  • the detection mechanism 21 is attached to the battery mounting portion 22 so that the light emitting portion and the light receiving portion are adjacent in the horizontal direction.
  • the detection mechanism 21 may be attached to the battery mounting portion 22 such that the light emitting portion and the light receiving portion overlap in the vertical direction (vertical direction).
  • the detection mechanism 21 is arranged so that the light emitting unit and the light receiving unit are adjacent to each other in the horizontal direction, for example, as shown in FIG. 34, the boundary between the front surface of the battery cradle 6 and the detection mark 8 In this case, the laser beam reflected from the front surface of the battery mount 6 is blocked by the detection mark 8 and may not return to the light receiving unit. However, the light emitting unit and the light receiving unit overlap in the vertical direction. If the detection mechanism 21 is arranged, it is possible to prevent such a problem from occurring.
  • the detection mark 8 is formed in a flat plate shape protruding from the front surface of the battery mount 6.
  • the detection mark 8 may be a recess recessed from the front surface of the battery mount 6.
  • the detection mark 8 may be formed by the plate 110.
  • the through hole 6a can be formed in the front wall of the battery cradle 6 by a punching process when the battery cradle 6 is manufactured, the detection mark 8 formed in a flat plate shape is provided. Compared with the case of fixing to the front surface of the battery mount 6, the positional accuracy of the detection mark 8 can be increased.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Battery Mounting, Suspending (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
PCT/JP2013/053806 2012-02-20 2013-02-18 バッテリー交換ロボット WO2013125473A1 (ja)

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CN201380001447.4A CN103596819B (zh) 2012-02-20 2013-02-18 电池更换机器人

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JP2012034187A JP5897924B2 (ja) 2012-02-20 2012-02-20 バッテリー交換ロボット
JP2012-034187 2012-02-20

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EP3564079A4 (en) * 2016-12-30 2020-09-02 Shanghai Dianba New Energy Technology Co., Ltd. MOBILE PLATFORM FOR BATTERY REPLACEMENT AND QUICK REPLACEMENT SYSTEM
EP3702096A4 (en) * 2017-10-26 2021-08-18 NIO (Anhui) Holding Co., Ltd. BOLT LOCKING PROCESS, BOLT RELEASING METHOD, BOLT LOCKING AND RELEASING METHOD, AND AUTOMOTIVE BATTERY REPLACEMENT METHOD

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WO2016015354A1 (zh) 2014-07-31 2016-02-04 深圳市大疆创新科技有限公司 无人机基站及其电池更换装置
DE102014226372A1 (de) 2014-12-18 2016-06-23 Kuka Systems Gmbh Verfahren zum Wechseln von Fahrzeugenergiespeichern und Energiespeicherwechseleinrichtung
KR101640125B1 (ko) * 2014-12-31 2016-07-15 주식회사 에스에프에이 자동 반송 대차 배터리 교체 장치
CN107719331B (zh) * 2017-11-02 2021-05-25 蔚来(安徽)控股有限公司 浮动对接装置、换电机器人、对接方法和复位方法
CN109895750A (zh) * 2017-12-08 2019-06-18 上海电巴新能源科技有限公司 换电系统
CN113771688B (zh) * 2021-09-28 2024-04-02 安徽绿舟科技有限公司 基于视觉引导电池定位的新能源汽车换电方法和装置

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EP3702096A4 (en) * 2017-10-26 2021-08-18 NIO (Anhui) Holding Co., Ltd. BOLT LOCKING PROCESS, BOLT RELEASING METHOD, BOLT LOCKING AND RELEASING METHOD, AND AUTOMOTIVE BATTERY REPLACEMENT METHOD

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CN103596819B (zh) 2016-04-27

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