WO2015045981A1 - Battery replacing robot, battery replacing system, and battery replacing robot control method - Google Patents

Battery replacing robot, battery replacing system, and battery replacing robot control method Download PDF

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Publication number
WO2015045981A1
WO2015045981A1 PCT/JP2014/074531 JP2014074531W WO2015045981A1 WO 2015045981 A1 WO2015045981 A1 WO 2015045981A1 JP 2014074531 W JP2014074531 W JP 2014074531W WO 2015045981 A1 WO2015045981 A1 WO 2015045981A1
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WO
WIPO (PCT)
Prior art keywords
battery
motor
side connector
housing portion
engaging portion
Prior art date
Application number
PCT/JP2014/074531
Other languages
French (fr)
Japanese (ja)
Inventor
康一 戸崎
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
Priority claimed from JP2013200272A external-priority patent/JP6181494B2/en
Priority claimed from JP2013200271A external-priority patent/JP6317085B2/en
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 KR1020167004914A priority Critical patent/KR20160061318A/en
Priority to CN201480051709.2A priority patent/CN105555623B/en
Publication of WO2015045981A1 publication Critical patent/WO2015045981A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • 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
    • B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • 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
    • H01M50/204—Racks, modules or packs for multiple batteries or multiple cells
    • 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
    • H01M50/249—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
    • 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
    • H01M50/262—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders with fastening means, e.g. locks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
    • B60K2001/0438—Arrangement under the floor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0461—Removal or replacement of the energy storages from the side
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0494—Removal or replacement of the energy storages with arrangements for sliding
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/143—Busses
    • 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, and a battery exchange system having such a battery exchange robot.
  • the present invention also relates to a method for controlling such a battery exchange robot.
  • Patent Documents 1 to 3 Conventionally, a battery exchange system including a battery exchange robot for exchanging a battery mounted on a bus has been proposed by the present applicant (see, for example, Patent Documents 1 to 3).
  • a battery housing portion that houses a battery is attached to the bus.
  • a connector for electrically connecting the battery and the bus is attached to the battery housing portion.
  • a connector connected to the connector of the battery housing portion is attached to the back surface of the battery.
  • the battery replacement robot includes a battery insertion / removal mechanism that pulls out the battery from the battery housing portion and inserts the battery into the battery housing portion.
  • the battery insertion / removal mechanism includes a battery mounting mechanism having a battery mounting portion on which the battery is mounted when the battery is withdrawn and inserted, and moves the battery on the battery mounting portion by engaging with the battery when the battery is withdrawn and inserted.
  • a battery moving mechanism having a battery engaging portion.
  • the battery mounting mechanism includes a mounting unit moving mechanism that moves the battery mounting unit in a direction approaching the bus and a direction away from the bus in addition to the battery mounting unit. Yes.
  • the battery moving mechanism includes an engaging portion moving mechanism that moves the battery engaging portion in a direction approaching the bus and a direction away from the bus.
  • the battery engagement portion includes an engagement claw portion that engages a handle portion attached to the battery, an air cylinder that moves the engagement claw portion up and down, and a base portion to which the air cylinder is attached.
  • a first problem of the present invention is that a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery is inserted into the battery housing portion. Even when the connector on the battery side and the connector on the battery housing part side are connected with an insertion force, the battery exchange robot, battery exchange system and It is to provide a method for controlling a battery exchange robot.
  • a second problem of the present invention is that a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and that the battery is inserted into the battery housing portion. Even when the connector on the battery side and the connector on the battery housing part side are connected with an insertion force, the battery can be locked or the battery can be locked by the lock mechanism while preventing damage to the battery housing part, the battery and the battery replacement robot.
  • An object of the present invention is to provide a battery exchange robot, a battery exchange system, and a battery exchange robot control method capable of connecting a connector on the side and a connector on the housing unit side.
  • a battery exchange robot for exchanging a battery mounted on a vehicle.
  • the battery includes a battery insertion / removal mechanism for pulling out the battery and inserting the battery into the battery housing, and a control unit for controlling the battery insertion / removal mechanism.
  • the battery is a battery for electrically connecting the vehicle and the battery.
  • the battery housing portion includes a lock mechanism that locks the accommodated battery, and a housing portion-side connector that is connected to the battery-side connector. And move the battery by engaging the battery
  • a mechanical lock that includes a battery engaging portion and a motor for driving the battery engaging portion, and the lock mechanism is operated by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery.
  • the battery-side connector and the housing-side connector are connected by the battery insertion force of the battery into the battery housing portion by the battery engaging portion, and the control unit controls the position during the operation of inserting the battery into the battery housing portion.
  • the motor In addition to the position control, when the connecting operation is started in which at least one of the battery locking by the locking mechanism and the connection between the battery side connector and the housing side connector is started during the insertion operation, the motor is controlled by Even if the motor load exceeds the specified reference value, the motor load exceeds the reference value. And controlling the motor by the overload control to stop the elapsed reference time motor in a state where the load of the motor with driving the motor exceeds a reference value to a predetermined reference time in the state has elapsed.
  • a method for controlling a battery exchange robot is a method for pulling out a battery from a battery housing portion that is attached to a vehicle and that houses a battery, and for removing the battery from the battery housing portion.
  • the battery has a battery insertion / removal mechanism for inserting the battery, the battery has a battery side connector for electrically connecting the vehicle and the battery, and the battery accommodating portion has a lock mechanism for locking the accommodated battery, and the battery side connector.
  • a battery insertion / removal mechanism for driving the battery engaging portion, a battery mounting portion for mounting the battery, a battery engaging portion that engages with the battery and moves the battery, and a battery engaging portion.
  • a locking mechanism is provided by the battery engaging portion.
  • the battery side connector and the housing part side connector are inserted into the battery housing part by the battery engaging part.
  • a battery exchanging robot connected to the battery housing portion by controlling the motor by position control at the time of inserting the battery into the battery housing, and at the time of inserting, the battery is locked by the locking mechanism and the battery side connector;
  • the control unit locks the battery by the lock mechanism and the battery-side connector and the housing-side connector when the battery is inserted into the battery housing portion.
  • a connection operation in which at least one of the connection is performed is started, in addition to the position control, even if the motor load exceeds the predetermined reference value, the motor load exceeds the reference value and the predetermined operation is performed.
  • the motor is controlled by overload control that drives the motor until the reference time elapses and stops the motor when the reference time elapses with the motor load exceeding the reference value.
  • the battery exchange robot control method of the present invention at the time of inserting the battery into the battery housing portion, at least one of the locking of the battery by the lock mechanism and the connection between the battery side connector and the housing portion side connector is performed.
  • the connecting operation in addition to the position control, the motor is driven until a predetermined reference time elapses with the motor load exceeding the reference value even if the motor load exceeds the predetermined reference value.
  • the motor is controlled by overload control that stops the motor when the reference time elapses with the motor load exceeding the reference value.
  • the motor in the overload control after the connection operation is started, the motor is turned on when a predetermined reference time elapses with the motor load exceeding a predetermined reference value. Therefore, when the battery is locked by the lock mechanism, the battery is displaced with respect to the lock mechanism and the lock mechanism and the battery interfere with each other. When connected to the motor, or when connecting the battery side connector and the housing side connector, the connectors were displaced and interfered, and the motor was overloaded enough to damage the battery replacement robot, etc. Sometimes it becomes possible to stop the motor.
  • a mechanical locking mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery side with the insertion force of the battery into the battery housing portion. Even when the connector and the connector on the battery housing portion side are connected, it is possible to prevent damage to the battery housing portion, the battery, and the battery replacement robot.
  • the motor in overload control, even if the motor load exceeds the reference value, the motor is kept until the reference time elapses with the motor load exceeding the reference value.
  • the battery can be locked by the lock mechanism, and the battery-side connector and the accommodating portion-side connector can be connected. That is, according to the present invention, it is possible to lock the battery by the lock mechanism and to connect the battery side connector and the storage unit side connector while preventing damage to the battery storage unit, the battery, and the battery replacement robot. .
  • the battery is locked by the lock mechanism and the battery side connector based on the rotation amount of the motor. It is possible to detect whether or not the connection between the housing portion connector and the housing portion side connector is securely completed.
  • overload control is performed, for example, in a state where the motor current value exceeds the reference current value even if the motor current value exceeds the reference current value which is a reference value.
  • the motor is driven until the reference time elapses, and the motor is stopped when the reference time elapses with the motor current value exceeding the reference current value.
  • a lock start position where the lock of the battery by the lock mechanism is started, and a connection between the battery side connector and the accommodating portion side connector is started.
  • the connection operation is started.
  • the control unit when the connection operation is started, the control unit starts measuring the driving time of the motor after the connection operation starts, and locks the battery and the battery by the lock mechanism.
  • the drive time of the motor after the start of the connection operation has elapsed for a predetermined time before the battery engagement portion moves to the connection operation completion position where the connection between the side connector and the housing side connector is completed, the battery is pulled out It is preferable to retract the battery engaging portion. If the battery engagement part does not move to the connection operation completion position even though the motor drive time after the start of the connection operation has passed, the interference between the lock mechanism and the battery or the battery side connector Interference with the housing side connector has occurred, and it is assumed that these components are overloaded.
  • the battery replacement robot of the present invention can be used in a battery replacement system including a battery housing portion.
  • a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery side with the insertion force of the battery into the battery housing portion. Even when the connector and the connector on the battery housing portion side are connected, it is possible to prevent damage to the battery housing portion, the battery, and the battery replacement robot. Further, in this battery exchange system, when the battery is locked by the lock mechanism or when the battery side connector and the housing side connector are connected, the battery exchange robot or the like is overloaded for a short time so as not to cause damage.
  • the battery can be locked by the lock mechanism, and the battery-side connector and the accommodating portion-side connector can be connected. Further, in this battery exchange system, it becomes possible to detect whether or not the battery is locked by the lock mechanism and the connection between the battery side connector and the housing portion side connector is reliably completed.
  • a battery exchange robot of the present invention is a battery exchange robot for exchanging a battery mounted on a vehicle.
  • the battery includes a battery insertion / removal mechanism for pulling out the battery and inserting the battery into the battery housing, and a control unit for controlling the battery insertion / removal mechanism.
  • the battery is a battery for electrically connecting the vehicle and the battery.
  • the battery housing portion includes a lock mechanism that locks the accommodated battery, and a housing portion-side connector that is connected to the battery-side connector. And move the battery by engaging the battery
  • a mechanical lock that includes a battery engaging portion and a motor for driving the battery engaging portion, and the lock mechanism is operated by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery.
  • the battery side connector and the housing part side connector are connected by the battery insertion force of the battery into the battery housing part by the battery engaging part, and the control part is locked when the battery is inserted into the battery housing part.
  • the motor is stopped when the load of the motor exceeds a predetermined first reference value.
  • the load of the motor is less than the first reference value.
  • the motor is driven until a predetermined reference time elapses with the motor load exceeding the second reference value even if the small second reference value is exceeded, and the reference time is set while the motor load exceeds the second reference value.
  • the motor is controlled by the second control for stopping the motor when elapses.
  • the battery exchange robot control method of the present invention is attached to a vehicle and withdraws the battery from the battery housing portion in which the battery is housed, and removes the battery from the battery housing portion.
  • the battery has a battery insertion / removal mechanism for inserting the battery, the battery has a battery side connector for electrically connecting the vehicle and the battery, and the battery accommodating portion has a lock mechanism for locking the accommodated battery, and the battery side connector.
  • a battery insertion / removal mechanism for driving the battery engaging portion, a battery mounting portion for mounting the battery, a battery engaging portion that engages with the battery and moves the battery, and a battery engaging portion.
  • a locking mechanism is provided by the battery engaging portion.
  • the battery side connector and the housing part side connector are inserted into the battery housing part by the battery engaging part.
  • the battery exchange robot connected by the control method of the battery exchange robot, at the time of inserting the battery into the battery housing portion, at least one of the battery lock by the lock mechanism and the connection between the battery side connector and the housing portion side connector is Before the start of the connecting operation to be performed, the motor is stopped when the load of the motor exceeds a predetermined first reference value, and when the connecting operation is started, the second reference value whose motor load is smaller than the first reference value. If the motor load exceeds the second reference value even if the Causes the movement, characterized in that the motor is stopped when the reference time has elapsed in a state in which the load on the motor exceeds a second reference value.
  • the control unit locks the battery by the lock mechanism and the battery side connector and the housing side connector when the battery is inserted into the battery housing portion.
  • the motor is controlled by the first control that stops the motor when the load of the motor exceeds a predetermined first reference value, and the connection operation is started. And even if the motor load exceeds a second reference value smaller than the first reference value, the motor is driven until a predetermined reference time elapses while the motor load exceeds the second reference value, and the motor load
  • the motor is controlled by the second control that stops the motor when the reference time elapses in a state that exceeds the second reference value.
  • the battery exchange robot control method of the present invention when the battery is inserted into the battery housing portion, the battery is locked by the lock mechanism and the battery side connector and the housing portion side.
  • the motor is stopped when the motor load exceeds a predetermined first reference value, and when the connection operation is started, the motor load is The motor is driven until a predetermined reference time elapses in a state where the motor load exceeds the second reference value even if the second reference value smaller than one reference value is exceeded, and the motor load decreases to the second reference value.
  • the motor is stopped when the reference time elapses in the exceeded state.
  • the reference time in a state where the motor load exceeds the second reference value smaller than the first reference value before the connection operation is started. Since the motor is stopped after the lapse of time, when the battery is locked by the lock mechanism, the battery is displaced with respect to the lock mechanism, the lock mechanism and the battery interfere with each other, and the battery exchange robot is damaged. When overload is applied to the motor or when connecting the battery side connector and the housing side connector, the connectors are displaced and interfere with each other, causing damage to the battery replacement robot, etc. When is applied to the motor, the motor can be stopped.
  • the motor load exceeds the second reference value. Since the motor is driven until the predetermined reference time has elapsed, the battery replacement robot or the like is not damaged when the battery is locked by the lock mechanism or when the battery side connector and the housing side connector are connected. Even if an overload of a short time is applied to the motor, the battery can be locked by the lock mechanism, and the battery-side connector and the housing-side connector can be connected.
  • a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery Even when the connector on the battery side and the connector on the battery housing part side are connected by the insertion force of the battery into the housing part, the battery is prevented by the lock mechanism while preventing damage to the battery housing part, the battery and the battery replacement robot. Can be locked, and the battery-side connector and the housing-side connector can be connected.
  • the motor does not stop unless the load of the motor exceeds the first reference value larger than the second reference value before the start of the connection operation. It becomes possible to increase the acceleration / deceleration speed. Therefore, it is possible to shorten the battery moving time from the start of the battery insertion operation to the battery housing portion until the connection operation is started.
  • the first control is current control for stopping the motor when the current value of the motor exceeds a first reference current value that is a first reference value.
  • the motor is driven until the reference time elapses with the motor current value exceeding the second reference current value even if the motor current value exceeds the second reference current value which is the second reference value.
  • the current control is such that the motor is stopped when the reference time elapses with the motor current value exceeding the second reference current value.
  • a lock start position where the lock of the battery by the lock mechanism is started, and the connection between the battery side connector and the accommodating portion side connector is started.
  • the connection operation is started.
  • the rotation speed of the motor before the start of the connection operation is higher than the rotation speed of the motor after the start of the connection operation.
  • the control unit when the connection operation is started, the control unit starts measuring the driving time of the motor after the connection operation is started, and locks the battery and the battery by the lock mechanism.
  • the drive time of the motor after the start of the connection operation has elapsed for a predetermined time before the battery engagement portion moves to the connection operation completion position where the connection between the side connector and the housing side connector is completed, the battery is pulled out It is preferable to retract the battery engaging portion. If the battery engagement part does not move to the connection operation completion position even though the motor drive time after the start of the connection operation has passed, the interference between the lock mechanism and the battery or the battery side connector Interference with the housing side connector has occurred, and it is assumed that these components are overloaded.
  • the battery exchange robot of the present invention can be used in a battery exchange system including a battery housing portion.
  • a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery side with the insertion force of the battery into the battery housing portion.
  • the battery can be locked by the locking mechanism while preventing damage to the battery housing portion, the battery and the battery replacement robot, or the battery side connector and the housing portion It is possible to connect to the side connector. Further, in this battery exchange system, it is possible to shorten the movement time of the battery from the start of the operation of inserting the battery into the battery housing portion until the connection operation is started.
  • the battery is operated by the insertion force of the battery into the battery housing portion. Even when a mechanical locking mechanism for locking is installed in the battery housing part and the connector on the battery side and the connector on the battery housing part side are connected by the insertion force of the battery into the battery housing part, the battery housing It is possible to prevent damage to the battery, the battery, and the battery replacement robot.
  • the battery is operated by the insertion force of the battery into the battery housing portion. Even when a mechanical locking mechanism for locking is installed in the battery housing part and the connector on the battery side and the connector on the battery housing part side are connected by the insertion force of the battery into the battery housing part, the battery housing The battery can be locked by the lock mechanism, and the battery-side connector and the housing-side connector can be connected, while preventing damage to the battery unit, the battery, and the battery replacement robot.
  • FIG. 1 is a perspective view of a battery exchange system according to an embodiment of the present invention. It is a perspective view which shows the E section of FIG. 1 from another angle. It is an enlarged view of the F section of FIG. It is the schematic for demonstrating the structure of the battery shown in FIG. 1, and a battery accommodating part. It is a figure which shows the battery insertion / extraction mechanism and lifting mechanism shown in FIG. 2 from the front. It is a figure which shows a battery insertion / extraction mechanism and a raising / lowering mechanism from the HH direction of FIG. It is a figure for demonstrating the battery mounting mechanism shown in FIG. 5 from the front. It is a figure for demonstrating the battery mounting mechanism shown in FIG. 5 from the upper surface.
  • FIG. 5 It is a figure for demonstrating the battery moving mechanism shown in FIG. 5 from a side surface. It is a figure for demonstrating a state when the battery engaging part shown in FIG. 9 moves to the direction away from a bus
  • 3 is a flowchart for explaining a battery replacement operation of the battery replacement robot shown in FIG. 2. It is a figure for demonstrating the extraction operation
  • FIG. 1 is a perspective view of a battery exchange system 1 according to an embodiment of the present invention.
  • FIG. 2 is a perspective view showing the E portion of FIG. 1 from another angle.
  • 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 system 1 of this embodiment is a system for exchanging the battery 3 mounted on the vehicle 2.
  • the vehicle 2 of this embodiment is an electric bus. Therefore, hereinafter, the vehicle 2 is referred to as “bus 2”.
  • a battery housing portion 4 in which a plurality of batteries 3 are housed is attached to the bus 2.
  • the battery accommodating portion 4 is arranged so as to be exposed to the side surface 2a when a cover member (not shown) attached to one side surface 2a of the bus 2 is removed. Further, the battery accommodating portion 4 is disposed below the seat of the bus 2.
  • the bus 2 is stopped so that the traveling direction thereof substantially coincides with the left-right direction.
  • the battery replacement system 1 includes a battery replacement robot 5 (hereinafter referred to as “robot 5”) for replacing the battery 3 stored in the battery storage unit 4.
  • robot 5 faces the side surface 2a of the bus 2 in the front-rear direction so that the battery 3 housed in the battery housing portion 4 can be replaced.
  • the robot 5 pulls out the battery 3 housed in the battery housing portion 4 and carries it into a buffer station (not shown), and unloads the charged battery 3 housed in the buffer station from the buffer station. Insert into the housing 4.
  • a detection plate 13 for detecting the position of the bus 2 is formed or fixed on the side surface 2a of the bus 2.
  • the detection plate 13 is formed in a flat plate shape and a substantially rectangular shape whose width is substantially constant in the vertical direction.
  • the detection plate 13 is disposed, for example, on the front side of the battery housing portion 4 in the traveling direction of the bus 2.
  • the detection plate 13 is exposed to the side surface 2a when a cover member (not shown) attached to the side surface 2a is removed.
  • FIG. 3 is an enlarged view of a portion F in FIG.
  • FIG. 4 is a schematic diagram for explaining the configuration of the battery 3 and the battery housing 4 shown in FIG.
  • the battery housing 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 is formed with accommodating spaces for a plurality of batteries 3 so that a plurality of batteries 3 can be accommodated.
  • four batteries 3 can be mounted on the bus 2
  • the battery housing portion 4 includes four battery mounts 6 on which each of the four batteries 3 is mounted.
  • a detection mark 8 for indirectly detecting the position of the battery 3 is formed on the front surface of the battery stand 6.
  • the detection mark 8 is formed on each of both ends in the left-right direction of the battery mount 6.
  • the detection mark 8 is formed in a substantially equilateral triangle shape whose width in the left-right direction is gradually narrowed toward the upper side.
  • the battery accommodating portion 4 includes a lock mechanism 9 that locks the accommodated battery 3 and a connector 10 as an accommodating portion side connector for electrically connecting the bus 2 and the battery 3. And.
  • the lock mechanism 9 includes a lock member 11 and an urging member 12.
  • the connector 10 is disposed on the back side of the battery housing portion 4.
  • the lock member 11 is held on the side wall 7 so as to be movable in the left-right direction, for example.
  • the lock member 11 is urged inward in the left-right direction by an urging member (not shown), and protrudes from the side wall 7 to the inside of the battery housing portion 4.
  • the lock member 11 is formed in, for example, a substantially triangular prism shape, and is configured by an inclined surface 11a that is inclined with respect to a ZX plane configured by the front-rear direction and the vertical direction, and a horizontal direction and a vertical direction. And an end face 11b parallel to the YZ plane.
  • the end surface 11 b constitutes an end surface on the back side of the lock member 11.
  • the inclined surface 11 a is inclined so as to spread outward in the left-right direction as it goes toward the front side of the battery housing portion 4.
  • the lock member 11 may be held on the battery mount 6 so as to be movable in the vertical direction.
  • the inclined surface 11a is inclined so as to spread outward in the vertical direction as it goes toward the front side of the battery housing portion 4.
  • the urging member 12 is, for example, a compression coil spring.
  • the urging member 12 faces the front side of the battery housing portion 4 so that an end surface 15b of an engagement projection 15 described later formed on the battery 3 and an end surface 11b of the lock member 11 are in contact with each other with a predetermined contact pressure.
  • the battery 3 is energized.
  • a handle 14 for pulling out the battery 3 from the battery housing 4 is formed on the front surface of the battery 3.
  • a handle portion 14 is formed on each of the left and right ends of the front surface of the battery 3.
  • the battery 3 includes an engagement protrusion 15 that engages with the lock member 11 and a connector 16 as a battery-side connector connected to the connector 10.
  • the connector 16 is attached to the back end surface (back surface) of the battery 3 housed in the battery housing portion 4.
  • the engaging protrusions 15 are fixed to the left and right side surfaces of the battery 3, for example, and protrude from the left and right side surfaces of the battery 3 to the outside in the left and right direction.
  • the engagement protrusion 15 is formed in, for example, a substantially triangular prism shape, and includes an inclined surface 15a inclined with respect to the ZX plane and an end surface 15b parallel to the YZ plane.
  • the end surface 15 b constitutes an end surface on the near side of the engagement protrusion 15.
  • the inclined surface 15 a is inclined so as to spread outward in the left-right direction as it goes toward the front side of the battery housing portion 4. Further, the inclination angle of the inclined surface 11a with respect to the ZX plane is substantially equal to the inclination angle of the inclined surface 15a with respect to the ZX plane.
  • the lock mechanism 9 is a mechanical lock mechanism that is operated by the insertion force of the battery 3 into the battery housing portion 4 to lock the battery 3.
  • the lock mechanism 9 according to the present embodiment is a mechanical lock that is operated by the insertion force of the battery 3 into the battery housing portion 4 by a battery engaging portion 24 described later constituting the robot 5 to lock the battery 3.
  • the connector 10 and the connector 16 are connected by the insertion force of the battery 3 into the battery housing portion 4.
  • the connector 10 and the connector 16 are connected by the insertion force of the battery 3 into the battery housing part 4 by the battery engaging part 24 described later.
  • the lock member The lock mechanism 9 is configured such that 11 is retracted and the contact state between the end surface 15b and the end surface 11b is released. Therefore, when the battery 3 is further pushed into the back side of the battery housing part 4 from the state in which the battery 3 is locked to the lock mechanism 9, the locked state of the battery 3 by the lock mechanism 9 is released, and the battery housing part 4 The battery 3 can be pulled out.
  • the robot 5 includes a battery insertion / removal mechanism 17 that extracts each of the four batteries 3 from the battery housing portion 4 and inserts each of the four batteries 3 into the battery housing portion 4. , An elevating mechanism 18 for elevating and lowering the battery detaching mechanism 17, a rotating mechanism 19 for rotating the battery detaching mechanism 17 and the elevating mechanism 18 with the vertical direction as an axial direction, a battery detaching mechanism 17, the elevating mechanism 18 and And a horizontal movement mechanism 20 for moving the movement mechanism 19 in the left-right direction.
  • the robot 5 also includes a detection mechanism 21 for detecting the detection mark 8 and the detection plate 13.
  • the battery insertion / removal mechanism 17, the lifting / lowering mechanism 18, the rotation mechanism 19, and the horizontal movement mechanism 20 are connected to a control unit 27 (see FIG. 2) that controls the robot 5, and these configurations are controlled by the control unit 27. Is done.
  • the detection mechanism 21 is also connected to the control unit 27.
  • the battery insertion / removal mechanism 17 includes a battery mounting mechanism 23 having a battery mounting portion 22 on which the battery 3 is mounted when the battery 3 is pulled out and inserted, and a battery mounting mechanism that is engaged with the battery 3 when the battery 3 is pulled out and inserted. And a battery moving mechanism 25 having a battery engaging portion 24 (see FIG. 5) for moving the battery 3 on the portion 22.
  • the battery mounting portion 22 and the battery engaging portion 24 are movable in a direction approaching the bus 2 and a direction away from the bus 2. Further, the battery insertion / removal mechanism 17 is held by the holding member 26.
  • the holding member 26 is formed in a substantially rectangular tube shape that is open at both ends in the moving direction of the battery mounting portion 22 and the battery engaging portion 24.
  • FIG. 5 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 shown in FIG. 2 from the front.
  • FIG. 6 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 from the HH direction of FIG.
  • FIG. 7 is a view for explaining the battery mounting mechanism 23 shown in FIG. 5 from the front.
  • FIG. 8 is a view for explaining the battery mounting mechanism 23 shown in FIG. 5 from above.
  • 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 mounting unit moving mechanism 30 includes a motor 33, a screw member 34 such as a ball screw, and a nut member 35 that is screwed into the screw member 34 as a configuration for moving the battery mounting unit 22. Further, the mounting unit moving mechanism 30 is configured to guide the battery mounting unit 22, and is linearly formed, and engages with the guide rail 36 and is relatively movable along the guide rail 36. A guide block 37 is provided.
  • the motor 33 is fixed to the upper surface side of the rear end portion of the battery mounting portion 22.
  • the motor 33 is connected to the control unit 27. Further, the motor 33 includes an encoder (not shown) for detecting the rotation speed and the rotation amount.
  • the screw member 34 is rotatably held on the lower surface side of the battery mounting portion 22.
  • the motor 33 and the screw member 34 are connected via a pulley, a belt, or the like.
  • the nut member 35 is fixed to the holding member 26.
  • the guide rail 36 is fixed to the lower surface side of the battery mounting portion 22, and the guide block 37 is fixed to the holding member 26. Therefore, in this embodiment, when the motor 33 rotates, the battery mounting portion 22 is guided by the guide rail 36 and the guide block 37 and moves linearly with respect to the holding member 26.
  • FIG. 9 is a view for explaining the battery moving mechanism 25 shown in FIG. 5 from the side.
  • FIG. 10 is a view for explaining the state when the battery engaging portion 24 shown in FIG. 9 moves away from the bus 2 from the side.
  • FIG. 11 is a diagram for explaining the battery moving mechanism 25 shown in FIG. 5 from above.
  • the battery moving mechanism 25 includes an engaging portion moving mechanism 39 that moves the battery engaging portion 24 in a direction approaching the bus 2 and a direction away from the bus 2, and a battery engaging portion 24. And a movable holding member 40 that is held movably and held by the holding member 26.
  • the battery engaging portion 24 includes an engaging claw portion 41 that engages with the handle portion 14 of the battery 3, an air cylinder 42 that moves the engaging claw portion 41 up and down, and a base portion 43 to which the air cylinder 42 is attached. Yes.
  • the engaging claw portion 41 is fixed to the movable side of the air cylinder 42, and the fixed side of the air cylinder 42 is fixed to the distal end surface of the base portion 43.
  • the two engaging claws 41 and the two air cylinders 42 of the base 43 are arranged so that the engaging claws 41 are engaged with the two handles 14 formed on the battery 3. It arrange
  • 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 engaging portion moving mechanism 39 includes a motor 44, a screw member 45 such as a ball screw, a nut member 46 that is screwed to the screw member 45, and a structure for moving the battery engaging portion 24 and the movement holding member 40. Pulleys 47 and 48 and a belt 49 spanning the pulleys 47 and 48 are provided. Further, the engaging portion moving mechanism 39 is configured to guide the battery engaging portion 24 and the movement holding member 40, and engages with the guide rail 50 formed in a straight line, the guide rail 50, and the guide rail 50. And a guide block 51 that is relatively movable along the guide rail 52. As a configuration for guiding the battery engaging portion 24, the guide rail 52 that is linearly formed, and the guide rail 52 that engages with the guide rail 52 and And a guide block 53 that is relatively movable along.
  • the motor 44 is fixed to the rear end portion of the holding member 26.
  • the motor 44 is connected to the control unit 27. Further, the motor 44 includes an encoder (not shown) for detecting the rotation speed and the rotation amount.
  • the screw member 45 is rotatably held on the upper surface portion of the holding member 26.
  • the motor 44 and the screw member 45 are connected via a pulley, a belt, or the like.
  • the nut member 46 is fixed to the rear end portion of the movement holding member 40.
  • the pulley 47 is rotatably held at the rear end portion of the movement holding member 40, and the pulley 48 is rotatably held at the front end portion of the movement holding member 40.
  • the belt 49 is fixed to the base portion 43 of the battery engaging portion 24 via the belt fixing member 54 and is fixed to the upper surface portion of the holding member 26 via the belt fixing member 55. Specifically, when the movable holding member 40 protrudes from the holding member 26 and the belt fixing member 55 is arranged in the vicinity of the pulley 47, the belt fixing member 54 is arranged in the vicinity of the pulley 48, and the holding member The belt 49 is fixed to the belt 49 so that the belt fixing member 54 is disposed in the vicinity of the pulley 47 when the movement holding member 40 is accommodated in the belt 26 and the belt fixing member 55 is disposed in the vicinity of the pulley 48. It is fixed to the base 43 and the holding member 26 via members 54 and 55.
  • the guide rail 50 is fixed to the upper surface portion of the holding member 26, and the guide block 51 is fixed to the upper surface of the movable holding member 40.
  • the guide rail 52 is fixed to the lower surface of the movement holding member 40, and the guide block 53 is fixed to the upper end side of the base portion 43 of the battery engaging portion 24.
  • the moving holding member 40 when the motor 44 rotates, the moving holding member 40 is guided by the guide rail 50 and the guide block 51 together with the battery engaging portion 24 by the screw member 45 and the nut member 46, and is linear with respect to the holding member 26. Move on.
  • the battery engaging portion 24 is guided by the guide rail 52 and the guide block 53 by the pulleys 47 and 48 and the belt 49, and linearly moves relative to the movement holding member 40.
  • the elevating mechanism 18 is orthogonal to the moving direction of the battery mounting portion 22 and the battery engaging portion 24 (hereinafter, this direction is referred to as “first direction”) and the vertical direction.
  • the first elevating mechanism 59 and the second elevating mechanism 60 are provided on both ends of the direction (hereinafter, this direction is referred to as “second direction”).
  • the first elevating mechanism 59 is connected to one end side of the holding member 26 in the second direction by the first connecting mechanism 61.
  • the second elevating mechanism 60 is connected to the other end side of the holding member 26 in the second direction by the second connecting mechanism 62.
  • the first elevating mechanism 59 and the second elevating mechanism 60 can be individually driven to tilt the holding member 26 with respect to the horizontal direction.
  • the holding member 26 is connected to the first elevating mechanism 59 and the second elevating mechanism 60 so as to be inclined with respect to the horizontal direction.
  • the first elevating mechanism 59 and the second elevating mechanism 60 include an elevating member 63 that is movable in the vertical direction, a columnar member 64 that holds the elevating member 63 so as to be able to elevate, and an elevating drive mechanism 65 that elevates the elevating member 63.
  • the columnar member 64 is formed in a column shape elongated in the vertical direction. As shown in FIG. 5, the upper end of the columnar member 64 constituting the first elevating mechanism 59 and the upper end of the columnar member 64 constituting the second elevating mechanism 60 are connected by a connecting member 66, and two pieces The columnar member 64 and the connecting member 66 constitute a portal frame.
  • 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 and engages with the guide rail 70 formed in a straight line, along the guide rail 70 and along the guide rail 70.
  • the guide block 71 is relatively movable.
  • the motor 67 is fixed to the upper end side of the columnar member 64.
  • the motor 67 is connected to the control unit 27.
  • the screw member 68 is rotatably held by the columnar member 64.
  • the motor 67 and the screw member 68 are connected via a coupling 72.
  • the nut member 69 is fixed to the elevating member 63.
  • the guide rail 70 is fixed to the side surface of the columnar member 64.
  • the guide block 71 is fixed to the elevating member 63. Therefore, in this embodiment, when the motor 67 rotates, the elevating member 63 is guided by the guide rail 70 and the guide block 71 and moves up and down with respect to the columnar member 64.
  • the first connecting mechanism 61 connects the holding member 26 and the lifting member 63 so that the holding member 26 can be rotated relative to the lifting member 63 of the first lifting mechanism 59.
  • the second connecting mechanism 62 is configured so that the holding member 26 and the elevating member 63 are capable of relative rotation of the holding member 26 with respect to the elevating member 63 of the second elevating mechanism 60 and relative movement in the second direction. Are connected.
  • the rotation mechanism 19 includes a battery insertion / removal mechanism 17 and an elevating mechanism 18, and a rotation member 85 that can rotate, and a rotation drive mechanism 86 that rotates the rotation member 85.
  • the horizontal movement mechanism 20 is equipped with a battery insertion / removal mechanism 17, an elevating mechanism 18, and a rotation mechanism 19, and a slide member 87 that is movable in the left-right direction, and a horizontal that moves the slide member 87.
  • a drive mechanism 88 is equipped with a battery insertion / removal mechanism 17, an elevating mechanism 18, and a rotation mechanism 19, and a slide member 87 that is movable in the left-right direction, and a horizontal that moves the slide member 87.
  • Rotating member 85 is formed in a substantially disc shape.
  • the rotating member 85 is disposed on the upper side of the slide member 87. Further, the rotation member 85 is rotatable about the center of curvature thereof. The lower ends of the two columnar members 64 are fixed to the upper surface of the rotating member 85.
  • the rotation drive mechanism 86 includes a motor, a pulley, a belt, and the like as a configuration for rotating the rotation member 85. Further, the rotation drive mechanism 86 is configured to guide the rotation member 85 in the rotation direction, and a guide rail and a plurality of guide blocks that engage with the guide rail and are relatively movable along the guide rail. It has.
  • a belt is stretched over the pulley fixed to the output shaft of the motor and the outer peripheral surface of the rotating member 85, and when the motor rotates, the rotating member 85 is guided by the guide rail and the guide block to slide. It rotates with respect to 87.
  • the slide member 87 is formed in a substantially rectangular plate shape whose longitudinal direction is the left-right direction.
  • the horizontal drive mechanism 88 includes a motor, a pulley, a belt, and the like as a configuration for moving the slide member 87. Further, the horizontal drive mechanism 88 is configured to guide the slide member 87 in the left-right direction, and a plurality of guide rails that are linearly formed and a plurality of guide rails that are engaged with the guide rails and that are relatively movable along the guide rails. And a guide block.
  • One end of the belt is fixed to the left end side of the guide rail, and the other end of the belt is fixed to the right end side of the guide rail. Further, the belt is stretched around a pulley or the like fixed to the output shaft of the motor, and when the motor rotates, the slide member 87 is linearly moved in the left-right direction by being guided by the guide rail and the guide block.
  • the detection mechanism 21 includes a light emitting unit that emits laser light, and a light receiving unit that receives the laser light emitted from the light emitting unit and reflected by a reflector such as the side surface 2a of the bus 2 or the front surface of the battery mount 6. It is a laser sensor. As shown in FIG. 8, the detection mechanism 21 is attached to the upper surface on the front end side of the battery mounting portion 22. In this embodiment, two detection mechanisms 21 are attached to the battery mounting portion 22 so as to correspond to a pair of (two) detection marks 8 formed on each of the four battery mounts 6. .
  • the detection mechanism 21 is turned on when a reflector that reflects the laser light emitted from the light emitting unit is within a predetermined measurement range, and is turned off when the reflector that reflects the laser light is not within the measurement range. become. Further, the distance between the detection mechanism 21 and the reflecting object can be detected by using the detection mechanism 21 in the on state.
  • the position of the bus 2 is detected by the detection mechanism 21 and the detection plate 13. Specifically, the position of the bus 2 is detected by detecting the positions of the upper end and the left and right ends of the detection plate 13 by the detection mechanism 21 and calculating the positions of the detection plate 13. Further, after the position of the bus 2 is detected by the detection mechanism 21, the position of the battery 3 is detected by the detection mechanism 21 and the detection mark 8.
  • the battery mounting portion 22 is moved in the left-right direction so that the laser light from the light-emitting portion of the detection mechanism 21 crosses the detection mark 8 in the left-right direction, and both ends of the detection mark 8 in the left-right direction are moved.
  • the position of the detection mark 8 in the left-right direction is calculated.
  • the width of the portion of the detection mark 8 where the laser beam crosses is calculated. Since the detection mark 8 is formed in a substantially triangular shape whose width in the left-right direction is gradually narrowed toward the upper side, the detection mark 8 can be detected by calculating the width of the portion of the detection mark 8 where the laser beam crosses.
  • the height of the mark 8 can be calculated.
  • the position and height of the detection mark 8 in the left-right direction are calculated, The position and height in the left-right direction of the battery 3 that is positioned and mounted on the battery mount 6 are detected. Further, by calculating the distance between the detection mechanism 21 and the detection mark 8, the position in the front-rear direction of the battery cradle 6 on which the detection mark 8 is formed is calculated, and is positioned and mounted on the battery cradle 6. The position of the battery 3 in the front-rear direction is detected.
  • the inclination of the battery cradle 6 with respect to the left-right direction when viewed from the front-rear direction is determined. By calculating, the inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction is detected. Further, when viewed from the up and down direction based on the distance between one detection mark 8 of the pair of detection marks 8 and the detection mechanism 21 and the distance between the other detection mark 8 and the detection mechanism 21. The inclination of the battery pedestal 6 with respect to the left and right direction is calculated, and the inclination of the battery 3 with respect to the left and right direction when viewed from the vertical direction is detected.
  • the position of the battery 3 in the front-rear and left-right directions, the height of the battery 3, the inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction, and the inclination of the battery 3 with respect to the left-right direction when viewed from the up-down direction are detected. Then, the position, height, and inclination of the battery insertion / removal mechanism 17 in the left-right direction by the elevating mechanism 18, the rotation mechanism 19, and the horizontal movement mechanism 20 so that the battery 3 can be properly pulled out from the battery housing portion 4. Is adjusted.
  • FIG. 12 is a flowchart for explaining the replacement operation of the battery 3 of the battery replacement robot 5 shown in FIG.
  • FIG. 13 is a diagram for explaining the operation of pulling out the battery 3 from the bus 2 by the battery exchange robot 5 shown in FIG.
  • FIG. 14 is a view for explaining the operation of inserting the battery 3 into the bus 2 by the battery exchange robot 5 shown in FIG.
  • step S1 the position of the bus 2 is detected as described above (step S1). Thereafter, the operation of pulling out the battery 3 to be replaced from the bus 2 out of the four batteries 3 is performed (step S2).
  • step S2 specifically, the position of the battery 3 to be replaced (specifically, the position of the detection mark 8 formed on the battery mount 6 on which the battery 3 to be replaced is mounted) is as described above.
  • Step S21 the battery 3 is then pulled out from the bus 2 by the robot 5 (Step S22), and then the extracted battery 3 is stored in the buffer station (Step S23).
  • steps S1 and S2 first, the battery mounting portion 22 and the battery engaging portion 24 (see FIG. 13A) at the home position move in a direction approaching the bus 2. Specifically, as shown in FIG. 13B, the battery mounting portion 22 moves from the battery mounting base 6 to a position where the battery 3 can be transferred to the battery mounting portion 22, and the handle portion of the battery 3 is moved. 14, the battery engaging portion 24 moves to a position where the engaging claw portion 41 can be engaged. In the present embodiment, the position of the battery 3 is detected before the battery mounting portion 22 and the battery engaging portion 24 at the home position move to the position shown in FIG.
  • step S2 as shown in FIG. 13C, the engaging claw portion 41 descends and engages with the handle portion 14.
  • the battery 3 accommodated in the battery accommodating portion 4 is locked by the lock mechanism 9.
  • the lock state of the battery 3 by the lock mechanism 9 is released, The battery 3 can be pulled out from the battery housing 4. Therefore, when the engaging claw portion 41 is engaged with the handle portion 14, as shown in FIG. 13C, the battery engaging portion 24 slightly pushes the battery 3 into the back side of the battery accommodating portion 4 (that is, The battery 3 is released from the locked state by the lock mechanism 9 by moving slightly toward the bus 2.
  • the battery engaging portion 24 moves away from the bus 2, and the battery 3 starts to be transferred from the battery mount 6 to the battery mounting portion 22.
  • the battery engaging portion 24 moves by a predetermined amount and the battery 3 is completely mounted on the battery mounting portion 22 as shown in FIG. 13E, thereafter, the battery mounting portion 22 and the battery engaging portion 24 are moved.
  • the battery 3 moves away from the bus 2 to complete the extraction of the battery 3 from the bus 2.
  • the robot 5 rotates 180 ° and accommodates the battery 3 in the buffer station.
  • step S3 the battery 3 is inserted into the portion of the bus 2 from which the battery 3 has been pulled out. Specifically, in step S3, the charged battery 3 is removed from the buffer station by the robot 5 (step S31), and then the removed battery 3 is inserted into the bus 2 (step S32).
  • step S3 when the robot 5 takes out the charged battery 3 from the buffer station, the robot 5 rotates 180 ° and is in the same state as when the battery 3 is completely pulled out from the bus 2 as shown in FIG. become. Thereafter, as shown in FIG. 14B, the battery mounting portion 22 and the battery engaging portion 24 move in a direction approaching the bus 2 while being synchronized.
  • the battery mounting portion 22 moves to a position where the battery 3 can be transferred from the battery mounting portion 22 to the battery mount 6, as shown in FIGS. 14C and 14D, the battery engaging portion 24. Moves in a direction approaching the bus 2, and the battery 3 is inserted into the bus 2.
  • the engaging claw portion 41 is raised, and as shown in FIG. 14 (F), the battery mounting portion 22 and the battery engaging portion 24 are After moving away from the bus 2 (specifically, moving to the home position), the insertion of the battery 3 into the bus 2 is completed.
  • steps S2 and S3 are repeated until the replacement of the battery 3 that needs to be replaced in the stopped bus 2 is completed (until "Yes” in step S4). Usually, it repeats until all the batteries 3 of the bus
  • the robot 5 returns to the origin position (step S5), and the replacement operation of the battery 3 by the robot 5 ends.
  • the teaching of the robot 5 is performed in advance using the bus 2 stopped at a predetermined reference position. (Teaching) is performed.
  • the robot 5 operates along the taught position (teaching position) and performs the replacement operation of the battery 3.
  • FIG. 15 is a flowchart for explaining the control during the insertion operation of the battery 3 of the battery exchange robot 5 shown in FIG.
  • FIG. 16 is a flowchart for explaining overload control during the insertion operation of the battery 3 of the battery exchange robot 5 shown in FIG.
  • the inclined surface 15 a of the engaging protrusion 15 and the inclined surface 11 a of the lock member 11 start to contact each other, and the battery 3 is locked by the lock mechanism 9.
  • the connector 10 and the connector 16 start to be engaged, and the connection between the connector 10 and the connector 16 is started.
  • the position of the battery engaging portion 24 is defined as a lock start position.
  • the position of the battery engaging portion 24 when the battery 3 is inserted into the battery housing portion 4 by the battery engaging portion 24 and the connection between the connector 10 and the connector 16 is started is defined as a connector connection start position.
  • the locking mechanism 9 and the connector 10 are configured so that the locking of the battery 3 by the locking mechanism 9 is started before the connection between the connector 10 and the connector 16.
  • the battery engaging portion 24 is moved to the lock start position, the battery engaging operation of the battery 3 by the battery engaging portion 24 is started.
  • the lock mechanism 9 and the connectors 10 and 16 are connected so that the connection between the connector 10 and the connector 16 is started before the lock mechanism 9 locks the battery 3.
  • the lock mechanism 9 and the connectors 10, 16 are started so that the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 are started simultaneously.
  • the battery engaging portion 24 starts the connection operation of the battery 3 when the battery engaging portion 24 moves to the lock start position and the connector connection start position.
  • the battery engaging portion 24 moves to at least one of the lock start position and the connector connection start position during the insertion operation of the battery 3 into the battery housing portion 4, the battery 3 by the battery engaging portion 24 is moved.
  • the connection operation is started, and at the time of the connection operation, at least one of the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 is performed.
  • the connection operation of the battery 3 by the battery engaging portion 24 is completed.
  • connection operation start position for example, the position of the battery engagement portion 24 shown in FIG. This is the operation start position.
  • connection operation completion position for example, the position of the battery engagement portion 24 shown in FIG. This is the connection operation completion position.
  • the lock mechanism 9 and the connectors 10 and 16 are arranged so that the lock mechanism 9 starts to be locked by the lock mechanism 9 before the connection between the connector 10 and the connector 16 when the battery 3 is inserted into the battery housing portion 4.
  • the battery engaging portion 24 When the battery engaging portion 24 is arranged, after the battery engaging portion 24 has moved to the lock start position and further moved a predetermined amount to the back side of the battery housing portion 4, the battery engaging portion 24 starts connecting operation of the battery 3. May be.
  • the lock mechanism 9 and the connectors 10 and 16 are connected so that the connection between the connector 10 and the connector 16 is started before the lock mechanism 9 locks the battery 3.
  • the battery engaging portion 24 When the battery engaging portion 24 is arranged, after the battery engaging portion 24 has moved to the connector connection start position and further moved a predetermined amount to the back side of the battery housing portion 4, the battery engaging portion 24 starts connecting operation of the battery 3 May be. Further, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10, 16 are started so that the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 are started simultaneously. When the battery engaging portion 24 is disposed, after the battery engaging portion 24 moves to the lock start position and the connector connection starting position and further moves to the back side of the battery housing portion 4, the battery engaging portion 24 moves the battery 3. The connection operation may be started.
  • the motor 44 that drives the battery engaging portion 24 is controlled before and after the connection operation is started.
  • the method is different.
  • the control unit 27 controls the robot 5 by position control for controlling the robot 5 so that the robot 5 operates along the teaching position. That is, before the connection operation starts, the control unit 27 controls the motor 44 by position control for controlling the motor 44 by controlling the rotation amount of the motor 44. In addition, before starting the connection operation, the control unit 27 stops the motor 44 when the load of the motor 44 exceeds a predetermined first reference value. In this embodiment, the current value of the motor 44 is measured as a load of the motor 44, and the control unit 27 turns off the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before starting the connection operation. The motor 44 is controlled by current control to be stopped. In practice, the controller 27 stops the motor 44 when the value obtained by multiplying the current value of the motor 44 by a predetermined constant exceeds the value obtained by multiplying the first reference current value by a similar constant.
  • the control unit 27 performs position control for controlling the robot 5 so that the robot 5 operates along the teaching position before the connection operation starts. To control. That is, before the connection operation starts, the control unit 27 controls the motor 44 by position control for controlling the motor 44 by controlling the rotation amount of the motor 44. Further, before the connection operation starts, the control unit 27 controls the motor 44 by the first control that stops the motor 44 when the load of the motor 44 exceeds a predetermined first reference value. In this embodiment, the current value of the motor 44 is measured as a load of the motor 44, and the control unit 27 turns off the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before starting the connection operation. The motor 44 is controlled by current control to be stopped. That is, the first control of the present embodiment is current control. In practice, the controller 27 stops the motor 44 when the value obtained by multiplying the current value of the motor 44 by a predetermined constant exceeds the value obtained by multiplying the first reference current value by a similar constant.
  • the control unit 27 controls the motor 44 by position control.
  • the control unit 27 is configured as shown in the flowcharts of FIGS. 15 and 16.
  • the motor 44 is controlled. That is, as shown in FIG. 15, when the battery engaging portion 24 starts to insert the battery 3 into the battery accommodating portion 4, the battery engaging portion 24 moves to the connection operation start position and the connection operation is started. (Step S41), the control unit 27 starts overload control (Step S42).
  • the overload control of the present embodiment is current control as described below.
  • step S43 the control unit 27 starts measuring the drive time of the motor 44 after the connection operation is started. Thereafter, the control unit 27 determines whether or not the battery engagement unit 24 has moved to the connection operation completion position (step S44).
  • step S44 when the battery engaging portion 24 has moved to the connection operation completion position, the control portion 27 raises the engaging claw portion 41 that is engaged with the handle portion 14 of the battery 3.
  • the battery mounting portion 22 and the battery engaging portion 24 are retracted away from the bus 2 (step S45), and the operation of inserting the battery 3 into the battery housing portion 4 by the battery engaging portion 24 is completed.
  • step S44 determines that the drive time of the motor 44 after the start of the connection operation started in step S43 is a predetermined time. It is determined whether or not the reference time has elapsed (step S47). If the drive time of the motor 44 has not passed the reference time in step S47, the process returns to step S44.
  • step S47 when the drive time of the motor 44 has passed the reference time, the control unit 27 raises the engagement claw portion 41 engaged with the handle portion 14 of the battery 3 after raising the engagement claw portion 41. Then, the motor 44 is reversely rotated to retract the battery engaging portion 24 in a direction away from the bus 2 (step S48). That is, if the drive time of the motor 44 has passed the reference time before the battery engaging portion 24 moves to the connection operation completion position, the control portion 27 retracts the battery engaging portion 24 in the direction in which the battery 3 is withdrawn.
  • the battery mounting unit 22 is not retracted in the direction in which the battery 3 is pulled out in step S48, but the battery mounting unit 22 may be retracted in the direction in which the battery 3 is pulled out in step S48.
  • step S49 the control unit 27 ends the overload control (step S49), and the battery 3 is supplied to the battery housing unit 4 by the battery engaging unit 24. Plug-in operation ends abnormally.
  • the overload control ends, the threshold value of the current value of the motor 44 is switched from the second reference current value described below to the first reference current value.
  • step S42 When overload control is started in step S42, as shown in FIG. 16, the control unit 27 calculates the current value of the motor 44 corresponding to the load of the motor 44 (step S51). It is determined whether or not the current value exceeds the second reference current value (step S52). The second reference current value is smaller than the first reference current value.
  • step S42 when overload control is started, the threshold value of the current value of the motor 44 is switched from the first reference current value to the second reference current value.
  • step S51 a value obtained by multiplying the current value of the motor 44 by a predetermined constant is calculated
  • step S52 a value obtained by multiplying the current value of the motor 44 by this constant is the second reference current value. It is determined whether or not a value obtained by multiplying the same constant by.
  • step S52 when the current value of the motor 44 does not exceed the second reference current value, the control unit 27 determines whether or not the battery engagement unit 24 has moved to the connection operation completion position (step S53). ). In step S53, when the battery engaging portion 24 has not moved to the connection operation completion position, the process returns to step S51, and when the battery engagement portion 24 has moved to the connection operation completion position, the control unit 27. Ends the overload control. When ending the overload control, the threshold value of the current value of the motor 44 is switched from the second reference current value to the first reference current value.
  • step S52 when the current value of the motor 44 exceeds the second reference current value in step S52, the control unit 27 sets the duration of the state where the current value of the motor 44 exceeds the second reference current value. Measurement is performed (step S54), and it is determined whether or not the continuation time has passed a predetermined reference time (step S55). In step S55, when the continuation time has passed the reference time, the control unit 27 stops the motor 44 (step S56) and ends the overload control. On the other hand, in step S55, if the duration time has not passed the reference time, the process proceeds to step S53.
  • step S55 proceeds from step S53 to steps S53, S51, and S52. If the current value of the motor 44 does not exceed the second reference current value in step S52, the current value of the motor 44 exceeds the second reference current value. The duration of the active state is reset. On the other hand, the process proceeds from step S55 to steps S53, S51, and S52. If the current value of the motor 44 exceeds the second reference current value in step S52, the current value of the motor 44 exceeds the second reference current value. The duration of the current state is not reset, and the duration of the state in which the current value of the motor 44 exceeds the second reference current value is added in step S54.
  • the rotational speed of the motor 44 before the connection operation is started (that is, the moving speed of the battery engagement portion 24) is the motor after the connection operation is started. It is faster than the rotational speed of 44.
  • the control unit 27 controls the motor 44 by the overload control in addition to the position control when the connection operation is started when the battery 3 is inserted into the battery housing unit 4. ing.
  • the overload control is current control.
  • the motor 44 is stopped when a predetermined reference time elapses with the current value of the motor 44 exceeding the second reference current value. . Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9, the battery 3 is displaced with respect to the lock mechanism 9, and the lock mechanism 9 and the battery 3 interfere to cause damage to the robot 5 or the like.
  • the mechanical lock mechanism 9 that locks the battery 3 by operating with the insertion force of the battery 3 into the battery housing portion 4 is installed in the battery housing portion 4, and the battery is connected to the battery housing portion 4. Even when the connector 10 and the connector 16 are connected with the insertion force of 3, it is possible to prevent damage to the battery housing portion 4, the battery 3, and the robot 5.
  • the motor 44 is driven. Therefore, when the battery 3 is locked by the lock mechanism 9 or when the connector 10 and the connector 16 are connected, even if the motor 44 is subjected to a short overload that does not damage the robot 5 or the like, The mechanism 9 can lock the battery 3 and connect the connector 10 and the connector 16. That is, in this embodiment, it is possible to lock the battery 3 by the lock mechanism 9 and to connect the connector 10 and the connector 16 while preventing damage to the battery housing 4, the battery 3, and the robot 5. .
  • the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 are ensured based on the rotation amount of the motor 44. It is possible to detect whether or not it is completed.
  • the control unit 27 3 when the driving time of the motor 44 after the start of the connection operation has passed the reference time before the battery engagement unit 24 moves to the connection operation completion position after the start of the connection operation, the control unit 27 3, the battery engaging portion 24 is retracted in the pulling direction. Therefore, in this embodiment, it is possible to prevent damage to the battery housing part 4, the battery 3, and the robot 5. That is, when the battery engagement portion 24 does not move to the connection operation completion position even though the drive time of the motor 44 after the connection operation starts has passed the reference time, the lock mechanism 9 and the battery 3 Interference or interference between the connector 10 and the connector 16 has occurred, and it is assumed that these components are overloaded. In this embodiment, the battery engaging portion 24 moves to the connection operation completion position.
  • the control unit 27 retracts the battery engaging unit 24 in the direction in which the battery 3 is withdrawn. It is possible to remove the applied overload and prevent damage to the battery housing 4, the battery 3, and the robot 5.
  • the control unit 27 has the first reference current value smaller than the first reference current value before the start of the connection operation.
  • the motor 44 is stopped when a predetermined reference time elapses with the current value of the motor 44 exceeding the two reference current values. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9, the battery 3 is displaced with respect to the lock mechanism 9, and the lock mechanism 9 and the battery 3 interfere to cause damage to the robot 5 or the like. When an excessive load is applied to the motor 44 or when the connector 10 and the connector 16 are connected, the connectors 10 and 16 are displaced to interfere with each other, and the robot 5 is damaged. When the motor 44 is applied to the motor 44, the motor 44 can be stopped.
  • the connection operation when the connection operation is started, even if the current value of the motor 44 exceeds the second reference current value, the reference time elapses with the current value of the motor 44 exceeding the second reference current value. Until then, the motor 44 is driven. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9 or when the connector 10 and the connector 16 are connected, the motor 44 is subjected to a short overload that does not damage the robot 5 or the like. However, the battery 3 can be locked by the lock mechanism 9 and the connector 10 and the connector 16 can be connected.
  • the mechanical lock mechanism 9 that locks the battery 3 by operating with the insertion force of the battery 3 into the battery housing portion 4 is installed in the battery housing portion 4, and the battery is connected to the battery housing portion 4. Even when the connector 10 and the connector 16 are connected with an insertion force of 3, the battery 3 is locked by the lock mechanism 9 while the battery housing 4, the battery 3 and the robot 5 are prevented from being damaged. And the connector 16 can be connected.
  • the motor 44 does not stop unless the current value of the motor 44 exceeds the first reference current value that is larger than the second reference current value before the start of the connection operation. Therefore, in this embodiment, the acceleration / deceleration of the motor 44 before the start of the connection operation can be increased. Therefore, in this embodiment, it is possible to shorten the movement time of the battery 3 from the start of the operation of inserting the battery 3 into the battery housing portion 4 until the connection operation is started. Further, in this embodiment, since the rotation speed of the motor 44 before the start of the connection operation is higher than the rotation speed of the motor 44 after the start of the connection operation, the operation of inserting the battery 3 into the battery housing portion 4 is started. It is possible to further shorten the movement time of the battery 3 until the connection operation is started.
  • the rotation speed of the motor 44 after the start of the connection operation is slower than the rotation speed of the motor 44 before the start of the connection operation. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9, the battery 3 is displaced with respect to the lock mechanism 9, and the lock mechanism 9 and the battery 3 interfere to cause damage to the robot 5 or the like. When an excessive load is applied to the motor 44 or when the connector 10 and the connector 16 are connected, the connector 10 and the connector 16 are displaced to interfere with each other, and the robot 5 and the like are damaged. When a load is applied to the motor 44, the motor 44 can be stopped in a short time. Therefore, it is possible to effectively prevent damage to the battery housing part 4, the battery 3, and the robot 5.
  • the control unit 27 3 when the driving time of the motor 44 after the start of the connection operation has passed the reference time before the battery engagement unit 24 moves to the connection operation completion position after the start of the connection operation, the control unit 27 3, the battery engaging portion 24 is retracted in the pulling direction. Therefore, in this embodiment, it is possible to prevent damage to the battery housing part 4, the battery 3, and the robot 5. That is, when the battery engagement portion 24 does not move to the connection operation completion position even though the drive time of the motor 44 after the connection operation starts has passed the reference time, the lock mechanism 9 and the battery 3 Interference or interference between the connector 10 and the connector 16 has occurred, and it is assumed that these components are overloaded. In this embodiment, the battery engaging portion 24 moves to the connection operation completion position.
  • the control unit 27 retracts the battery engaging unit 24 in the direction in which the battery 3 is withdrawn. It is possible to remove the applied overload and prevent damage to the battery housing 4, the battery 3, and the robot 5.
  • step S47 when the driving time of the motor 44 has passed the reference time in step S47, the control unit 27 reverses the motor 44 and retracts the battery engaging unit 24 in the direction away from the bus 2. I am letting.
  • the control unit 27 may stop the battery engaging unit 24. That is, in step S47, when the driving time of the motor 44 has passed the reference time, the control unit 27 may stop the motor 44.
  • the control unit 27 causes the current value to be the second even if the current value of the motor 44 exceeds the second reference current value in the overload control.
  • the motor 44 is driven until a predetermined reference time elapses when the reference current value is exceeded, and when the reference time elapses when the current value of the motor 44 exceeds the second reference current value, the motor 44 is stopped. ing.
  • the control unit 27 measures a load value other than the current value of the motor 44 as the load of the motor 44, and in the overload control, even if the measured load exceeds a predetermined reference value, The motor 44 may be driven until a predetermined reference time elapses with the load exceeding the reference value, and the motor 44 may be stopped when the reference time elapses with the load exceeding the reference value.
  • the control unit 27 measures the load of the motor 44 using a pressure sensor that measures the contact pressure between the battery 3 and the engaging claw portion 41 during the operation of inserting the battery 3 into the battery housing unit 4.
  • the motor 44 In the load control, even if the detection value of the pressure sensor exceeds a predetermined reference value, the motor 44 is driven until a predetermined reference time elapses in a state where the detection value exceeds the reference value. The motor 44 may be stopped when the reference time elapses in a state exceeding the above.
  • the control unit 27 determines that the current value of the motor 44 does not exceed the second reference current value in overload control.
  • the motor 44 is driven until a predetermined reference time elapses when the second reference current value is exceeded, and when the reference time elapses when the current value of the motor 44 exceeds the second reference current value, the motor 44 is turned off.
  • the control unit 27 measures a load value other than the current value of the motor 44 as a load of the motor 44 in the overload control, and the measured load exceeds a predetermined second reference value.
  • the motor 44 is driven until a predetermined reference time elapses when the load exceeds the second reference value, and the motor 44 is operated when the reference time elapses when the load exceeds the second reference value. It can be stopped .
  • the control unit 27 measures the load of the motor 44 using the above-described pressure sensor, and even if the detected value of the pressure sensor exceeds a predetermined second reference value, the detected value is the second reference value.
  • the motor 44 may be driven until a predetermined reference time elapses in a state where the value is exceeded, and the motor 44 may be stopped when the reference time elapses in a state where the detected value exceeds the second reference value.
  • the controller 27 stops the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before the start of the connection operation.
  • the control unit 27 may stop the motor 44 when the load of the motor 44 measured by the pressure sensor described above exceeds a predetermined reference value before starting the connection operation.
  • the control unit 27 stops the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before starting the connection operation. .
  • the control unit 27 measures a load value other than the current value of the motor 44 as a load of the motor 44 before the connection operation starts, and the measured load exceeds a predetermined first reference value.
  • the motor 44 may be stopped when
  • the control unit 27 measures the load of the motor 44 using a pressure sensor that measures the contact pressure between the battery 3 and the engaging claw portion 41 during the operation of inserting the battery 3 into the battery housing unit 4, and the connection.
  • the motor 44 may be stopped when the load of the motor 44 measured by the pressure sensor exceeds a predetermined first reference value.
  • 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.
  • Battery replacement system 2 Bus (vehicle) 3 Battery 4 Battery compartment 5 Robot (Battery exchange robot) 9 Locking mechanism 10 Connector (container side connector) 16 connector (battery side connector) 17 Battery insertion / removal mechanism 22 Battery mounting part 24 Battery engagement part 27 Control part 44 Motor

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  • Chemical & Material Sciences (AREA)
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Abstract

Provided is a battery replacing robot capable of preventing damage to a lock mechanism installed to lock a battery by being activated by the force of insertion of the battery into a battery container portion. In a battery replacing robot (5), during an operation of inserting a battery (3) into a battery container portion (4), when a connecting operation is started whereby a lock mechanism for locking the battery (3) is activated by the force of insertion of the battery (3) into the battery container portion (4), and the battery (3) is locked by the lock mechanism, or whereby a battery-side connector is connected with a container portion-side connector, a motor for driving a battery engaging portion for moving the battery (3) by engaging with the battery (3) is controlled by position control and overload control. In overload control, even when motor load exceeds a predetermined reference value, the motor is driven with the motor load exceeding the reference value until a predetermined time elapses, and the motor is stopped when the predetermined time elapses with the motor load exceeding the reference value.

Description

バッテリー交換ロボット、バッテリー交換システムおよびバッテリー交換ロボットの制御方法Battery exchange robot, battery exchange system, and battery exchange robot control method
　本発明は、車両に搭載されるバッテリーを交換するためのバッテリー交換ロボット、および、かかるバッテリー交換ロボットを有するバッテリー交換システムに関する。また、本発明は、かかるバッテリー交換ロボットの制御方法に関する。 The present invention relates to a battery exchange robot for exchanging a battery mounted on a vehicle, and a battery exchange system having such a battery exchange robot. The present invention also relates to a method for controlling such a battery exchange robot.
　従来、バスに搭載されるバッテリーを交換するためのバッテリー交換ロボットを備えるバッテリー交換システムが本出願人によって提案されている（たとえば、特許文献１～３参照）。特許文献１～３に記載のバッテリー交換システムでは、バッテリーが収容されるバッテリー収容部がバスに取り付けられている。バッテリー収容部には、バッテリーとバスとを電気的に接続するためのコネクタが取り付けられている。バッテリーの背面には、バッテリー収容部のコネクタに接続されるコネクタが取り付けられている。 Conventionally, a battery exchange system including a battery exchange robot for exchanging a battery mounted on a bus has been proposed by the present applicant (see, for example, Patent Documents 1 to 3). In the battery exchange systems described in Patent Documents 1 to 3, a battery housing portion that houses a battery is attached to the bus. A connector for electrically connecting the battery and the bus is attached to the battery housing portion. A connector connected to the connector of the battery housing portion is attached to the back surface of the battery.
　また、特許文献１～３に記載のバッテリー交換システムでは、バッテリー交換ロボットは、バッテリー収容部からのバッテリーの引抜きおよびバッテリー収容部へのバッテリーの差込みを行うバッテリー抜差機構を備えている。バッテリー抜差機構は、バッテリーの引抜き時および差込み時にバッテリーが搭載されるバッテリー搭載部を有するバッテリー搭載機構と、バッテリーの引抜き時および差込み時にバッテリーに係合してバッテリー搭載部上でバッテリーを移動させるバッテリー係合部を有するバッテリー移動機構とを備えている。 In addition, in the battery replacement systems described in Patent Documents 1 to 3, the battery replacement robot includes a battery insertion / removal mechanism that pulls out the battery from the battery housing portion and inserts the battery into the battery housing portion. The battery insertion / removal mechanism includes a battery mounting mechanism having a battery mounting portion on which the battery is mounted when the battery is withdrawn and inserted, and moves the battery on the battery mounting portion by engaging with the battery when the battery is withdrawn and inserted. A battery moving mechanism having a battery engaging portion.
　さらに、特許文献１～３に記載のバッテリー交換システムでは、バッテリー搭載機構は、バッテリー搭載部に加えて、バスに近づく方向およびバスから離れる方向へバッテリー搭載部を移動させる搭載部移動機構を備えている。バッテリー移動機構は、バッテリー係合部に加えて、バスに近づく方向およびバスから離れる方向へバッテリー係合部を移動させる係合部移動機構を備えている。バッテリー係合部は、バッテリーに取り付けられる取手部に係合する係合爪部と、係合爪部を上下動させるエアシリンダと、エアシリンダが取り付けられる基部とを備えている。 Further, in the battery exchange systems described in Patent Documents 1 to 3, the battery mounting mechanism includes a mounting unit moving mechanism that moves the battery mounting unit in a direction approaching the bus and a direction away from the bus in addition to the battery mounting unit. Yes. In addition to the battery engaging portion, the battery moving mechanism includes an engaging portion moving mechanism that moves the battery engaging portion in a direction approaching the bus and a direction away from the bus. The battery engagement portion includes an engagement claw portion that engages a handle portion attached to the battery, an air cylinder that moves the engagement claw portion up and down, and a base portion to which the air cylinder is attached.
　特許文献１～３に記載のバッテリー交換システムでは、バスからバッテリーの引抜きを行う際に、まず、バッテリー搭載部がバスに近づく方向へ移動するとともに、バッテリー係合部がバスに近づく方向へ移動してから、係合爪部が下降してバッテリーの取手部に係合する。その後、バッテリー係合部がバスから離れる方向へ移動する。また、バッテリー係合部が所定量移動して、バッテリーがバッテリー搭載部に搭載されると、バッテリー搭載部とバッテリー係合部とが同期しながら、バスから離れる方向へ移動する。また、バスへのバッテリーの差込みを行う際には、まず、バッテリーが搭載されたバッテリー搭載部とバッテリー係合部とが同期しながら、バスに近づく方向へ移動する。その後、バッテリーの取手部に係合しているバッテリー係合部がバスに近づく方向へ移動して、バスへのバッテリーの差込みを行う。 In the battery exchange systems described in Patent Documents 1 to 3, when the battery is pulled out from the bus, first, the battery mounting portion moves in a direction approaching the bus, and the battery engaging portion moves in a direction approaching the bus. After that, the engaging claw part descends and engages with the handle part of the battery. Thereafter, the battery engaging portion moves away from the bus. Further, when the battery engaging portion moves by a predetermined amount and the battery is mounted on the battery mounting portion, the battery mounting portion and the battery engaging portion move in a direction away from the bus while being synchronized. When inserting the battery into the bus, first, the battery mounting portion on which the battery is mounted and the battery engaging portion move in a direction approaching the bus while being synchronized. Thereafter, the battery engaging portion engaged with the battery handle moves in a direction approaching the bus, and the battery is inserted into the bus.
国際公開第２０１２／１０５５２８号International Publication No. 2012/105528 国際公開第２０１２／１０５５２９号International Publication No. 2012/105529 国際公開第２０１２／１０５５３０号International Publication No. 2012/105530
　特許文献１～３に記載のバッテリー交換システムでは、バッテリー収容部に収容されたバッテリーをバッテリー収容部に確実に固定するために、バッテリーのロック機構をバッテリー収容部に設けることが好ましい。そこで、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構をバッテリー収容部に設置することが検討されている。また、特許文献１～３に記載のバッテリー交換システムでは、バッテリーに設けられたコネクタとバッテリー収容部に設けられたコネクタとは、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で接続される。 In the battery replacement systems described in Patent Documents 1 to 3, it is preferable to provide a battery locking mechanism in the battery housing portion in order to securely fix the battery housed in the battery housing portion to the battery housing portion. In view of this, it has been studied to install a mechanical lock mechanism in the battery housing portion that is operated by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery. In the battery replacement systems described in Patent Documents 1 to 3, the connector provided in the battery and the connector provided in the battery housing portion are connected by the insertion force of the battery into the battery housing portion by the battery engaging portion. The
　特許文献１～３に記載のバッテリー交換システムにおいて、バッテリー係合部によるバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置される場合、たとえば、ロック機構によってバッテリーをロックする際に、ロック機構に対してバッテリーが位置ずれを起こしてロック機構とバッテリーとが干渉すると、ロック機構やバッテリー係合部等に過負荷がかかって、バッテリー収容部、バッテリーおよびバッテリー交換ロボットが損傷するおそれがある。また、特許文献１～３に記載のバッテリー交換システムでは、バッテリーに設けられたコネクタとバッテリー収容部に設けられたコネクタとがバッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で接続されるため、コネクタ同士を接続する際に、コネクタ同士が位置ずれを起こして干渉すると、コネクタやバッテリー係合部等に過負荷がかかって、バッテリー収容部、バッテリーおよびバッテリー交換ロボットが損傷するおそれがある。 In the battery exchange system described in Patent Documents 1 to 3, when a mechanical lock mechanism that locks the battery by operating with the battery insertion force by the battery engaging portion is installed in the battery housing portion, for example, by a lock mechanism When locking the battery, if the battery is displaced relative to the lock mechanism and the lock mechanism and the battery interfere with each other, an overload is applied to the lock mechanism, the battery engaging portion, etc. The replacement robot may be damaged. Further, in the battery exchange systems described in Patent Documents 1 to 3, the connector provided in the battery and the connector provided in the battery housing part are connected by the insertion force of the battery into the battery housing part by the battery engaging part. Therefore, when connecting the connectors, if the connectors are displaced and interfere with each other, an overload may be applied to the connector, the battery engaging portion, etc., and the battery housing portion, the battery, and the battery replacement robot may be damaged. .
　そこで、本発明の第１の課題は、バッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置され、かつ、バッテリー収容部へのバッテリーの差込み力でバッテリー側のコネクタとバッテリー収容部側のコネクタとを接続する場合であっても、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止することが可能なバッテリー交換ロボット、バッテリー交換システムおよびバッテリー交換ロボットの制御方法を提供することにある。 Therefore, a first problem of the present invention is that a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery is inserted into the battery housing portion. Even when the connector on the battery side and the connector on the battery housing part side are connected with an insertion force, the battery exchange robot, battery exchange system and It is to provide a method for controlling a battery exchange robot.
　そこで、本発明の第２の課題は、バッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置され、かつ、バッテリー収容部へのバッテリーの差込み力でバッテリー側のコネクタとバッテリー収容部側のコネクタとを接続する場合であっても、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止しつつ、ロック機構によってバッテリーをロックしたり、バッテリー側のコネクタと収容部側のコネクタとを接続したりすることが可能なバッテリー交換ロボット、バッテリー交換システムおよびバッテリー交換ロボットの制御方法を提供することにある。 Therefore, a second problem of the present invention is that a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and that the battery is inserted into the battery housing portion. Even when the connector on the battery side and the connector on the battery housing part side are connected with an insertion force, the battery can be locked or the battery can be locked by the lock mechanism while preventing damage to the battery housing part, the battery and the battery replacement robot. An object of the present invention is to provide a battery exchange robot, a battery exchange system, and a battery exchange robot control method capable of connecting a connector on the side and a connector on the housing unit side.
　上記の第１の課題を解決するため、本発明のバッテリー交換ロボットは、車両に搭載されているバッテリーを交換するためのバッテリー交換ロボットにおいて、車両に取り付けられるとともにバッテリーが収容されるバッテリー収容部からのバッテリーの引抜きおよびバッテリー収容部へのバッテリーの差込みを行うバッテリー抜差機構と、バッテリー抜差機構を制御する制御部とを備え、バッテリーは、車両とバッテリーとを電気的に接続するためのバッテリー側コネクタを備え、バッテリー収容部は、収容されたバッテリーをロックするロック機構と、バッテリー側コネクタに接続される収容部側コネクタとを備え、バッテリー抜差機構は、バッテリーが搭載されるバッテリー搭載部と、バッテリーに係合してバッテリーを移動させるバッテリー係合部と、バッテリー係合部を駆動するためのモータとを備え、ロック機構は、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構であり、バッテリー側コネクタと収容部側コネクタとは、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で接続され、制御部は、バッテリー収容部へのバッテリーの差込み動作時に、位置制御によってモータを制御するとともに、差込み動作時において、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作が開始されると、位置制御に加えて、モータの負荷が所定の基準値を超えてもモータの負荷が基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させるとともにモータの負荷が基準値を超えた状態で基準時間が経過するとモータを停止させる過負荷制御によってモータを制御することを特徴とする。 In order to solve the first problem, a battery exchange robot according to the present invention is a battery exchange robot for exchanging a battery mounted on a vehicle. The battery includes a battery insertion / removal mechanism for pulling out the battery and inserting the battery into the battery housing, and a control unit for controlling the battery insertion / removal mechanism. The battery is a battery for electrically connecting the vehicle and the battery. The battery housing portion includes a lock mechanism that locks the accommodated battery, and a housing portion-side connector that is connected to the battery-side connector. And move the battery by engaging the battery A mechanical lock that includes a battery engaging portion and a motor for driving the battery engaging portion, and the lock mechanism is operated by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery. The battery-side connector and the housing-side connector are connected by the battery insertion force of the battery into the battery housing portion by the battery engaging portion, and the control unit controls the position during the operation of inserting the battery into the battery housing portion. In addition to the position control, when the connecting operation is started in which at least one of the battery locking by the locking mechanism and the connection between the battery side connector and the housing side connector is started during the insertion operation, the motor is controlled by Even if the motor load exceeds the specified reference value, the motor load exceeds the reference value. And controlling the motor by the overload control to stop the elapsed reference time motor in a state where the load of the motor with driving the motor exceeds a reference value to a predetermined reference time in the state has elapsed.
　また、上記の第１の課題を解決するため、本発明のバッテリー交換ロボットの制御方法は、車両に取り付けられるとともにバッテリーが収容されるバッテリー収容部からのバッテリーの引抜きおよびバッテリー収容部へのバッテリーの差込みを行うバッテリー抜差機構を備え、バッテリーは、車両とバッテリーとを電気的に接続するためのバッテリー側コネクタを備え、バッテリー収容部は、収容されたバッテリーをロックするロック機構と、バッテリー側コネクタに接続される収容部側コネクタとを備え、バッテリー抜差機構は、バッテリーが搭載されるバッテリー搭載部と、バッテリーに係合してバッテリーを移動させるバッテリー係合部と、バッテリー係合部を駆動するためのモータとを備え、ロック機構は、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構であり、バッテリー側コネクタと収容部側コネクタとは、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で接続されるバッテリー交換ロボットの制御方法であって、バッテリー収容部へのバッテリーの差込み動作時に、位置制御によってモータを制御するとともに、差込み動作時において、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作が開始されると、位置制御に加えて、モータの負荷が所定の基準値を超えてもモータの負荷が基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させるとともにモータの負荷が基準値を超えた状態で基準時間が経過するとモータを停止させる過負荷制御によってモータを制御することを特徴とする。 In order to solve the first problem described above, a method for controlling a battery exchange robot according to the present invention is a method for pulling out a battery from a battery housing portion that is attached to a vehicle and that houses a battery, and for removing the battery from the battery housing portion. The battery has a battery insertion / removal mechanism for inserting the battery, the battery has a battery side connector for electrically connecting the vehicle and the battery, and the battery accommodating portion has a lock mechanism for locking the accommodated battery, and the battery side connector. And a battery insertion / removal mechanism for driving the battery engaging portion, a battery mounting portion for mounting the battery, a battery engaging portion that engages with the battery and moves the battery, and a battery engaging portion. And a locking mechanism is provided by the battery engaging portion. This is a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing part. The battery side connector and the housing part side connector are inserted into the battery housing part by the battery engaging part. A battery exchanging robot connected to the battery housing portion by controlling the motor by position control at the time of inserting the battery into the battery housing, and at the time of inserting, the battery is locked by the locking mechanism and the battery side connector; When the connection operation in which at least one of the connection with the housing side connector is performed is started, in addition to the position control, the motor load exceeds the reference value even if the motor load exceeds the predetermined reference value. Drive the motor until a predetermined reference time elapses, and Load and controlling the motor by the overload control to stop the motor after a lapse of the reference time in a state that exceeds a reference value.
　上記の第１の課題を解決するため、本発明のバッテリー交換ロボットでは、制御部は、バッテリー収容部へのバッテリーの差込み動作時において、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作が開始されると、位置制御に加えて、モータの負荷が所定の基準値を超えてもモータの負荷が基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させるとともにモータの負荷が基準値を超えた状態で基準時間が経過するとモータを停止させる過負荷制御によってモータを制御している。また、本発明のバッテリー交換ロボットの制御方法では、バッテリー収容部へのバッテリーの差込み動作時において、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作が開始されると、位置制御に加えて、モータの負荷が所定の基準値を超えてもモータの負荷が基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させるとともにモータの負荷が基準値を超えた状態で基準時間が経過するとモータを停止させる過負荷制御によってモータを制御している。 In order to solve the first problem, in the battery exchange robot of the present invention, the control unit locks the battery by the lock mechanism and the battery-side connector and the housing-side connector when the battery is inserted into the battery housing portion. When a connection operation in which at least one of the connection is performed is started, in addition to the position control, even if the motor load exceeds the predetermined reference value, the motor load exceeds the reference value and the predetermined operation is performed. The motor is controlled by overload control that drives the motor until the reference time elapses and stops the motor when the reference time elapses with the motor load exceeding the reference value. In the battery exchange robot control method of the present invention, at the time of inserting the battery into the battery housing portion, at least one of the locking of the battery by the lock mechanism and the connection between the battery side connector and the housing portion side connector is performed. When the connecting operation is started, in addition to the position control, the motor is driven until a predetermined reference time elapses with the motor load exceeding the reference value even if the motor load exceeds the predetermined reference value. At the same time, the motor is controlled by overload control that stops the motor when the reference time elapses with the motor load exceeding the reference value.
　上記の第１の課題を解決するため、本発明では、接続動作が開始された後の過負荷制御において、モータの負荷が所定の基準値を超えた状態で所定の基準時間が経過するとモータを停止させているため、ロック機構によってバッテリーをロックする際に、ロック機構に対してバッテリーが位置ずれを起こしてロック機構とバッテリーとが干渉し、バッテリー交換ロボット等に損傷が生じる程の過負荷がモータにかかったときや、バッテリー側コネクタと収容部側コネクタとを接続する際に、コネクタ同士が位置ずれを起こして干渉し、バッテリー交換ロボット等に損傷が生じる程の過負荷がモータにかかったときに、モータを停止させることが可能になる。したがって、本発明では、バッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置され、かつ、バッテリー収容部へのバッテリーの差込み力でバッテリー側のコネクタとバッテリー収容部側のコネクタとを接続する場合であっても、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止することが可能になる。 In order to solve the first problem, in the present invention, in the overload control after the connection operation is started, the motor is turned on when a predetermined reference time elapses with the motor load exceeding a predetermined reference value. Therefore, when the battery is locked by the lock mechanism, the battery is displaced with respect to the lock mechanism and the lock mechanism and the battery interfere with each other. When connected to the motor, or when connecting the battery side connector and the housing side connector, the connectors were displaced and interfered, and the motor was overloaded enough to damage the battery replacement robot, etc. Sometimes it becomes possible to stop the motor. Therefore, in the present invention, a mechanical locking mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery side with the insertion force of the battery into the battery housing portion. Even when the connector and the connector on the battery housing portion side are connected, it is possible to prevent damage to the battery housing portion, the battery, and the battery replacement robot.
　また、上記の第１の課題を解決するため、本発明では、過負荷制御において、モータの負荷が基準値を超えてもモータの負荷が基準値を超えた状態で基準時間が経過するまでモータを駆動させているため、ロック機構によってバッテリーをロックする際や、バッテリー側コネクタと収容部側コネクタとを接続する際に、バッテリー交換ロボット等に損傷が生じない程度の短時間の過負荷がモータにかかっても、ロック機構によってバッテリーをロックしたり、バッテリー側コネクタと収容部側コネクタとを接続したりすることが可能になる。すなわち、本発明では、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止しつつ、ロック機構によってバッテリーをロックしたり、バッテリー側コネクタと収容部側コネクタとを接続したりすることが可能になる。 In order to solve the first problem, in the present invention, in overload control, even if the motor load exceeds the reference value, the motor is kept until the reference time elapses with the motor load exceeding the reference value. When the battery is locked by the locking mechanism, or when the battery side connector and the housing side connector are connected, the motor is subjected to a short overload that does not cause damage to the battery replacement robot, etc. Even in this case, the battery can be locked by the lock mechanism, and the battery-side connector and the accommodating portion-side connector can be connected. That is, according to the present invention, it is possible to lock the battery by the lock mechanism and to connect the battery side connector and the storage unit side connector while preventing damage to the battery storage unit, the battery, and the battery replacement robot. .
　さらに、上記の第１の課題を解決するため、本発明では、接続動作時においても、モータが位置制御されているため、モータの回転量に基づいて、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続が確実に完了しているか否かを検出することが可能になる。 Further, in order to solve the first problem, in the present invention, since the position of the motor is controlled even during the connection operation, the battery is locked by the lock mechanism and the battery side connector based on the rotation amount of the motor. It is possible to detect whether or not the connection between the housing portion connector and the housing portion side connector is securely completed.
　上記の第１の課題を解決するため、本発明において、過負荷制御は、たとえば、モータの電流値が基準値である基準電流値を超えてもモータの電流値が基準電流値を超えた状態で基準時間が経過するまでモータを駆動させるとともに、モータの電流値が基準電流値を超えた状態で基準時間が経過するとモータを停止させる電流制御である。 In order to solve the first problem, in the present invention, overload control is performed, for example, in a state where the motor current value exceeds the reference current value even if the motor current value exceeds the reference current value which is a reference value. In the current control, the motor is driven until the reference time elapses, and the motor is stopped when the reference time elapses with the motor current value exceeding the reference current value.
　また、上記の第１の課題を解決するため、本発明において、たとえば、ロック機構によるバッテリーのロックが開始されるロック開始位置、および、バッテリー側コネクタと収容部側コネクタとの接続が開始されるコネクタ接続開始位置の少なくともいずれか一方までバッテリー係合部が移動すると、接続動作が開始される。 Further, in order to solve the first problem, in the present invention, for example, a lock start position where the lock of the battery by the lock mechanism is started, and a connection between the battery side connector and the accommodating portion side connector is started. When the battery engaging portion moves to at least one of the connector connection start positions, the connection operation is started.
　上記の第１の課題を解決するため、本発明において、制御部は、接続動作が開始されると、接続動作開始後のモータの駆動時間の計測を開始し、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続が完了する接続動作完了位置にバッテリー係合部が移動するまでの間に、接続動作開始後のモータの駆動時間が所定時間を経過すると、バッテリーの引抜き方向へバッテリー係合部を退避させることが好ましい。接続動作開始後のモータの駆動時間が所定時間を経過しているにもかかわらず、接続動作完了位置までバッテリー係合部が移動しない場合には、ロック機構とバッテリーとの干渉やバッテリー側コネクタと収容部側コネクタとの干渉等が発生しており、これらの構成に過負荷がかかっていることが想定される。そのため、このように構成すると、ロック機構等にかかっている過負荷を取り除いて、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止することが可能になる。なお、接続動作開始後のモータの駆動時間が所定時間を経過したときに、モータを停止させてバッテリー係合部を停止させることも可能であるが、バッテリー係合部が停止しても、ロック機構等にかかっている過負荷を取り除くことができないため、バッテリー収容部、バッテリーおよびバッテリー交換ロボットが損傷するおそれがある。 In order to solve the first problem, in the present invention, when the connection operation is started, the control unit starts measuring the driving time of the motor after the connection operation starts, and locks the battery and the battery by the lock mechanism. When the drive time of the motor after the start of the connection operation has elapsed for a predetermined time before the battery engagement portion moves to the connection operation completion position where the connection between the side connector and the housing side connector is completed, the battery is pulled out It is preferable to retract the battery engaging portion. If the battery engagement part does not move to the connection operation completion position even though the motor drive time after the start of the connection operation has passed, the interference between the lock mechanism and the battery or the battery side connector Interference with the housing side connector has occurred, and it is assumed that these components are overloaded. Therefore, if comprised in this way, it will become possible to remove the overload applied to a locking mechanism etc. and to prevent damage to a battery accommodating part, a battery, and a battery exchange robot. It is possible to stop the battery engaging part by stopping the motor when the driving time of the motor after the start of the connection operation has passed a predetermined time. Since the overload applied to the mechanism or the like cannot be removed, there is a risk that the battery housing, the battery, and the battery replacement robot may be damaged.
　上記の第１の課題を解決するため、本発明のバッテリー交換ロボットは、バッテリー収容部を備えるバッテリー交換システムに用いることができる。このバッテリー交換システムでは、バッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置され、かつ、バッテリー収容部へのバッテリーの差込み力でバッテリー側のコネクタとバッテリー収容部側のコネクタとを接続する場合であっても、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止することが可能になる。また、このバッテリー交換システムでは、ロック機構によってバッテリーをロックする際や、バッテリー側コネクタと収容部側コネクタとを接続する際に、バッテリー交換ロボット等に損傷が生じない程度の短時間の過負荷がモータにかかっても、ロック機構によってバッテリーをロックしたり、バッテリー側コネクタと収容部側コネクタとを接続したりすることが可能になる。さらに、このバッテリー交換システムでは、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続が確実に完了しているか否かを検出することが可能になる。 In order to solve the first problem described above, the battery replacement robot of the present invention can be used in a battery replacement system including a battery housing portion. In this battery exchange system, a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery side with the insertion force of the battery into the battery housing portion. Even when the connector and the connector on the battery housing portion side are connected, it is possible to prevent damage to the battery housing portion, the battery, and the battery replacement robot. Further, in this battery exchange system, when the battery is locked by the lock mechanism or when the battery side connector and the housing side connector are connected, the battery exchange robot or the like is overloaded for a short time so as not to cause damage. Even when the motor is applied, the battery can be locked by the lock mechanism, and the battery-side connector and the accommodating portion-side connector can be connected. Further, in this battery exchange system, it becomes possible to detect whether or not the battery is locked by the lock mechanism and the connection between the battery side connector and the housing portion side connector is reliably completed.
　上記の第２の課題を解決するため、本発明のバッテリー交換ロボットは、車両に搭載されているバッテリーを交換するためのバッテリー交換ロボットにおいて、車両に取り付けられるとともにバッテリーが収容されるバッテリー収容部からのバッテリーの引抜きおよびバッテリー収容部へのバッテリーの差込みを行うバッテリー抜差機構と、バッテリー抜差機構を制御する制御部とを備え、バッテリーは、車両とバッテリーとを電気的に接続するためのバッテリー側コネクタを備え、バッテリー収容部は、収容されたバッテリーをロックするロック機構と、バッテリー側コネクタに接続される収容部側コネクタとを備え、バッテリー抜差機構は、バッテリーが搭載されるバッテリー搭載部と、バッテリーに係合してバッテリーを移動させるバッテリー係合部と、バッテリー係合部を駆動するためのモータとを備え、ロック機構は、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構であり、バッテリー側コネクタと収容部側コネクタとは、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で接続され、制御部は、バッテリー収容部へのバッテリーの差込み動作時において、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作の開始前は、モータの負荷が所定の第１基準値を超えるとモータを停止させる第１制御によってモータを制御し、接続動作が開始されると、モータの負荷が第１基準値よりも小さい第２基準値を超えてもモータの負荷が第２基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させるとともにモータの負荷が第２基準値を超えた状態で基準時間が経過するとモータを停止させる第２制御によってモータを制御することを特徴とする。 In order to solve the above second problem, a battery exchange robot of the present invention is a battery exchange robot for exchanging a battery mounted on a vehicle. The battery includes a battery insertion / removal mechanism for pulling out the battery and inserting the battery into the battery housing, and a control unit for controlling the battery insertion / removal mechanism. The battery is a battery for electrically connecting the vehicle and the battery. The battery housing portion includes a lock mechanism that locks the accommodated battery, and a housing portion-side connector that is connected to the battery-side connector. And move the battery by engaging the battery A mechanical lock that includes a battery engaging portion and a motor for driving the battery engaging portion, and the lock mechanism is operated by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery. The battery side connector and the housing part side connector are connected by the battery insertion force of the battery into the battery housing part by the battery engaging part, and the control part is locked when the battery is inserted into the battery housing part. Before the start of the connection operation in which the battery is locked by the mechanism and / or the battery side connector and the housing side connector are connected, the motor is stopped when the load of the motor exceeds a predetermined first reference value. When the motor is controlled by 1 control and the connection operation is started, the load of the motor is less than the first reference value. The motor is driven until a predetermined reference time elapses with the motor load exceeding the second reference value even if the small second reference value is exceeded, and the reference time is set while the motor load exceeds the second reference value. The motor is controlled by the second control for stopping the motor when elapses.
　また、上記の第２の課題を解決するため、本発明のバッテリー交換ロボットの制御方法は、車両に取り付けられるとともにバッテリーが収容されるバッテリー収容部からのバッテリーの引抜きおよびバッテリー収容部へのバッテリーの差込みを行うバッテリー抜差機構を備え、バッテリーは、車両とバッテリーとを電気的に接続するためのバッテリー側コネクタを備え、バッテリー収容部は、収容されたバッテリーをロックするロック機構と、バッテリー側コネクタに接続される収容部側コネクタとを備え、バッテリー抜差機構は、バッテリーが搭載されるバッテリー搭載部と、バッテリーに係合してバッテリーを移動させるバッテリー係合部と、バッテリー係合部を駆動するためのモータとを備え、ロック機構は、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構であり、バッテリー側コネクタと収容部側コネクタとは、バッテリー係合部によるバッテリー収容部へのバッテリーの差込み力で接続されるバッテリー交換ロボットの制御方法であって、バッテリー収容部へのバッテリーの差込み動作時において、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作の開始前は、モータの負荷が所定の第１基準値を超えるとモータを停止させ、接続動作が開始されると、モータの負荷が第１基準値よりも小さい第２基準値を超えてもモータの負荷が第２基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させるとともに、モータの負荷が第２基準値を超えた状態で基準時間が経過するとモータを停止させることを特徴とする。 In order to solve the above second problem, the battery exchange robot control method of the present invention is attached to a vehicle and withdraws the battery from the battery housing portion in which the battery is housed, and removes the battery from the battery housing portion. The battery has a battery insertion / removal mechanism for inserting the battery, the battery has a battery side connector for electrically connecting the vehicle and the battery, and the battery accommodating portion has a lock mechanism for locking the accommodated battery, and the battery side connector. And a battery insertion / removal mechanism for driving the battery engaging portion, a battery mounting portion for mounting the battery, a battery engaging portion that engages with the battery and moves the battery, and a battery engaging portion. And a locking mechanism is provided by the battery engaging portion. This is a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing part. The battery side connector and the housing part side connector are inserted into the battery housing part by the battery engaging part. The battery exchange robot connected by the control method of the battery exchange robot, at the time of inserting the battery into the battery housing portion, at least one of the battery lock by the lock mechanism and the connection between the battery side connector and the housing portion side connector is Before the start of the connecting operation to be performed, the motor is stopped when the load of the motor exceeds a predetermined first reference value, and when the connecting operation is started, the second reference value whose motor load is smaller than the first reference value. If the motor load exceeds the second reference value even if the Causes the movement, characterized in that the motor is stopped when the reference time has elapsed in a state in which the load on the motor exceeds a second reference value.
　上記の第２の課題を解決するため、本発明のバッテリー交換ロボットでは、制御部は、バッテリー収容部へのバッテリーの差込み動作時において、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作の開始前は、モータの負荷が所定の第１基準値を超えるとモータを停止させる第１制御によってモータを制御し、接続動作が開始されると、モータの負荷が第１基準値よりも小さい第２基準値を超えてもモータの負荷が第２基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させるとともにモータの負荷が第２基準値を超えた状態で基準時間が経過するとモータを停止させる第２制御によってモータを制御している。また、上記の第２の課題を解決するため、本発明のバッテリー交換ロボットの制御方法では、バッテリー収容部へのバッテリーの差込み動作時において、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作の開始前は、モータの負荷が所定の第１基準値を超えるとモータを停止させ、接続動作が開始されると、モータの負荷が第１基準値よりも小さい第２基準値を超えてもモータの負荷が第２基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させるとともに、モータの負荷が第２基準値を超えた状態で基準時間が経過するとモータを停止させている。 In order to solve the second problem, in the battery exchange robot according to the present invention, the control unit locks the battery by the lock mechanism and the battery side connector and the housing side connector when the battery is inserted into the battery housing portion. Before the start of the connection operation in which at least one of the connections is made, the motor is controlled by the first control that stops the motor when the load of the motor exceeds a predetermined first reference value, and the connection operation is started. And even if the motor load exceeds a second reference value smaller than the first reference value, the motor is driven until a predetermined reference time elapses while the motor load exceeds the second reference value, and the motor load The motor is controlled by the second control that stops the motor when the reference time elapses in a state that exceeds the second reference value. In order to solve the above second problem, in the battery exchange robot control method of the present invention, when the battery is inserted into the battery housing portion, the battery is locked by the lock mechanism and the battery side connector and the housing portion side. Before the start of the connection operation in which at least one of the connections with the connector is performed, the motor is stopped when the motor load exceeds a predetermined first reference value, and when the connection operation is started, the motor load is The motor is driven until a predetermined reference time elapses in a state where the motor load exceeds the second reference value even if the second reference value smaller than one reference value is exceeded, and the motor load decreases to the second reference value. The motor is stopped when the reference time elapses in the exceeded state.
　上記の第２の課題を解決するため、本発明では、接続動作が開始された後、接続動作開始前の第１基準値よりも小さい第２基準値をモータの負荷が超えた状態で基準時間が経過するとモータを停止させているため、ロック機構によってバッテリーをロックする際に、ロック機構に対してバッテリーが位置ずれを起こしてロック機構とバッテリーとが干渉し、バッテリー交換ロボット等に損傷が生じる程の過負荷がモータにかかったときや、バッテリー側コネクタと収容部側コネクタとを接続する際に、コネクタ同士が位置ずれを起こして干渉し、バッテリー交換ロボット等に損傷が生じる程の過負荷がモータにかかったときに、モータを停止させることが可能になる。 In order to solve the above second problem, in the present invention, after the connection operation is started, the reference time in a state where the motor load exceeds the second reference value smaller than the first reference value before the connection operation is started. Since the motor is stopped after the lapse of time, when the battery is locked by the lock mechanism, the battery is displaced with respect to the lock mechanism, the lock mechanism and the battery interfere with each other, and the battery exchange robot is damaged. When overload is applied to the motor or when connecting the battery side connector and the housing side connector, the connectors are displaced and interfere with each other, causing damage to the battery replacement robot, etc. When is applied to the motor, the motor can be stopped.
　また、上記の第２の課題を解決するため、本発明では、接続動作が開始されると、モータの負荷が第２基準値を超えてもモータの負荷が第２基準値を超えた状態で所定の基準時間が経過するまでモータを駆動させているため、ロック機構によってバッテリーをロックする際や、バッテリー側コネクタと収容部側コネクタとを接続する際に、バッテリー交換ロボット等に損傷が生じない程度の短時間の過負荷がモータにかかっても、ロック機構によってバッテリーをロックしたり、バッテリー側コネクタと収容部側コネクタとを接続したりすることが可能になる。 In order to solve the second problem, in the present invention, when the connection operation is started, even if the motor load exceeds the second reference value, the motor load exceeds the second reference value. Since the motor is driven until the predetermined reference time has elapsed, the battery replacement robot or the like is not damaged when the battery is locked by the lock mechanism or when the battery side connector and the housing side connector are connected. Even if an overload of a short time is applied to the motor, the battery can be locked by the lock mechanism, and the battery-side connector and the housing-side connector can be connected.
　したがって、上記の第２の課題を解決するため、本発明では、バッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置され、かつ、バッテリー収容部へのバッテリーの差込み力でバッテリー側のコネクタとバッテリー収容部側のコネクタとを接続する場合であっても、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止しつつ、ロック機構によってバッテリーをロックしたり、バッテリー側コネクタと収容部側コネクタとを接続したりすることが可能になる。 Therefore, in order to solve the second problem, in the present invention, a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery Even when the connector on the battery side and the connector on the battery housing part side are connected by the insertion force of the battery into the housing part, the battery is prevented by the lock mechanism while preventing damage to the battery housing part, the battery and the battery replacement robot. Can be locked, and the battery-side connector and the housing-side connector can be connected.
　また、上記の第２の課題を解決するため、本発明では、接続動作の開始前は、第２基準値よりも大きな第１基準値をモータの負荷が超えなければモータが停止しないため、モータの加減速度を大きくすることが可能になる。したがって、バッテリー収容部へのバッテリーの差込み動作を開始してから接続動作が開始されるまでのバッテリーの移動時間を短くすることが可能になる。 In order to solve the second problem, in the present invention, the motor does not stop unless the load of the motor exceeds the first reference value larger than the second reference value before the start of the connection operation. It becomes possible to increase the acceleration / deceleration speed. Therefore, it is possible to shorten the battery moving time from the start of the battery insertion operation to the battery housing portion until the connection operation is started.
　上記の第２の課題を解決するため、本発明において、たとえば、第１制御は、モータの電流値が第１基準値である第１基準電流値を超えるとモータを停止させる電流制御であり、第２制御は、モータの電流値が第２基準値である第２基準電流値を超えてもモータの電流値が第２基準電流値を超えた状態で基準時間が経過するまでモータを駆動させるとともに、モータの電流値が第２基準電流値を超えた状態で基準時間が経過するとモータを停止させる電流制御である。 In order to solve the second problem, in the present invention, for example, the first control is current control for stopping the motor when the current value of the motor exceeds a first reference current value that is a first reference value. In the second control, the motor is driven until the reference time elapses with the motor current value exceeding the second reference current value even if the motor current value exceeds the second reference current value which is the second reference value. At the same time, the current control is such that the motor is stopped when the reference time elapses with the motor current value exceeding the second reference current value.
　また、上記の第２の課題を解決するため、本発明において、たとえば、ロック機構によるバッテリーのロックが開始されるロック開始位置、および、バッテリー側コネクタと収容部側コネクタとの接続が開始されるコネクタ接続開始位置の少なくともいずれか一方までバッテリー係合部が移動すると、接続動作が開始される。 In order to solve the above second problem, in the present invention, for example, a lock start position where the lock of the battery by the lock mechanism is started, and the connection between the battery side connector and the accommodating portion side connector is started. When the battery engaging portion moves to at least one of the connector connection start positions, the connection operation is started.
　上記の第２の課題を解決するため、本発明において、接続動作開始前のモータの回転速度は、接続動作開始後のモータの回転速度よりも速くなっていることが好ましい。このように構成すると、接続動作開始前のバッテリー係合部の移動速度が速くなるため、バッテリー収容部へのバッテリーの差込み動作を開始してから接続動作が開始されるまでのバッテリーの移動時間を短くすることが可能になる。また、このように構成すると、接続動作開始後のモータの回転速度が遅くなるため、ロック機構によってバッテリーをロックする際に、ロック機構に対してバッテリーが位置ずれを起こしてロック機構とバッテリーとが干渉し、バッテリー交換ロボット等に損傷が生じる程の過負荷がモータにかかったときや、バッテリー側コネクタと収容部側コネクタとを接続する際に、コネクタ同士が位置ずれを起こして干渉し、バッテリー交換ロボット等に損傷が生じる程の過負荷がモータにかかったときに、短時間でモータを停止させることが可能になる。したがって、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を効果的に防止することが可能になる。 In order to solve the above second problem, in the present invention, it is preferable that the rotation speed of the motor before the start of the connection operation is higher than the rotation speed of the motor after the start of the connection operation. With this configuration, the moving speed of the battery engaging portion before the start of the connection operation increases, so the battery moving time from the start of the battery insertion operation to the battery housing portion to the start of the connection operation is reduced. It can be shortened. Also, with this configuration, since the rotation speed of the motor after the start of the connection operation is slow, when the battery is locked by the lock mechanism, the battery is displaced with respect to the lock mechanism, and the lock mechanism and the battery are When an overload is applied to the motor that causes interference and damage to the battery replacement robot, etc., or when connecting the battery side connector and the housing side connector, the connectors interfere with each other, causing the battery to be displaced. When an overload that causes damage to the exchange robot or the like is applied to the motor, the motor can be stopped in a short time. Therefore, it is possible to effectively prevent damage to the battery housing unit, the battery, and the battery replacement robot.
　上記の第２の課題を解決するため、本発明において、制御部は、接続動作が開始されると、接続動作開始後のモータの駆動時間の計測を開始し、ロック機構によるバッテリーのロックおよびバッテリー側コネクタと収容部側コネクタとの接続が完了する接続動作完了位置にバッテリー係合部が移動するまでの間に、接続動作開始後のモータの駆動時間が所定時間を経過すると、バッテリーの引抜き方向へバッテリー係合部を退避させることが好ましい。接続動作開始後のモータの駆動時間が所定時間を経過しているにもかかわらず、接続動作完了位置までバッテリー係合部が移動しない場合には、ロック機構とバッテリーとの干渉やバッテリー側コネクタと収容部側コネクタとの干渉等が発生しており、これらの構成に過負荷がかかっていることが想定される。そのため、このように構成すると、ロック機構等にかかっている過負荷を取り除いて、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止することが可能になる。なお、接続動作開始後のモータの駆動時間が所定時間を経過したときに、モータを停止させてバッテリー係合部を停止させることも可能であるが、バッテリー係合部が停止しても、ロック機構等にかかっている過負荷を取り除くことができないため、バッテリー収容部、バッテリーおよびバッテリー交換ロボットが損傷するおそれがある。 In order to solve the second problem, in the present invention, when the connection operation is started, the control unit starts measuring the driving time of the motor after the connection operation is started, and locks the battery and the battery by the lock mechanism. When the drive time of the motor after the start of the connection operation has elapsed for a predetermined time before the battery engagement portion moves to the connection operation completion position where the connection between the side connector and the housing side connector is completed, the battery is pulled out It is preferable to retract the battery engaging portion. If the battery engagement part does not move to the connection operation completion position even though the motor drive time after the start of the connection operation has passed, the interference between the lock mechanism and the battery or the battery side connector Interference with the housing side connector has occurred, and it is assumed that these components are overloaded. Therefore, if comprised in this way, it will become possible to remove the overload applied to a locking mechanism etc. and to prevent damage to a battery accommodating part, a battery, and a battery exchange robot. It is possible to stop the battery engaging part by stopping the motor when the driving time of the motor after the start of the connection operation has passed a predetermined time. Since the overload applied to the mechanism or the like cannot be removed, there is a risk that the battery housing, the battery, and the battery replacement robot may be damaged.
　上記の第２の課題を解決するため、本発明のバッテリー交換ロボットは、バッテリー収容部を備えるバッテリー交換システムに用いることができる。このバッテリー交換システムでは、バッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置され、かつ、バッテリー収容部へのバッテリーの差込み力でバッテリー側のコネクタとバッテリー収容部側のコネクタとを接続する場合であっても、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止しつつ、ロック機構によってバッテリーをロックしたり、バッテリー側コネクタと収容部側コネクタとを接続したりすることが可能になる。また、このバッテリー交換システムでは、バッテリー収容部へのバッテリーの差込み動作を開始してから接続動作が開始されるまでのバッテリーの移動時間を短くすることが可能になる。 In order to solve the second problem described above, the battery exchange robot of the present invention can be used in a battery exchange system including a battery housing portion. In this battery exchange system, a mechanical lock mechanism that locks the battery by operating with the insertion force of the battery into the battery housing portion is installed in the battery housing portion, and the battery side with the insertion force of the battery into the battery housing portion. Even when connecting the connector of the battery and the connector on the battery housing side, the battery can be locked by the locking mechanism while preventing damage to the battery housing portion, the battery and the battery replacement robot, or the battery side connector and the housing portion It is possible to connect to the side connector. Further, in this battery exchange system, it is possible to shorten the movement time of the battery from the start of the operation of inserting the battery into the battery housing portion until the connection operation is started.
　以上のように、上記の第１の課題を解決するため、本発明のバッテリー交換ロボット、バッテリー交換システムおよびバッテリー交換ロボットの制御方法では、バッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置され、かつ、バッテリー収容部へのバッテリーの差込み力でバッテリー側のコネクタとバッテリー収容部側のコネクタとを接続する場合であっても、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止することが可能になる。 As described above, in order to solve the first problem described above, in the battery exchange robot, the battery exchange system, and the control method for the battery exchange robot of the present invention, the battery is operated by the insertion force of the battery into the battery housing portion. Even when a mechanical locking mechanism for locking is installed in the battery housing part and the connector on the battery side and the connector on the battery housing part side are connected by the insertion force of the battery into the battery housing part, the battery housing It is possible to prevent damage to the battery, the battery, and the battery replacement robot.
　以上のように、上記の第２の課題を解決するため、本発明のバッテリー交換ロボット、バッテリー交換システムおよびバッテリー交換ロボットの制御方法では、バッテリー収容部へのバッテリーの差込み力で作動してバッテリーをロックする機械式のロック機構がバッテリー収容部に設置され、かつ、バッテリー収容部へのバッテリーの差込み力でバッテリー側のコネクタとバッテリー収容部側のコネクタとを接続する場合であっても、バッテリー収容部、バッテリーおよびバッテリー交換ロボットの損傷を防止しつつ、ロック機構によってバッテリーをロックしたり、バッテリー側のコネクタと収容部側のコネクタとを接続したりすることが可能になる。 As described above, in order to solve the above second problem, in the battery exchange robot, the battery exchange system, and the control method for the battery exchange robot of the present invention, the battery is operated by the insertion force of the battery into the battery housing portion. Even when a mechanical locking mechanism for locking is installed in the battery housing part and the connector on the battery side and the connector on the battery housing part side are connected by the insertion force of the battery into the battery housing part, the battery housing The battery can be locked by the lock mechanism, and the battery-side connector and the housing-side connector can be connected, while preventing damage to the battery unit, the battery, and the battery replacement robot.
本発明の実施の形態にかかるバッテリー交換システムの斜視図である。1 is a perspective view of a battery exchange system according to an embodiment of the present invention. 図１のＥ部を別の角度から示す斜視図である。It is a perspective view which shows the E section of FIG. 1 from another angle. 図２のＦ部の拡大図である。It is an enlarged view of the F section of FIG. 図１に示すバッテリーおよびバッテリー収容部の構成を説明するための概略図である。It is the schematic for demonstrating the structure of the battery shown in FIG. 1, and a battery accommodating part. 図２に示すバッテリー抜差機構および昇降機構を正面から示す図である。It is a figure which shows the battery insertion / extraction mechanism and lifting mechanism shown in FIG. 2 from the front. 図５のＨ－Ｈ方向からバッテリー抜差機構および昇降機構を示す図である。It is a figure which shows a battery insertion / extraction mechanism and a raising / lowering mechanism from the HH direction of FIG. 図５に示すバッテリー搭載機構を正面から説明するための図である。It is a figure for demonstrating the battery mounting mechanism shown in FIG. 5 from the front. 図５に示すバッテリー搭載機構を上面から説明するための図である。It is a figure for demonstrating the battery mounting mechanism shown in FIG. 5 from the upper surface. 図５に示すバッテリー移動機構を側面から説明するための図である。It is a figure for demonstrating the battery moving mechanism shown in FIG. 5 from a side surface. 図９に示すバッテリー係合部がバスから離れる方向へ移動したときの状態を側面から説明するための図である。It is a figure for demonstrating a state when the battery engaging part shown in FIG. 9 moves to the direction away from a bus | bath from a side surface. 図５に示すバッテリー移動機構を上面から説明するための図である。It is a figure for demonstrating the battery moving mechanism shown in FIG. 5 from the upper surface. 図２に示すバッテリー交換ロボットのバッテリーの交換動作を説明するためのフローチャートである。3 is a flowchart for explaining a battery replacement operation of the battery replacement robot shown in FIG. 2. 図２に示すバッテリー交換ロボットによるバスからのバッテリーの引抜き動作を説明するための図である。It is a figure for demonstrating the extraction operation | movement of the battery from the bus | bath by the battery exchange robot shown in FIG. 図２に示すバッテリー交換ロボットによるバスへのバッテリーの差込み動作を説明するための図である。It is a figure for demonstrating the insertion operation | movement of the battery to the bus | bath by the battery exchange robot shown in FIG. 図２に示すバッテリー交換ロボットのバッテリーの差込み動作時の制御を説明するためのフローチャートである。3 is a flowchart for explaining control during battery insertion operation of the battery exchange robot shown in FIG. 2. 図２に示すバッテリー交換ロボットのバッテリーの差込み動作時における過負荷制御を説明するためのフローチャートである。3 is a flowchart for explaining overload control during battery insertion operation of the battery exchange robot shown in FIG. 2.
　以下、図面を参照しながら、本発明の実施の形態を説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　なお、以下の説明では、上述した第１の課題を解決するバッテリー交換システムおよびバッテリー交換ロボットと、上述した第２の課題を解決するバッテリー交換システムおよびバッテリー交換ロボットとは共通して説明しており、同じ符号を用いている。 In the following description, the battery exchange system and the battery exchange robot that solve the first problem described above and the battery exchange system and the battery exchange robot that solve the second problem described above are commonly described. The same symbols are used.
　（バッテリー交換システムの概略構成）
　図１は、本発明の実施の形態にかかるバッテリー交換システム１の斜視図である。図２は、図１のＥ部を別の角度から示す斜視図である。以下の説明では、互いに直交する３方向のそれぞれをＸ方向、Ｙ方向およびＺ方向とする。本形態では、Ｚ方向が上下方向（鉛直方向）と一致する。また、以下の説明では、Ｘ方向を前後方向、Ｙ方向を左右方向とする。 (Schematic configuration of battery replacement system)
FIG. 1 is a perspective view of a battery exchange system 1 according to an embodiment of the present invention. FIG. 2 is a perspective view showing the E portion of FIG. 1 from another angle. In the following description, each of the three directions orthogonal to each other is defined as an X direction, a Y direction, and a Z direction. In this embodiment, the Z direction coincides with the vertical direction (vertical direction). In the following description, the X direction is the front-rear direction and the Y direction is the left-right direction.
　本形態のバッテリー交換システム１は、車両２に搭載されているバッテリー３を交換するためのシステムである。本形態の車両２は、電気バスである。したがって、以下では、車両２を「バス２」とする。バス２には、複数のバッテリー３が収容されるバッテリー収容部４が取り付けられている。バッテリー収容部４は、バス２の一方の側面２ａに取り付けられるカバー部材（図示省略）を取り外すと、側面２ａに露出するように配置されている。また、バッテリー収容部４は、バス２の座席の下側に配置されている。バッテリー３の交換時には、バス２は、その進行方向と左右方向とが略一致するように停止している。 The battery exchange system 1 of this embodiment is a system for exchanging the battery 3 mounted on the vehicle 2. The vehicle 2 of this embodiment is an electric bus. Therefore, hereinafter, the vehicle 2 is referred to as “bus 2”. A battery housing portion 4 in which a plurality of batteries 3 are housed is attached to the bus 2. The battery accommodating portion 4 is arranged so as to be exposed to the side surface 2a when a cover member (not shown) attached to one side surface 2a of the bus 2 is removed. Further, the battery accommodating portion 4 is disposed below the seat of the bus 2. When the battery 3 is replaced, the bus 2 is stopped so that the traveling direction thereof substantially coincides with the left-right direction.
　バッテリー交換システム１は、バッテリー収容部４に収容されているバッテリー３を交換するためのバッテリー交換ロボット５（以下、「ロボット５」とする。）を備えている。ロボット５は、バッテリー収容部４に収容されているバッテリー３の交換が可能となるように、前後方向でバス２の側面２ａと向き合っている。このロボット５は、バッテリー収容部４に収容されているバッテリー３を引き抜いて、図示を省略するバッファステーションへ搬入するとともに、バッファステーションに収容された充電済みのバッテリー３をバッファステーションから搬出してバッテリー収容部４に差し込む。 The battery replacement system 1 includes a battery replacement robot 5 (hereinafter referred to as “robot 5”) for replacing the battery 3 stored in the battery storage unit 4. The robot 5 faces the side surface 2a of the bus 2 in the front-rear direction so that the battery 3 housed in the battery housing portion 4 can be replaced. The robot 5 pulls out the battery 3 housed in the battery housing portion 4 and carries it into a buffer station (not shown), and unloads the charged battery 3 housed in the buffer station from the buffer station. Insert into the housing 4.
　なお、バス２の側面２ａには、バス２の位置を検出するための検出用プレート１３が形成または固定されている。検出用プレート１３は、平板状に形成されるとともに、上下方向でその幅が略一定な略矩形状に形成されている。この検出用プレート１３は、たとえば、バス２の進行方向におけるバッテリー収容部４の手前側に配置されている。検出用プレート１３は、側面２ａに取り付けられるカバー部材（図示省略）を取り外すと、側面２ａに露出する。 A detection plate 13 for detecting the position of the bus 2 is formed or fixed on the side surface 2a of the bus 2. The detection plate 13 is formed in a flat plate shape and a substantially rectangular shape whose width is substantially constant in the vertical direction. The detection plate 13 is disposed, for example, on the front side of the battery housing portion 4 in the traveling direction of the bus 2. The detection plate 13 is exposed to the side surface 2a when a cover member (not shown) attached to the side surface 2a is removed.
　（バッテリーおよびバッテリー収容部の構成）
　図３は、図２のＦ部の拡大図である。図４は、図１に示すバッテリー３およびバッテリー収容部４の構成を説明するための概略図である。 (Configuration of battery and battery compartment)
FIG. 3 is an enlarged view of a portion F in FIG. FIG. 4 is a schematic diagram for explaining the configuration of the battery 3 and the battery housing 4 shown in FIG.
　バッテリー収容部４は、バッテリー３が搭載されるバッテリー置き台６と、左右の側壁７とを備えており、バッテリー置き台６と側壁７とによって、バッテリー３の収容空間が形成されている。バッテリー収容部４には、複数のバッテリー３の収容空間が形成されており、複数のバッテリー３が収容可能となっている。たとえば、バス２には、４個のバッテリー３が搭載可能となっており、バッテリー収容部４は、４個のバッテリー３のそれぞれが搭載される４個のバッテリー置き台６を備えている。 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 is formed with accommodating spaces for a plurality of batteries 3 so that a plurality of batteries 3 can be accommodated. For example, four batteries 3 can be mounted on the bus 2, and the battery housing portion 4 includes four battery mounts 6 on which each of the four batteries 3 is mounted.
　バッテリー置き台６の前面には、バッテリー３の位置を間接的に検出するための検出用マーク８が形成されている。検出用マーク８は、バッテリー置き台６の左右方向の両端側のそれぞれに形成されている。この検出用マーク８は、上側に向かうにしたがって左右方向の幅が次第に狭くなる略正三角形状に形成されている。 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. The detection mark 8 is formed in a substantially equilateral triangle shape whose width in the left-right direction is gradually narrowed toward the upper side.
　また、バッテリー収容部４は、図４に示すように、収容されたバッテリー３をロックするロック機構９と、バス２とバッテリー３とを電気的に接続するための収容部側コネクタとしてのコネクタ１０とを備えている。ロック機構９は、ロック部材１１と、付勢部材１２とを備えている。コネクタ１０は、バッテリー収容部４の奥側に配置されている。 Further, as shown in FIG. 4, the battery accommodating portion 4 includes a lock mechanism 9 that locks the accommodated battery 3 and a connector 10 as an accommodating portion side connector for electrically connecting the bus 2 and the battery 3. And. The lock mechanism 9 includes a lock member 11 and an urging member 12. The connector 10 is disposed on the back side of the battery housing portion 4.
　ロック部材１１は、たとえば、左右方向へ移動可能となるように側壁７に保持されている。このロック部材１１は、図示を省略する付勢部材によって左右方向の内側へ付勢されており、側壁７からバッテリー収容部４の内側へ突出している。また、ロック部材１１は、たとえば、略三角柱状に形成されており、前後方向と上下方向とから構成されるＺＸ平面に対して傾斜する傾斜面１１ａと、左右方向と上下方向とから構成されるＹＺ平面と平行な端面１１ｂとを備えている。端面１１ｂは、ロック部材１１の奥側の端面を構成している。傾斜面１１ａは、バッテリー収容部４の手前側に向かうにしたがって、左右方向の外側へ広がるように傾斜している。なお、ロック部材１１は、上下方向へ移動可能となるようにバッテリー置き台６に保持されても良い。この場合には、傾斜面１１ａは、バッテリー収容部４の手前側に向かうにしたがって、上下方向の外側へ広がるように傾斜している。 The lock member 11 is held on the side wall 7 so as to be movable in the left-right direction, for example. The lock member 11 is urged inward in the left-right direction by an urging member (not shown), and protrudes from the side wall 7 to the inside of the battery housing portion 4. Further, the lock member 11 is formed in, for example, a substantially triangular prism shape, and is configured by an inclined surface 11a that is inclined with respect to a ZX plane configured by the front-rear direction and the vertical direction, and a horizontal direction and a vertical direction. And an end face 11b parallel to the YZ plane. The end surface 11 b constitutes an end surface on the back side of the lock member 11. The inclined surface 11 a is inclined so as to spread outward in the left-right direction as it goes toward the front side of the battery housing portion 4. The lock member 11 may be held on the battery mount 6 so as to be movable in the vertical direction. In this case, the inclined surface 11a is inclined so as to spread outward in the vertical direction as it goes toward the front side of the battery housing portion 4.
　付勢部材１２は、たとえば、圧縮コイルバネである。この付勢部材１２は、バッテリー３に形成される後述の係合突起１５の端面１５ｂとロック部材１１の端面１１ｂとが所定の接触圧で接触するように、バッテリー収容部４の手前側に向かってバッテリー３を付勢する機能を果たしている。 The urging member 12 is, for example, a compression coil spring. The urging member 12 faces the front side of the battery housing portion 4 so that an end surface 15b of an engagement projection 15 described later formed on the battery 3 and an end surface 11b of the lock member 11 are in contact with each other with a predetermined contact pressure. The battery 3 is energized.
　バッテリー３の前面には、バッテリー収容部４からバッテリー３を引き抜くための取手部１４が形成されている。本形態では、バッテリー３の前面の、左右方向の両端側のそれぞれに取手部１４が形成されている。また、バッテリー３は、図４に示すように、ロック部材１１に係合する係合突起１５と、コネクタ１０に接続されるバッテリー側コネクタとしてのコネクタ１６とを備えている。コネクタ１６は、バッテリー収容部４に収容されたバッテリー３の奥端面（背面）に取り付けられている。 A handle 14 for pulling out the battery 3 from the battery housing 4 is formed on the front surface of the battery 3. In the present embodiment, a handle portion 14 is formed on each of the left and right ends of the front surface of the battery 3. As shown in FIG. 4, the battery 3 includes an engagement protrusion 15 that engages with the lock member 11 and a connector 16 as a battery-side connector connected to the connector 10. The connector 16 is attached to the back end surface (back surface) of the battery 3 housed in the battery housing portion 4.
　係合突起１５は、たとえば、バッテリー３の左右の側面に固定されており、バッテリー３の左右の側面から左右方向の外側へ突出している。この係合突起１５は、たとえば、略三角柱状に形成されており、ＺＸ平面に対して傾斜する傾斜面１５ａと、ＹＺ平面と平行な端面１５ｂとを備えている。端面１５ｂは、係合突起１５の手前側の端面を構成している。傾斜面１５ａは、バッテリー収容部４の手前側に向かうにしたがって、左右方向の外側へ広がるように傾斜している。また、ＺＸ平面に対する傾斜面１１ａの傾斜角度と、ＺＸ平面に対する傾斜面１５ａの傾斜角度とは略等しくなっている。 The engaging protrusions 15 are fixed to the left and right side surfaces of the battery 3, for example, and protrude from the left and right side surfaces of the battery 3 to the outside in the left and right direction. The engagement protrusion 15 is formed in, for example, a substantially triangular prism shape, and includes an inclined surface 15a inclined with respect to the ZX plane and an end surface 15b parallel to the YZ plane. The end surface 15 b constitutes an end surface on the near side of the engagement protrusion 15. The inclined surface 15 a is inclined so as to spread outward in the left-right direction as it goes toward the front side of the battery housing portion 4. Further, the inclination angle of the inclined surface 11a with respect to the ZX plane is substantially equal to the inclination angle of the inclined surface 15a with respect to the ZX plane.
　本形態では、バッテリー収容部４にバッテリー３を収容する際に、バッテリー３がバッテリー収容部４に差し込まれていくと、やがて、係合突起１５の傾斜面１５ａとロック部材１１の傾斜面１１ａとが接触する。この状態でさらに、バッテリー３がバッテリー収容部４に差し込まれると、図４（Ｂ）に示すように、付勢部材の付勢力に抗して、ロック部材１１が左右方向の外側へ移動する。係合突起１５がロック部材１１を通過するまでバッテリー３がさらに差し込まれると、ロック部材１１は、付勢部材の付勢力によって左右方向の内側へ移動する。また、係合突起１５がロック部材１１を通過するまでバッテリー３がさらに差し込まれると、付勢部材１２がバッテリー３の奥端面に接触して、バッテリー収容部４の手前側に向かってバッテリー３を付勢する。 In this embodiment, when the battery 3 is accommodated in the battery accommodating portion 4, when the battery 3 is inserted into the battery accommodating portion 4, the inclined surface 15 a of the engaging protrusion 15 and the inclined surface 11 a of the lock member 11 are eventually obtained. Touch. When the battery 3 is further inserted into the battery housing part 4 in this state, the lock member 11 moves outward in the left-right direction against the urging force of the urging member, as shown in FIG. 4B. When the battery 3 is further inserted until the engagement protrusion 15 passes through the lock member 11, the lock member 11 moves inward in the left-right direction by the urging force of the urging member. Further, when the battery 3 is further inserted until the engaging protrusion 15 passes through the lock member 11, the biasing member 12 comes into contact with the back end surface of the battery 3, and the battery 3 is moved toward the front side of the battery housing portion 4. Energize.
　すると、図４（Ｃ）に示すように、バッテリー３に形成される係合突起１５の端面１５ｂとロック部材１１の端面１１ｂとが所定の接触圧で接触して、バッテリー収容部４に収容されたバッテリー３がロックされる。このように、本形態のロック機構９は、バッテリー収容部４へのバッテリー３の差込み力で作動してバッテリー３をロックする機械式のロック機構である。具体的には、本形態のロック機構９は、ロボット５を構成する後述のバッテリー係合部２４によるバッテリー収容部４へのバッテリー３の差込み力で作動してバッテリー３をロックする機械式のロック機構である。また、本形態では、バッテリー収容部４へのバッテリー３の差込み力によって、コネクタ１０とコネクタ１６とが接続される。具体的には、後述のバッテリー係合部２４によるバッテリー収容部４へのバッテリー３の差込み力によって、コネクタ１０とコネクタ１６とが接続される。 Then, as shown in FIG. 4C, the end surface 15b of the engagement projection 15 formed on the battery 3 and the end surface 11b of the lock member 11 come into contact with each other with a predetermined contact pressure, and are stored in the battery storage portion 4. The battery 3 is locked. As described above, the lock mechanism 9 according to this embodiment is a mechanical lock mechanism that is operated by the insertion force of the battery 3 into the battery housing portion 4 to lock the battery 3. Specifically, the lock mechanism 9 according to the present embodiment is a mechanical lock that is operated by the insertion force of the battery 3 into the battery housing portion 4 by a battery engaging portion 24 described later constituting the robot 5 to lock the battery 3. Mechanism. In this embodiment, the connector 10 and the connector 16 are connected by the insertion force of the battery 3 into the battery housing portion 4. Specifically, the connector 10 and the connector 16 are connected by the insertion force of the battery 3 into the battery housing part 4 by the battery engaging part 24 described later.
　なお、本形態では、図４（Ｃ）に示す状態から（すなわち、ロック機構９にバッテリー３がロックされた状態から）さらにバッテリー３をバッテリー収容部４の奥側へわずかに押し込むと、ロック部材１１が退避して、端面１５ｂと端面１１ｂとの接触状態が解除されるように、ロック機構９が構成されている。そのため、ロック機構９にバッテリー３がロックされた状態からさらにバッテリー３をバッテリー収容部４の奥側へわずかに押し込むと、ロック機構９によるバッテリー３のロック状態が解除されて、バッテリー収容部４からのバッテリー３の引抜きが可能になる。 In this embodiment, when the battery 3 is further pushed into the back side of the battery housing portion 4 from the state shown in FIG. 4C (that is, from the state where the battery 3 is locked to the lock mechanism 9), the lock member The lock mechanism 9 is configured such that 11 is retracted and the contact state between the end surface 15b and the end surface 11b is released. Therefore, when the battery 3 is further pushed into the back side of the battery housing part 4 from the state in which the battery 3 is locked to the lock mechanism 9, the locked state of the battery 3 by the lock mechanism 9 is released, and the battery housing part 4 The battery 3 can be pulled out.
　（バッテリー交換ロボットの概略構成）
　図２に示すように、ロボット５は、バッテリー収容部４からの４個のバッテリー３のそれぞれの引抜きおよびバッテリー収容部４への４個のバッテリー３のそれぞれの差込みを行うバッテリー抜差機構１７と、バッテリー抜差機構１７を昇降させる昇降機構１８と、上下方向を軸方向としてバッテリー抜差機構１７および昇降機構１８を回動させる回動機構１９と、バッテリー抜差機構１７、昇降機構１８および回動機構１９を左右方向へ移動させる水平移動機構２０とを備えている。また、ロボット５は、検出用マーク８および検出用プレート１３を検出するための検出機構２１を備えている。バッテリー抜差機構１７、昇降機構１８、回動機構１９および水平移動機構２０は、ロボット５を制御する制御部２７（図２参照）に接続されており、これらの構成は、制御部２７によって制御される。
また、検出機構２１も制御部２７に接続されている。 (Schematic configuration of battery replacement robot)
As shown in FIG. 2, the robot 5 includes a battery insertion / removal mechanism 17 that extracts each of the four batteries 3 from the battery housing portion 4 and inserts each of the four batteries 3 into the battery housing portion 4. , An elevating mechanism 18 for elevating and lowering the battery detaching mechanism 17, a rotating mechanism 19 for rotating the battery detaching mechanism 17 and the elevating mechanism 18 with the vertical direction as an axial direction, a battery detaching mechanism 17, the elevating mechanism 18 and And a horizontal movement mechanism 20 for moving the movement mechanism 19 in the left-right direction. The robot 5 also includes a detection mechanism 21 for detecting the detection mark 8 and the detection plate 13. The battery insertion / removal mechanism 17, the lifting / lowering mechanism 18, the rotation mechanism 19, and the horizontal movement mechanism 20 are connected to a control unit 27 (see FIG. 2) that controls the robot 5, and these configurations are controlled by the control unit 27. Is done.
The detection mechanism 21 is also connected to the control unit 27.
　バッテリー抜差機構１７は、バッテリー３の引抜き時および差込み時にバッテリー３が搭載されるバッテリー搭載部２２を有するバッテリー搭載機構２３と、バッテリー３の引抜き時および差込み時にバッテリー３に係合してバッテリー搭載部２２上でバッテリー３を移動させるバッテリー係合部２４（図５参照）を有するバッテリー移動機構２５とを備えている。バッテリー搭載部２２およびバッテリー係合部２４は、バス２に近づく方向およびバス２から離れる方向へ移動可能となっている。また、バッテリー抜差機構１７は、保持部材２６に保持されている。この保持部材２６は、バッテリー搭載部２２およびバッテリー係合部２４の移動方向の両端が開口する略四角筒状に形成されている。 The battery insertion / removal mechanism 17 includes a battery mounting mechanism 23 having a battery mounting portion 22 on which the battery 3 is mounted when the battery 3 is pulled out and inserted, and a battery mounting mechanism that is engaged with the battery 3 when the battery 3 is pulled out and inserted. And a battery moving mechanism 25 having a battery engaging portion 24 (see FIG. 5) for moving the battery 3 on the portion 22. The battery mounting portion 22 and the battery engaging portion 24 are movable in a direction approaching the bus 2 and a direction away from the bus 2. Further, the battery insertion / removal mechanism 17 is held by the holding member 26. The holding member 26 is formed in a substantially rectangular tube shape that is open at both ends in the moving direction of the battery mounting portion 22 and the battery engaging portion 24.
　（バッテリー搭載機構の構成）
　図５は、図２に示すバッテリー抜差機構１７および昇降機構１８を正面から示す図である。図６は、図５のＨ－Ｈ方向からバッテリー抜差機構１７および昇降機構１８を示す図である。図７は、図５に示すバッテリー搭載機構２３を正面から説明するための図である。図８は、図５に示すバッテリー搭載機構２３を上面から説明するための図である。 (Configuration of battery mounting mechanism)
FIG. 5 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 shown in FIG. 2 from the front. FIG. 6 is a diagram showing the battery insertion / removal mechanism 17 and the lifting mechanism 18 from the HH direction of FIG. FIG. 7 is a view for explaining the battery mounting mechanism 23 shown in FIG. 5 from the front. FIG. 8 is a view for explaining the battery mounting mechanism 23 shown in FIG. 5 from above.
　バッテリー搭載機構２３は、上述のバッテリー搭載部２２に加え、バス２に近づく方向およびバス２から離れる方向へバッテリー搭載部２２を移動させる搭載部移動機構３０を備えている。 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.
　バッテリー搭載部２２は、上下方向に扁平した扁平なブロック状に形成されている。バッテリー搭載部２２の上面には、バッテリー３の下面に当接する複数のローラ３１、３２が回転可能に取り付けられている。図８に示すように、複数のローラ３１は、バッテリー搭載部２２の移動方向に所定の間隔で配置され、複数のローラ３２も、ローラ３１と同様に、バッテリー搭載部２２の移動方向に所定の間隔で配置されている。 The battery mounting portion 22 is formed in a flat block shape that is flat in the vertical direction. A plurality of rollers 31 and 32 that are in contact with the lower surface of the battery 3 are rotatably attached to the upper surface of the battery mounting portion 22. As shown in FIG. 8, the plurality of rollers 31 are arranged at predetermined intervals in the moving direction of the battery mounting portion 22, and the plurality of rollers 32 are also set in the moving direction of the battery mounting portion 22 in the same manner as the rollers 31. Arranged at intervals.
　搭載部移動機構３０は、バッテリー搭載部２２を移動させるための構成として、モータ３３と、ボールネジ等のネジ部材３４と、ネジ部材３４に螺合するナット部材３５とを備えている。また、搭載部移動機構３０は、バッテリー搭載部２２を案内するための構成として、直線状に形成されたガイドレール３６と、ガイドレール３６に係合するとともにガイドレール３６に沿って相対移動可能なガイドブロック３７とを備えている。 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.
　モータ３３は、バッテリー搭載部２２の後端部の上面側に固定されている。このモータ３３は、制御部２７に接続されている。また、モータ３３は、その回転速度および回転量を検出するためのエンコーダ（図示省略）を備えている。ネジ部材３４は、バッテリー搭載部２２の下面側に回転可能に保持されている。モータ３３とネジ部材３４とは、プーリやベルト等を介して連結されている。ナット部材３５は、保持部材２６に固定されている。また、ガイドレール３６は、バッテリー搭載部２２の下面側に固定され、ガイドブロック３７は、保持部材２６に固定されている。そのため、本形態では、モータ３３が回転すると、バッテリー搭載部２２は、ガイドレール３６およびガイドブロック３７に案内されて、保持部材２６に対して直線的に移動する。 The motor 33 is fixed to the upper surface side of the rear end portion of the battery mounting portion 22. The motor 33 is connected to the control unit 27. Further, the motor 33 includes an encoder (not shown) for detecting the rotation speed and the rotation amount. The screw member 34 is rotatably held on the lower surface side of the battery mounting portion 22. The motor 33 and the screw member 34 are connected via a pulley, a belt, or the like. The nut member 35 is fixed to the holding member 26. The guide rail 36 is fixed to the lower surface side of the battery mounting portion 22, and the guide block 37 is fixed to the holding member 26. Therefore, in this embodiment, when the motor 33 rotates, the battery mounting portion 22 is guided by the guide rail 36 and the guide block 37 and moves linearly with respect to the holding member 26.
　（バッテリー移動機構の構成）
　図９は、図５に示すバッテリー移動機構２５を側面から説明するための図である。図１０は、図９に示すバッテリー係合部２４がバス２から離れる方向へ移動したときの状態を側面から説明するための図である。図１１は、図５に示すバッテリー移動機構２５を上面から説明するための図である。 (Configuration of battery moving mechanism)
FIG. 9 is a view for explaining the battery moving mechanism 25 shown in FIG. 5 from the side. FIG. 10 is a view for explaining the state when the battery engaging portion 24 shown in FIG. 9 moves away from the bus 2 from the side. FIG. 11 is a diagram for explaining the battery moving mechanism 25 shown in FIG. 5 from above.
　バッテリー移動機構２５は、上述のバッテリー係合部２４に加え、バス２に近づく方向およびバス２から離れる方向へバッテリー係合部２４を移動させる係合部移動機構３９と、バッテリー係合部２４を移動可能に保持するとともに保持部材２６に移動可能に保持される移動保持部材４０とを備えている。 In addition to the battery engaging portion 24 described above, the battery moving mechanism 25 includes an engaging portion moving mechanism 39 that moves the battery engaging portion 24 in a direction approaching the bus 2 and a direction away from the bus 2, and a battery engaging portion 24. And a movable holding member 40 that is held movably and held by the holding member 26.
　バッテリー係合部２４は、バッテリー３の取手部１４に係合する係合爪部４１と、係合爪部４１を上下動させるエアシリンダ４２と、エアシリンダ４２が取り付けられる基部４３とを備えている。係合爪部４１は、エアシリンダ４２の可動側に固定され、エアシリンダ４２の固定側は、基部４３の先端面に固定されている。本形態では、バッテリー３に形成される２個の取手部１４のそれぞれに係合爪部４１が係合するように、２個の係合爪部４１および２個のエアシリンダ４２が基部４３の先端面に所定の間隔をあけた状態で配置されている。 The battery engaging portion 24 includes an engaging claw portion 41 that engages with the handle portion 14 of the battery 3, an air cylinder 42 that moves the engaging claw portion 41 up and down, and a base portion 43 to which the air cylinder 42 is attached. Yes. The engaging claw portion 41 is fixed to the movable side of the air cylinder 42, and the fixed side of the air cylinder 42 is fixed to the distal end surface of the base portion 43. In this embodiment, the two engaging claws 41 and the two air cylinders 42 of the base 43 are arranged so that the engaging claws 41 are engaged with the two handles 14 formed on the battery 3. It arrange | positions in the state which opened the predetermined space | interval at the front end surface.
　移動保持部材４０は、バッテリー係合部２４の移動方向に細長い長尺状に形成されている。また、移動保持部材４０は、バッテリー係合部２４の移動方向から見たときの形状が略Ｈ形状となるように形成されている。 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.
　係合部移動機構３９は、バッテリー係合部２４および移動保持部材４０を移動させるための構成として、モータ４４と、ボールネジ等のネジ部材４５と、ネジ部材４５に螺合するナット部材４６と、プーリ４７、４８と、プーリ４７、４８に架け渡されるベルト４９とを備えている。また、係合部移動機構３９は、バッテリー係合部２４および移動保持部材４０を案内するための構成として、直線状に形成されたガイドレール５０と、ガイドレール５０に係合するとともにガイドレール５０に沿って相対移動可能なガイドブロック５１とを備え、バッテリー係合部２４を案内するための構成として、直線状に形成されたガイドレール５２と、ガイドレール５２に係合するとともにガイドレール５２に沿って相対移動可能なガイドブロック５３とを備えている。 The engaging portion moving mechanism 39 includes a motor 44, a screw member 45 such as a ball screw, a nut member 46 that is screwed to the screw member 45, and a structure for moving the battery engaging portion 24 and the movement holding member 40. Pulleys 47 and 48 and a belt 49 spanning the pulleys 47 and 48 are provided. Further, the engaging portion moving mechanism 39 is configured to guide the battery engaging portion 24 and the movement holding member 40, and engages with the guide rail 50 formed in a straight line, the guide rail 50, and the guide rail 50. And a guide block 51 that is relatively movable along the guide rail 52. As a configuration for guiding the battery engaging portion 24, the guide rail 52 that is linearly formed, and the guide rail 52 that engages with the guide rail 52 and And a guide block 53 that is relatively movable along.
　モータ４４は、保持部材２６の後端部に固定されている。このモータ４４は、制御部２７に接続されている。また、モータ４４は、その回転速度および回転量を検出するためのエンコーダ（図示省略）を備えている。ネジ部材４５は、保持部材２６の上面部に回転可能に保持されている。モータ４４とネジ部材４５とは、プーリやベルト等を介して連結されている。ナット部材４６は、移動保持部材４０の後端部に固定されている。プーリ４７は、移動保持部材４０の後端部に回転可能に保持され、プーリ４８は、移動保持部材４０の前端部に回転可能に保持されている。 The motor 44 is fixed to the rear end portion of the holding member 26. The motor 44 is connected to the control unit 27. Further, the motor 44 includes an encoder (not shown) for detecting the rotation speed and the rotation amount. The screw member 45 is rotatably held on the upper surface portion of the holding member 26. The motor 44 and the screw member 45 are connected via a pulley, a belt, or the like. The nut member 46 is fixed to the rear end portion of the movement holding member 40. The pulley 47 is rotatably held at the rear end portion of the movement holding member 40, and the pulley 48 is rotatably held at the front end portion of the movement holding member 40.
　ベルト４９は、ベルト固定部材５４を介してバッテリー係合部２４の基部４３に固定されるとともに、ベルト固定部材５５を介して保持部材２６の上面部に固定されている。具体的には、保持部材２６から移動保持部材４０が突出して、プーリ４７の近傍にベルト固定部材５５が配置されるときに、プーリ４８の近傍にベルト固定部材５４が配置され、かつ、保持部材２６の中に移動保持部材４０が収まって、プーリ４８の近傍にベルト固定部材５５が配置されるときに、プーリ４７の近傍にベルト固定部材５４が配置されるように、ベルト４９は、ベルト固定部材５４、５５を介して基部４３および保持部材２６に固定されている。 The belt 49 is fixed to the base portion 43 of the battery engaging portion 24 via the belt fixing member 54 and is fixed to the upper surface portion of the holding member 26 via the belt fixing member 55. Specifically, when the movable holding member 40 protrudes from the holding member 26 and the belt fixing member 55 is arranged in the vicinity of the pulley 47, the belt fixing member 54 is arranged in the vicinity of the pulley 48, and the holding member The belt 49 is fixed to the belt 49 so that the belt fixing member 54 is disposed in the vicinity of the pulley 47 when the movement holding member 40 is accommodated in the belt 26 and the belt fixing member 55 is disposed in the vicinity of the pulley 48. It is fixed to the base 43 and the holding member 26 via members 54 and 55.
　ガイドレール５０は、保持部材２６の上面部に固定され、ガイドブロック５１は、移動保持部材４０の上面に固定されている。ガイドレール５２は、移動保持部材４０の下面に固定され、ガイドブロック５３は、バッテリー係合部２４の基部４３の上端側に固定されている。 The guide rail 50 is fixed to the upper surface portion of the holding member 26, and the guide block 51 is fixed to the upper surface of the movable holding member 40. The guide rail 52 is fixed to the lower surface of the movement holding member 40, and the guide block 53 is fixed to the upper end side of the base portion 43 of the battery engaging portion 24.
　本形態では、モータ４４が回転すると、ネジ部材４５とナット部材４６とによって、バッテリー係合部２４とともに移動保持部材４０がガイドレール５０およびガイドブロック５１に案内されて、保持部材２６に対して直線的に移動する。また、モータ４４が回転すると、プーリ４７、４８とベルト４９とによって、バッテリー係合部２４がガイドレール５２およびガイドブロック５３に案内されて、移動保持部材４０に対して直線的に相対移動する。 In this embodiment, when the motor 44 rotates, the moving holding member 40 is guided by the guide rail 50 and the guide block 51 together with the battery engaging portion 24 by the screw member 45 and the nut member 46, and is linear with respect to the holding member 26. Move on. When the motor 44 rotates, the battery engaging portion 24 is guided by the guide rail 52 and the guide block 53 by the pulleys 47 and 48 and the belt 49, and linearly moves relative to the movement holding member 40.
　（昇降機構、第１連結機構および第２連結機構の構成）
　昇降機構１８は、図２、図５に示すように、バッテリー搭載部２２およびバッテリー係合部２４の移動方向（以下、この方向を「第１方向」とする。）と上下方向とに直交する方向（以下、この方向を「第２方向」とする。）の両端側のそれぞれに配置される第１昇降機構５９および第２昇降機構６０を備えている。第１昇降機構５９は、第１連結機構６１によって、保持部材２６の第２方向の一端側に連結されている。第２昇降機構６０は、第２連結機構６２によって、保持部材２６の第２方向の他端側に連結されている。第１昇降機構５９および第２昇降機構６０は、水平方向に対して保持部材２６を傾けるために、個別に駆動可能となっている。また、保持部材２６は、水平方向に対して傾斜可能となるように第１昇降機構５９および第２昇降機構６０に連結されている。 (Configuration of lifting mechanism, first coupling mechanism and second coupling mechanism)
As shown in FIGS. 2 and 5, the elevating mechanism 18 is orthogonal to the moving direction of the battery mounting portion 22 and the battery engaging portion 24 (hereinafter, this direction is referred to as “first direction”) and the vertical direction. The first elevating mechanism 59 and the second elevating mechanism 60 are provided on both ends of the direction (hereinafter, this direction is referred to as “second direction”). The first elevating mechanism 59 is connected to one end side of the holding member 26 in the second direction by the first connecting mechanism 61. The second elevating mechanism 60 is connected to the other end side of the holding member 26 in the second direction by the second connecting mechanism 62. The first elevating mechanism 59 and the second elevating mechanism 60 can be individually driven to tilt the holding member 26 with respect to the horizontal direction. The holding member 26 is connected to the first elevating mechanism 59 and the second elevating mechanism 60 so as to be inclined with respect to the horizontal direction.
　第１昇降機構５９および第２昇降機構６０は、上下方向へ移動可能な昇降部材６３と、昇降部材６３を昇降可能に保持する柱状部材６４と、昇降部材６３を昇降させる昇降駆動機構６５とを備えている。柱状部材６４は、上下方向に細長い柱状に形成されている。図５に示すように、第１昇降機構５９を構成する柱状部材６４の上端と、第２昇降機構６０を構成する柱状部材６４の上端とは、連結部材６６によって連結されており、２個の柱状部材６４と連結部材６６とによって、門型のフレームが構成されている。 The first elevating mechanism 59 and the second elevating mechanism 60 include an elevating member 63 that is movable in the vertical direction, a columnar member 64 that holds the elevating member 63 so as to be able to elevate, and an elevating drive mechanism 65 that elevates the elevating member 63. I have. The columnar member 64 is formed in a column shape elongated in the vertical direction. As shown in FIG. 5, the upper end of the columnar member 64 constituting the first elevating mechanism 59 and the upper end of the columnar member 64 constituting the second elevating mechanism 60 are connected by a connecting member 66, and two pieces The columnar member 64 and the connecting member 66 constitute a portal frame.
　昇降駆動機構６５は、図６に示すように、昇降部材６３を昇降させるための構成として、モータ６７と、ボールネジ等のネジ部材６８と、ネジ部材６８に螺合するナット部材６９とを備えている。また、昇降駆動機構６５は、図５に示すように、昇降部材６３を案内するための構成として、直線状に形成されたガイドレール７０と、ガイドレール７０に係合するとともにガイドレール７０に沿って相対移動可能なガイドブロック７１とを備えている。 As shown in FIG. 6, the elevating drive mechanism 65 includes a motor 67, a screw member 68 such as a ball screw, and a nut member 69 screwed to the screw member 68 as a configuration for elevating the elevating member 63. Yes. As shown in FIG. 5, the elevating drive mechanism 65 is configured to guide the elevating member 63 and engages with the guide rail 70 formed in a straight line, along the guide rail 70 and along the guide rail 70. The guide block 71 is relatively movable.
　モータ６７は、柱状部材６４の上端側に固定されている。このモータ６７は、制御部２７に接続されている。ネジ部材６８は、柱状部材６４に回転可能に保持されている。モータ６７とネジ部材６８とは、カップリング７２を介して連結されている。ナット部材６９は、昇降部材６３に固定されている。ガイドレール７０は、柱状部材６４の側面に固定されている。ガイドブロック７１は、昇降部材６３に固定されている。そのため、本形態では、モータ６７が回転すると、昇降部材６３は、ガイドレール７０およびガイドブロック７１に案内されて、柱状部材６４に対して上下動する。 The motor 67 is fixed to the upper end side of the columnar member 64. The motor 67 is connected to the control unit 27. The screw member 68 is rotatably held by the columnar member 64. The motor 67 and the screw member 68 are connected via a coupling 72. The nut member 69 is fixed to the elevating member 63. The guide rail 70 is fixed to the side surface of the columnar member 64. The guide block 71 is fixed to the elevating member 63. Therefore, in this embodiment, when the motor 67 rotates, the elevating member 63 is guided by the guide rail 70 and the guide block 71 and moves up and down with respect to the columnar member 64.
　第１連結機構６１は、第１昇降機構５９の昇降部材６３に対する保持部材２６の相対回動が可能となるように、保持部材２６と昇降部材６３とを連結している。また、第２連結機構６２は、第２昇降機構６０の昇降部材６３に対する保持部材２６の相対回動と第２方向への相対移動とが可能となるように、保持部材２６と昇降部材６３とを連結している。 The first connecting mechanism 61 connects the holding member 26 and the lifting member 63 so that the holding member 26 can be rotated relative to the lifting member 63 of the first lifting mechanism 59. Further, the second connecting mechanism 62 is configured so that the holding member 26 and the elevating member 63 are capable of relative rotation of the holding member 26 with respect to the elevating member 63 of the second elevating mechanism 60 and relative movement in the second direction. Are connected.
　（回動機構および水平移動機構の構成）
　回動機構１９は、図２に示すように、バッテリー抜差機構１７および昇降機構１８が搭載されるとともに回動可能な回動部材８５と、回動部材８５を回動させる回動駆動機構８６とを備えている。水平移動機構２０は、図２に示すように、バッテリー抜差機構１７、昇降機構１８および回動機構１９が搭載されるとともに左右方向へ移動可能なスライド部材８７と、スライド部材８７を移動させる水平駆動機構８８とを備えている。 (Configuration of rotation mechanism and horizontal movement mechanism)
As shown in FIG. 2, the rotation mechanism 19 includes a battery insertion / removal mechanism 17 and an elevating mechanism 18, and a rotation member 85 that can rotate, and a rotation drive mechanism 86 that rotates the rotation member 85. And. As shown in FIG. 2, the horizontal movement mechanism 20 is equipped with a battery insertion / removal mechanism 17, an elevating mechanism 18, and a rotation mechanism 19, and a slide member 87 that is movable in the left-right direction, and a horizontal that moves the slide member 87. And a drive mechanism 88.
　回動部材８５は、略円板状に形成されている。この回動部材８５は、スライド部材８７の上側に配置されている。また、回動部材８５は、その曲率中心を中心にして回動可能となっている。回動部材８５の上面には、２本の柱状部材６４の下端が固定されている。回動駆動機構８６は、回動部材８５を回動させるための構成として、モータ、プーリおよびベルト等を備えている。また、回動駆動機構８６は、回動部材８５を回動方向へ案内するための構成として、ガイドレールと、ガイドレールに係合するとともにガイドレールに沿って相対移動可能な複数のガイドブロックとを備えている。モータの出力軸に固定されるプーリおよび回動部材８５の外周面等にはベルトが架け渡されており、モータが回転すると、回動部材８５は、ガイドレールおよびガイドブロックに案内されてスライド部材８７に対して回動する。 Rotating member 85 is formed in a substantially disc shape. The rotating member 85 is disposed on the upper side of the slide member 87. Further, the rotation member 85 is rotatable about the center of curvature thereof. The lower ends of the two columnar members 64 are fixed to the upper surface of the rotating member 85. The rotation drive mechanism 86 includes a motor, a pulley, a belt, and the like as a configuration for rotating the rotation member 85. Further, the rotation drive mechanism 86 is configured to guide the rotation member 85 in the rotation direction, and a guide rail and a plurality of guide blocks that engage with the guide rail and are relatively movable along the guide rail. It has. A belt is stretched over the pulley fixed to the output shaft of the motor and the outer peripheral surface of the rotating member 85, and when the motor rotates, the rotating member 85 is guided by the guide rail and the guide block to slide. It rotates with respect to 87.
　スライド部材８７は、左右方向を長手方向とする略長方形の板状に形成されている。水平駆動機構８８は、スライド部材８７を移動させるための構成として、モータ、プーリおよびベルト等を備えている。また、水平駆動機構８８は、スライド部材８７を左右方向へ案内するための構成として、直線状に形成されたガイドレールと、ガイドレールに係合するとともにガイドレールに沿って相対移動可能な複数のガイドブロックとを備えている。ベルトの一端は、ガイドレールの左端側に固定され、ベルトの他端は、ガイドレールの右端側に固定されている。また、ベルトは、モータの出力軸に固定されるプーリ等に架け渡されており、モータが回転すると、ガイドレールおよびガイドブロックに案内されてスライド部材８７が左右方向へ直線的に移動する。 The slide member 87 is formed in a substantially rectangular plate shape whose longitudinal direction is the left-right direction. The horizontal drive mechanism 88 includes a motor, a pulley, a belt, and the like as a configuration for moving the slide member 87. Further, the horizontal drive mechanism 88 is configured to guide the slide member 87 in the left-right direction, and a plurality of guide rails that are linearly formed and a plurality of guide rails that are engaged with the guide rails and that are relatively movable along the guide rails. And a guide block. One end of the belt is fixed to the left end side of the guide rail, and the other end of the belt is fixed to the right end side of the guide rail. Further, the belt is stretched around a pulley or the like fixed to the output shaft of the motor, and when the motor rotates, the slide member 87 is linearly moved in the left-right direction by being guided by the guide rail and the guide block.
　（検出機構の構成、バスの位置検出方法およびバッテリーの位置検出方法）
　検出機構２１は、レーザ光を射出する発光部と、この発光部から射出されバス２の側面２ａやバッテリー置き台６の前面等の反射物で反射されたレーザ光を受光する受光部とを備えるレーザセンサである。この検出機構２１は、図８に示すように、バッテリー搭載部２２の前端側の上面に取り付けられている。本形態では、４個のバッテリー置き台６のそれぞれに形成される一対の（２個の）検出用マーク８に対応するように、２個の検出機構２１がバッテリー搭載部２２に取り付けられている。検出機構２１は、発光部から射出されたレーザ光を反射する反射物が所定の測定レンジ内にあるとオンの状態になり、レーザ光を反射する反射物が測定レンジ内にないとオフの状態になる。また、オンの状態の検出機構２１を用いて、検出機構２１と反射物との距離を検出することが可能となっている。 (Configuration of detection mechanism, bus position detection method and battery position detection method)
The detection mechanism 21 includes a light emitting unit that emits laser light, and a light receiving unit that receives the laser light emitted from the light emitting unit and reflected by a reflector such as the side surface 2a of the bus 2 or the front surface of the battery mount 6. It is a laser sensor. As shown in FIG. 8, the detection mechanism 21 is attached to the upper surface on the front end side of the battery mounting portion 22. In this embodiment, two detection mechanisms 21 are attached to the battery mounting portion 22 so as to correspond to a pair of (two) detection marks 8 formed on each of the four battery mounts 6. . The detection mechanism 21 is turned on when a reflector that reflects the laser light emitted from the light emitting unit is within a predetermined measurement range, and is turned off when the reflector that reflects the laser light is not within the measurement range. become. Further, the distance between the detection mechanism 21 and the reflecting object can be detected by using the detection mechanism 21 in the on state.
　バス２からバッテリー３を引き抜くときには、まず、検出機構２１と検出用プレート１３とによってバス２の位置を検出する。具体的には、検出機構２１によって、検出用プレート１３の上端および左右の両端の位置を検出して検出用プレート１３の位置を算出することで、バス２の位置を検出する。また、検出機構２１によるバス２の位置の検出後には、検出機構２１と検出用マーク８とによってバッテリー３の位置を検出する。 When pulling out the battery 3 from the bus 2, first, the position of the bus 2 is detected by the detection mechanism 21 and the detection plate 13. Specifically, the position of the bus 2 is detected by detecting the positions of the upper end and the left and right ends of the detection plate 13 by the detection mechanism 21 and calculating the positions of the detection plate 13. Further, after the position of the bus 2 is detected by the detection mechanism 21, the position of the battery 3 is detected by the detection mechanism 21 and the detection mark 8.
　具体的には、検出機構２１の発光部からのレーザ光が左右方向で検出用マーク８を横切るように、バッテリー搭載部２２を左右方向へ移動させて、検出用マーク８の左右方向の両端を検出することで、左右方向における検出用マーク８の位置を算出する。また、検出用マーク８の左右方向の両端を検出することで、検出用マーク８の、レーザ光が横切った部分の幅を算出する。検出用マーク８は、上側に向かうにしたがって左右方向の幅が次第に狭くなる略三角形状に形成されているため、検出用マーク８の、レーザ光が横切った部分の幅を算出することで、検出用マーク８の高さを算出することができる。また、左右方向における検出用マーク８の位置および検出用マーク８の高さを算出することで、検出用マーク８が形成されるバッテリー置き台６の左右方向の位置および高さを算出して、バッテリー置き台６に位置決めされて搭載されるバッテリー３の左右方向の位置および高さを検出する。また、検出機構２１と検出用マーク８との距離を算出することで、検出用マーク８が形成されるバッテリー置き台６の前後方向の位置を算出して、バッテリー置き台６に位置決めされて搭載されるバッテリー３の前後方向の位置を検出する。 Specifically, the battery mounting portion 22 is moved in the left-right direction so that the laser light from the light-emitting portion of the detection mechanism 21 crosses the detection mark 8 in the left-right direction, and both ends of the detection mark 8 in the left-right direction are moved. By detecting, the position of the detection mark 8 in the left-right direction is calculated. Further, by detecting both ends of the detection mark 8 in the left-right direction, the width of the portion of the detection mark 8 where the laser beam crosses is calculated. Since the detection mark 8 is formed in a substantially triangular shape whose width in the left-right direction is gradually narrowed toward the upper side, the detection mark 8 can be detected by calculating the width of the portion of the detection mark 8 where the laser beam crosses. The height of the mark 8 can be calculated. Also, by calculating the position of the detection mark 8 and the height of the detection mark 8 in the left-right direction, the position and height of the battery stand 6 on which the detection mark 8 is formed are calculated, The position and height in the left-right direction of the battery 3 that is positioned and mounted on the battery mount 6 are detected. Further, by calculating the distance between the detection mechanism 21 and the detection mark 8, the position in the front-rear direction of the battery cradle 6 on which the detection mark 8 is formed is calculated, and is positioned and mounted on the battery cradle 6. The position of the battery 3 in the front-rear direction is detected.
　また、一対の検出用マーク８のうちの一方の検出用マーク８の高さと他方の検出用マーク８の高さとに基づいて、前後方向から見たときの左右方向に対するバッテリー置き台６の傾きを算出して、前後方向から見たときの左右方向に対するバッテリー３の傾きを検出する。また、一対の検出用マーク８のうちの一方の検出用マーク８と検出機構２１との距離と、他方の検出用マーク８と検出機構２１との距離とに基づいて、上下方向から見たときの左右方向に対するバッテリー置き台６の傾きを算出して、上下方向から見たときの左右方向に対するバッテリー３の傾きを検出する。 Further, based on the height of one detection mark 8 of the pair of detection marks 8 and the height of the other detection mark 8, the inclination of the battery cradle 6 with respect to the left-right direction when viewed from the front-rear direction is determined. By calculating, the inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction is detected. Further, when viewed from the up and down direction based on the distance between one detection mark 8 of the pair of detection marks 8 and the detection mechanism 21 and the distance between the other detection mark 8 and the detection mechanism 21. The inclination of the battery pedestal 6 with respect to the left and right direction is calculated, and the inclination of the battery 3 with respect to the left and right direction when viewed from the vertical direction is detected.
　なお、前後左右方向におけるバッテリー３の位置、バッテリー３の高さ、前後方向から見たときの左右方向に対するバッテリー３の傾き、および、上下方向から見たときの左右方向に対するバッテリー３の傾きが検出されると、バッテリー収容部４からバッテリー３を適切に引き抜くことができるように、昇降機構１８、回動機構１９および水平移動機構２０によってバッテリー抜差機構１７の左右方向の位置、高さおよび傾きが調整される。 The position of the battery 3 in the front-rear and left-right directions, the height of the battery 3, the inclination of the battery 3 with respect to the left-right direction when viewed from the front-rear direction, and the inclination of the battery 3 with respect to the left-right direction when viewed from the up-down direction are detected. Then, the position, height, and inclination of the battery insertion / removal mechanism 17 in the left-right direction by the elevating mechanism 18, the rotation mechanism 19, and the horizontal movement mechanism 20 so that the battery 3 can be properly pulled out from the battery housing portion 4. Is adjusted.
　（バッテリー交換ロボットによるバッテリー交換動作の概略）
　図１２は、図２に示すバッテリー交換ロボット５のバッテリー３の交換動作を説明するためのフローチャートである。図１３は、図２に示すバッテリー交換ロボット５によるバス２からのバッテリー３の引抜き動作を説明するための図である。図１４は、図２に示すバッテリー交換ロボット５によるバス２へのバッテリー３の差込み動作を説明するための図である。 (Outline of battery replacement operation by battery replacement robot)
FIG. 12 is a flowchart for explaining the replacement operation of the battery 3 of the battery replacement robot 5 shown in FIG. FIG. 13 is a diagram for explaining the operation of pulling out the battery 3 from the bus 2 by the battery exchange robot 5 shown in FIG. FIG. 14 is a view for explaining the operation of inserting the battery 3 into the bus 2 by the battery exchange robot 5 shown in FIG.
　バッテリー交換システム１では、バッテリー３が交換されるバス２が所定の停止位置に停止すると、まず、上述のように、バス２の位置が検出される（ステップＳ１）。その後、４個のバッテリー３のうちの交換されるバッテリー３のバス２からの引抜き動作が行われる（ステップＳ２）。ステップＳ２では、具体的には、交換されるバッテリー３の位置（具体的には、交換されるバッテリー３が搭載されるバッテリー置き台６に形成される検出用マーク８の位置）が上述のように検出され（ステップＳ２１）、その後、ロボット５によってバス２からバッテリー３が引き抜かれ（ステップＳ２２）、その後、引き抜かれたバッテリー３がバッファステーションへ収容される（ステップＳ２３）。 In the battery exchange system 1, when the bus 2 for replacing the battery 3 stops at a predetermined stop position, first, the position of the bus 2 is detected as described above (step S1). Thereafter, the operation of pulling out the battery 3 to be replaced from the bus 2 out of the four batteries 3 is performed (step S2). In step S2, specifically, the position of the battery 3 to be replaced (specifically, the position of the detection mark 8 formed on the battery mount 6 on which the battery 3 to be replaced is mounted) is as described above. (Step S21), the battery 3 is then pulled out from the bus 2 by the robot 5 (Step S22), and then the extracted battery 3 is stored in the buffer station (Step S23).
　ステップＳ１、Ｓ２においては、まず、ホームポジションにあるバッテリー搭載部２２およびバッテリー係合部２４（図１３（Ａ）参照）が、バス２に近づく方向へ移動する。具体的には、図１３（Ｂ）に示すように、バッテリー置き台６からバッテリー搭載部２２へのバッテリー３の載り移りが可能な位置までバッテリー搭載部２２が移動するとともに、バッテリー３の取手部１４に係合爪部４１が係合可能な位置までバッテリー係合部２４が移動する。本形態では、ホームポジションにあるバッテリー搭載部２２およびバッテリー係合部２４が図１３（Ｂ）に示す位置まで移動する前に、バッテリー３の位置が検出される。 In steps S1 and S2, first, the battery mounting portion 22 and the battery engaging portion 24 (see FIG. 13A) at the home position move in a direction approaching the bus 2. Specifically, as shown in FIG. 13B, the battery mounting portion 22 moves from the battery mounting base 6 to a position where the battery 3 can be transferred to the battery mounting portion 22, and the handle portion of the battery 3 is moved. 14, the battery engaging portion 24 moves to a position where the engaging claw portion 41 can be engaged. In the present embodiment, the position of the battery 3 is detected before the battery mounting portion 22 and the battery engaging portion 24 at the home position move to the position shown in FIG.
　また、ステップＳ２においては、図１３（Ｃ）に示すように、係合爪部４１が下降して取手部１４に係合する。上述のように、バッテリー収容部４に収容されたバッテリー３は、ロック機構９によってロックされている。また、上述のように、ロック機構９にバッテリー３がロックされた状態からさらにバッテリー３をバッテリー収容部４の奥側へわずかに押し込むと、ロック機構９によるバッテリー３のロック状態が解除されて、バッテリー収容部４からのバッテリー３の引抜きが可能になる。そのため、係合爪部４１が取手部１４に係合すると、図１３（Ｃ）に示すように、バッテリー係合部２４がバッテリー３をバッテリー収容部４の奥側へわずかに押し込んで（すなわち、バス２に近づく方向へわずかに移動して）、ロック機構９によるバッテリー３のロック状態を解除する。 In step S2, as shown in FIG. 13C, the engaging claw portion 41 descends and engages with the handle portion 14. As described above, the battery 3 accommodated in the battery accommodating portion 4 is locked by the lock mechanism 9. Further, as described above, when the battery 3 is further pushed into the back side of the battery housing portion 4 from the state in which the battery 3 is locked to the lock mechanism 9, the lock state of the battery 3 by the lock mechanism 9 is released, The battery 3 can be pulled out from the battery housing 4. Therefore, when the engaging claw portion 41 is engaged with the handle portion 14, as shown in FIG. 13C, the battery engaging portion 24 slightly pushes the battery 3 into the back side of the battery accommodating portion 4 (that is, The battery 3 is released from the locked state by the lock mechanism 9 by moving slightly toward the bus 2.
　その後、図１３（Ｄ）に示すように、バッテリー係合部２４がバス２から離れる方向へ移動して、バッテリー置き台６からバッテリー搭載部２２へバッテリー３が載り移り始める。バッテリー係合部２４が所定量移動して、図１３（Ｅ）に示すように、バッテリー３がバッテリー搭載部２２に完全に搭載されると、その後、バッテリー搭載部２２およびバッテリー係合部２４が同期しながら、図１３（Ｆ）に示すように、バス２から離れる方向へ移動して、バス２からのバッテリー３の引抜きが完了する。バス２からのバッテリー３の引抜きが完了すると、ロボット５は、１８０°回動して、バッファステーションにバッテリー３を収容する。 Thereafter, as shown in FIG. 13D, the battery engaging portion 24 moves away from the bus 2, and the battery 3 starts to be transferred from the battery mount 6 to the battery mounting portion 22. When the battery engaging portion 24 moves by a predetermined amount and the battery 3 is completely mounted on the battery mounting portion 22 as shown in FIG. 13E, thereafter, the battery mounting portion 22 and the battery engaging portion 24 are moved. While synchronizing, as shown in FIG. 13 (F), the battery 3 moves away from the bus 2 to complete the extraction of the battery 3 from the bus 2. When the extraction of the battery 3 from the bus 2 is completed, the robot 5 rotates 180 ° and accommodates the battery 3 in the buffer station.
　その後、バス２の、バッテリー３が引き抜かれた部分へのバッテリー３の差込み動作が行われる（ステップＳ３）。ステップＳ３では、具体的には、ロボット５によってバッファステーションから充電済みのバッテリー３が取り出され（ステップＳ３１）、その後、取り出されたバッテリー３がバス２に差し込まれる（ステップＳ３２）。 Thereafter, the battery 3 is inserted into the portion of the bus 2 from which the battery 3 has been pulled out (step S3). Specifically, in step S3, the charged battery 3 is removed from the buffer station by the robot 5 (step S31), and then the removed battery 3 is inserted into the bus 2 (step S32).
　ステップＳ３において、ロボット５は、バッファステーションから充電済みのバッテリー３を取り出すと、１８０°回動して、図１４（Ａ）に示すように、バス２からのバッテリー３の引抜き完了時と同じ状態になる。その後、図１４（Ｂ）に示すように、バッテリー搭載部２２およびバッテリー係合部２４が同期しながら、バス２に近づく方向へ移動する。バッテリー搭載部２２からバッテリー置き台６へのバッテリー３の載り移りが可能な位置までバッテリー搭載部２２が移動すると、図１４（Ｃ）、図１４（Ｄ）に示すように、バッテリー係合部２４がバス２に近づく方向へ移動して、バス２へのバッテリー３の差込みを行う。バス２にバッテリー３が差し込まれると、図１４（Ｅ）に示すように、係合爪部４１が上昇し、図１４（Ｆ）に示すように、バッテリー搭載部２２およびバッテリー係合部２４がバス２から離れる方向へ移動して（具体的には、ホームポジションまで移動して）、バス２へのバッテリー３の差込みが完了する。 In step S3, when the robot 5 takes out the charged battery 3 from the buffer station, the robot 5 rotates 180 ° and is in the same state as when the battery 3 is completely pulled out from the bus 2 as shown in FIG. become. Thereafter, as shown in FIG. 14B, the battery mounting portion 22 and the battery engaging portion 24 move in a direction approaching the bus 2 while being synchronized. When the battery mounting portion 22 moves to a position where the battery 3 can be transferred from the battery mounting portion 22 to the battery mount 6, as shown in FIGS. 14C and 14D, the battery engaging portion 24. Moves in a direction approaching the bus 2, and the battery 3 is inserted into the bus 2. When the battery 3 is inserted into the bus 2, as shown in FIG. 14 (E), the engaging claw portion 41 is raised, and as shown in FIG. 14 (F), the battery mounting portion 22 and the battery engaging portion 24 are After moving away from the bus 2 (specifically, moving to the home position), the insertion of the battery 3 into the bus 2 is completed.
　ステップＳ２およびＳ３での動作は、停止しているバス２において交換が必要なバッテリー３の交換が完了するまで（ステップＳ４において“Ｙｅｓ”になるまで）繰り返される。通常は、停止しているバス２の全てのバッテリー３が交換されるまで繰り返される。交換が必要なバッテリー３の交換が完了すると、ロボット５が原点位置へ復帰して（ステップＳ５）、ロボット５によるバッテリー３の交換動作が終了する。 The operations in steps S2 and S3 are repeated until the replacement of the battery 3 that needs to be replaced in the stopped bus 2 is completed (until "Yes" in step S4). Usually, it repeats until all the batteries 3 of the bus | bath 2 which has stopped are replaced | exchanged. When the replacement of the battery 3 that needs to be replaced is completed, the robot 5 returns to the origin position (step S5), and the replacement operation of the battery 3 by the robot 5 ends.
　なお、バッテリー交換システム１においては、ロボット５を適切に動作させてバス２のバッテリー３を適切に交換するため、所定の基準位置に停止しているバス２を用いて、予め、ロボット５の教示（ティーチング）が行われる。ロボット５は、教示された位置（教示位置）に沿って動作して、バッテリー３の交換動作を行う。 In the battery exchange system 1, in order to appropriately replace the battery 3 of the bus 2 by appropriately operating the robot 5, the teaching of the robot 5 is performed in advance using the bus 2 stopped at a predetermined reference position. (Teaching) is performed. The robot 5 operates along the taught position (teaching position) and performs the replacement operation of the battery 3.
　（バッテリー差込み時の制御方法）
　図１５は、図２に示すバッテリー交換ロボット５のバッテリー３の差込み動作時の制御を説明するためのフローチャートである。図１６は、図２に示すバッテリー交換ロボット５のバッテリー３の差込み動作時における過負荷制御を説明するためのフローチャートである。 (Control method when battery is inserted)
FIG. 15 is a flowchart for explaining the control during the insertion operation of the battery 3 of the battery exchange robot 5 shown in FIG. FIG. 16 is a flowchart for explaining overload control during the insertion operation of the battery 3 of the battery exchange robot 5 shown in FIG.
　上述のように、バッテリー３がバッテリー収容部４に差し込まれていくと、係合突起１５の傾斜面１５ａとロック部材１１の傾斜面１１ａとが接触し始めて、ロック機構９によるバッテリー３のロックが開始される。また、バッテリー３がバッテリー収容部４に差し込まれていくと、コネクタ１０とコネクタ１６とが係合し始めて、コネクタ１０とコネクタ１６との接続が開始される。以下では、バッテリー係合部２４によってバッテリー収容部４へバッテリー３を差し込むときであって、ロック機構９によるバッテリー３のロックが開始されるときのバッテリー係合部２４の位置をロック開始位置とし、バッテリー係合部２４によってバッテリー収容部４へバッテリー３を差し込むときであって、コネクタ１０とコネクタ１６との接続が開始されるときのバッテリー係合部２４の位置をコネクタ接続開始位置とする。 As described above, when the battery 3 is inserted into the battery housing portion 4, the inclined surface 15 a of the engaging protrusion 15 and the inclined surface 11 a of the lock member 11 start to contact each other, and the battery 3 is locked by the lock mechanism 9. Be started. When the battery 3 is inserted into the battery housing 4, the connector 10 and the connector 16 start to be engaged, and the connection between the connector 10 and the connector 16 is started. Hereinafter, when the battery 3 is inserted into the battery housing portion 4 by the battery engaging portion 24 and the lock of the battery 3 by the lock mechanism 9 is started, the position of the battery engaging portion 24 is defined as a lock start position. The position of the battery engaging portion 24 when the battery 3 is inserted into the battery housing portion 4 by the battery engaging portion 24 and the connection between the connector 10 and the connector 16 is started is defined as a connector connection start position.
　本形態では、バッテリー収容部４へのバッテリー３の差込み動作時に、コネクタ１０とコネクタ１６との接続よりも先にロック機構９によるバッテリー３のロックが開始されるようにロック機構９およびコネクタ１０、１６が配置されている場合、バッテリー係合部２４がロック開始位置まで移動すると、バッテリー係合部２４によるバッテリー３の接続動作が開始される。また、バッテリー収容部４へのバッテリー３の差込み動作時に、ロック機構９によるバッテリー３のロックよりも先にコネクタ１０とコネクタ１６との接続が開始されるようにロック機構９およびコネクタ１０、１６が配置されている場合、バッテリー係合部２４がコネクタ接続開始位置まで移動すると、バッテリー係合部２４によるバッテリー３の接続動作が開始される。また、バッテリー収容部４へのバッテリー３の差込み動作時に、ロック機構９によるバッテリー３のロックと、コネクタ１０とコネクタ１６との接続とが同時に開始されるようにロック機構９およびコネクタ１０、１６が配置されている場合、ロック開始位置およびコネクタ接続開始位置までバッテリー係合部２４が移動すると、バッテリー係合部２４によるバッテリー３の接続動作が開始される。 In this embodiment, when the battery 3 is inserted into the battery housing portion 4, the locking mechanism 9 and the connector 10 are configured so that the locking of the battery 3 by the locking mechanism 9 is started before the connection between the connector 10 and the connector 16. When the battery engaging portion 24 is moved to the lock start position, the battery engaging operation of the battery 3 by the battery engaging portion 24 is started. In addition, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10 and 16 are connected so that the connection between the connector 10 and the connector 16 is started before the lock mechanism 9 locks the battery 3. When the battery engagement portion 24 is arranged, when the battery engagement portion 24 moves to the connector connection start position, the battery 3 connection operation by the battery engagement portion 24 is started. Further, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10, 16 are started so that the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 are started simultaneously. When the battery engaging portion 24 is arranged, the battery engaging portion 24 starts the connection operation of the battery 3 when the battery engaging portion 24 moves to the lock start position and the connector connection start position.
　すなわち、本形態では、バッテリー収容部４へのバッテリー３の差込み動作時に、ロック開始位置およびコネクタ接続開始位置の少なくともいずれか一方までバッテリー係合部２４が移動すると、バッテリー係合部２４によるバッテリー３の接続動作が開始され、接続動作時には、ロック機構９によるバッテリー３のロックおよびコネクタ１０とコネクタ１６との接続の少なくともいずれか一方が行われる。また、本形態では、ロック機構９によるバッテリー３のロックが完了するとともに、コネクタ１０とコネクタ１６との接続が完了すると、バッテリー係合部２４によるバッテリー３の接続動作が完了する。また、接続動作が完了して、バッテリー搭載部２２およびバッテリー係合部２４がホームポジションまで移動すると、バッテリー収容部４へのバッテリー３の差込みが完了する。 That is, in this embodiment, when the battery engaging portion 24 moves to at least one of the lock start position and the connector connection start position during the insertion operation of the battery 3 into the battery housing portion 4, the battery 3 by the battery engaging portion 24 is moved. The connection operation is started, and at the time of the connection operation, at least one of the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 is performed. Further, in this embodiment, when the lock of the battery 3 by the lock mechanism 9 is completed and the connection between the connector 10 and the connector 16 is completed, the connection operation of the battery 3 by the battery engaging portion 24 is completed. When the connection operation is completed and the battery mounting portion 22 and the battery engaging portion 24 move to the home position, the insertion of the battery 3 into the battery housing portion 4 is completed.
　バッテリー係合部２４によるバッテリー３の接続動作が開始されるときのバッテリー係合部２４の位置を接続動作開始位置とすると、たとえば、図１４（Ｃ）に示すバッテリー係合部２４の位置が接続動作開始位置となる。また、バッテリー係合部２４によるバッテリー３の接続動作が完了するときのバッテリー係合部２４の位置を接続動作完了位置とすると、たとえば、図１４（Ｄ）に示すバッテリー係合部２４の位置が接続動作完了位置となる。本形態では、ロボット５を教示する際に、接続動作開始位置および接続動作完了位置がロボット５に教示されている。 Assuming that the position of the battery engagement portion 24 when the connection operation of the battery 3 by the battery engagement portion 24 is started is the connection operation start position, for example, the position of the battery engagement portion 24 shown in FIG. This is the operation start position. Further, assuming that the position of the battery engagement portion 24 when the connection operation of the battery 3 by the battery engagement portion 24 is completed is the connection operation completion position, for example, the position of the battery engagement portion 24 shown in FIG. This is the connection operation completion position. In this embodiment, when teaching the robot 5, the connection operation start position and the connection operation completion position are taught to the robot 5.
　なお、バッテリー収容部４へのバッテリー３の差込み動作時に、コネクタ１０とコネクタ１６との接続よりも先にロック機構９によるバッテリー３のロックが開始されるようにロック機構９およびコネクタ１０、１６が配置されている場合に、バッテリー係合部２４がロック開始位置まで移動してからさらにバッテリー収容部４の奥側へ所定量移動した後に、バッテリー係合部２４によるバッテリー３の接続動作が開始されても良い。また、バッテリー収容部４へのバッテリー３の差込み動作時に、ロック機構９によるバッテリー３のロックよりも先にコネクタ１０とコネクタ１６との接続が開始されるようにロック機構９およびコネクタ１０、１６が配置されている場合に、バッテリー係合部２４がコネクタ接続開始位置まで移動してからさらにバッテリー収容部４の奥側へ所定量移動した後に、バッテリー係合部２４によるバッテリー３の接続動作が開始されても良い。また、バッテリー収容部４へのバッテリー３の差込み動作時に、ロック機構９によるバッテリー３のロックと、コネクタ１０とコネクタ１６との接続とが同時に開始されるようにロック機構９およびコネクタ１０、１６が配置されている場合に、ロック開始位置およびコネクタ接続開始位置までバッテリー係合部２４が移動してからさらにバッテリー収容部４の奥側へ所定量移動した後に、バッテリー係合部２４によるバッテリー３の接続動作が開始されても良い。 The lock mechanism 9 and the connectors 10 and 16 are arranged so that the lock mechanism 9 starts to be locked by the lock mechanism 9 before the connection between the connector 10 and the connector 16 when the battery 3 is inserted into the battery housing portion 4. When the battery engaging portion 24 is arranged, after the battery engaging portion 24 has moved to the lock start position and further moved a predetermined amount to the back side of the battery housing portion 4, the battery engaging portion 24 starts connecting operation of the battery 3. May be. In addition, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10 and 16 are connected so that the connection between the connector 10 and the connector 16 is started before the lock mechanism 9 locks the battery 3. When the battery engaging portion 24 is arranged, after the battery engaging portion 24 has moved to the connector connection start position and further moved a predetermined amount to the back side of the battery housing portion 4, the battery engaging portion 24 starts connecting operation of the battery 3 May be. Further, when the battery 3 is inserted into the battery housing portion 4, the lock mechanism 9 and the connectors 10, 16 are started so that the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 are started simultaneously. When the battery engaging portion 24 is disposed, after the battery engaging portion 24 moves to the lock start position and the connector connection starting position and further moves to the back side of the battery housing portion 4, the battery engaging portion 24 moves the battery 3. The connection operation may be started.
　また、本形態では、バッテリー係合部２４によるバッテリー収容部４へのバッテリー３の差込み動作時において、接続動作開始前と接続動作開始後とで、バッテリー係合部２４を駆動するモータ４４の制御方法が異なる。 In this embodiment, when the battery engaging portion 24 is inserted into the battery housing portion 4, the motor 44 that drives the battery engaging portion 24 is controlled before and after the connection operation is started. The method is different.
　接続動作開始前において、制御部２７は、教示位置に沿ってロボット５が動作するようにロボット５を制御する位置制御によってロボット５を制御する。すなわち、接続動作開始前において、制御部２７は、モータ４４の回転量を制御することでモータ４４を制御する位置制御によってモータ４４を制御する。また、接続動作開始前において、制御部２７は、モータ４４の負荷が所定の第１基準値を超えるとモータ４４を停止させる。本形態では、モータ４４の負荷としてモータ４４の電流値を測定しており、制御部２７は、接続動作開始前において、モータ４４の電流値が所定の第１基準電流値を超えるとモータ４４を停止させる電流制御によってモータ４４を制御する。なお、実際には、モータ４４の電流値に所定の定数をかけた値が、第１基準電流値に同様の定数をかけた値を超えると、制御部２７はモータ４４を停止させる。 Before starting the connection operation, the control unit 27 controls the robot 5 by position control for controlling the robot 5 so that the robot 5 operates along the teaching position. That is, before the connection operation starts, the control unit 27 controls the motor 44 by position control for controlling the motor 44 by controlling the rotation amount of the motor 44. In addition, before starting the connection operation, the control unit 27 stops the motor 44 when the load of the motor 44 exceeds a predetermined first reference value. In this embodiment, the current value of the motor 44 is measured as a load of the motor 44, and the control unit 27 turns off the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before starting the connection operation. The motor 44 is controlled by current control to be stopped. In practice, the controller 27 stops the motor 44 when the value obtained by multiplying the current value of the motor 44 by a predetermined constant exceeds the value obtained by multiplying the first reference current value by a similar constant.
　なお、上述した第２の課題を解決するバッテリー交換ロボット５は、接続動作開始前において、制御部２７は、教示位置に沿ってロボット５が動作するようにロボット５を制御する位置制御によってロボット５を制御する。すなわち、接続動作開始前において、制御部２７は、モータ４４の回転量を制御することでモータ４４を制御する位置制御によってモータ４４を制御する。また、接続動作開始前において、制御部２７は、モータ４４の負荷が所定の第１基準値を超えるとモータ４４を停止させる第１制御によってモータ４４を制御する。本形態では、モータ４４の負荷としてモータ４４の電流値を測定しており、制御部２７は、接続動作開始前において、モータ４４の電流値が所定の第１基準電流値を超えるとモータ４４を停止させる電流制御によってモータ４４を制御する。すなわち、本形態の第１制御は、電流制御である。なお、実際には、モータ４４の電流値に所定の定数をかけた値が、第１基準電流値に同様の定数をかけた値を超えると、制御部２７はモータ４４を停止させる。 In the battery exchange robot 5 that solves the second problem described above, the control unit 27 performs position control for controlling the robot 5 so that the robot 5 operates along the teaching position before the connection operation starts. To control. That is, before the connection operation starts, the control unit 27 controls the motor 44 by position control for controlling the motor 44 by controlling the rotation amount of the motor 44. Further, before the connection operation starts, the control unit 27 controls the motor 44 by the first control that stops the motor 44 when the load of the motor 44 exceeds a predetermined first reference value. In this embodiment, the current value of the motor 44 is measured as a load of the motor 44, and the control unit 27 turns off the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before starting the connection operation. The motor 44 is controlled by current control to be stopped. That is, the first control of the present embodiment is current control. In practice, the controller 27 stops the motor 44 when the value obtained by multiplying the current value of the motor 44 by a predetermined constant exceeds the value obtained by multiplying the first reference current value by a similar constant.
　一方、接続動作が開始されても、制御部２７は、位置制御によってモータ４４を制御するが、接続動作が開始されると、制御部２７は、図１５および図１６のフローチャートに示すように、モータ４４を制御する。すなわち、図１５に示すように、バッテリー係合部２４によるバッテリー収容部４へのバッテリー３の差込み動作が始まり、バッテリー係合部２４が接続動作開始位置まで移動して接続動作が開始されると（ステップＳ４１）、制御部２７は、過負荷制御を開始する（ステップＳ４２）。なお、上述した第２の課題を解決するバッテリー交換ロボット５において、本形態の過負荷制御は、以下に説明するように電流制御である。 On the other hand, even if the connection operation is started, the control unit 27 controls the motor 44 by position control. However, when the connection operation is started, the control unit 27 is configured as shown in the flowcharts of FIGS. 15 and 16. The motor 44 is controlled. That is, as shown in FIG. 15, when the battery engaging portion 24 starts to insert the battery 3 into the battery accommodating portion 4, the battery engaging portion 24 moves to the connection operation start position and the connection operation is started. (Step S41), the control unit 27 starts overload control (Step S42). In the battery exchange robot 5 that solves the second problem described above, the overload control of the present embodiment is current control as described below.
　また、接続動作が開始されると、制御部２７は、接続動作開始後のモータ４４の駆動時間の計測を開始する（ステップＳ４３）。その後、制御部２７は、バッテリー係合部２４が接続動作完了位置まで移動したか否かを判断する（ステップＳ４４）。ステップＳ４４において、バッテリー係合部２４が接続動作完了位置まで移動している場合には、制御部２７は、バッテリー３の取手部１４に係合している係合爪部４１を上昇させてからバッテリー搭載部２２およびバッテリー係合部２４をバス２から離れる方向へ退避させて（ステップＳ４５）、バッテリー係合部２４によるバッテリー収容部４へのバッテリー３の差込み動作が完了する。
When the connection operation is started, the control unit 27 starts measuring the drive time of the motor 44 after the connection operation is started (step S43). Thereafter, the control unit 27 determines whether or not the battery engagement unit 24 has moved to the connection operation completion position (step S44). In step S44, when the battery engaging portion 24 has moved to the connection operation completion position, the control portion 27 raises the engaging claw portion 41 that is engaged with the handle portion 14 of the battery 3. The battery mounting portion 22 and the battery engaging portion 24 are retracted away from the bus 2 (step S45), and the operation of inserting the battery 3 into the battery housing portion 4 by the battery engaging portion 24 is completed.
　一方、ステップＳ４４において、バッテリー係合部２４が接続動作完了位置まで移動していない場合には、制御部２７は、ステップＳ４３で計測を開始した接続動作開始後のモータ４４の駆動時間が所定の基準時間を経過しているか否かを判断する（ステップＳ４７）。ステップＳ４７で、モータ４４の駆動時間が基準時間を経過していない場合には、ステップＳ４４へ戻る。 On the other hand, if the battery engaging unit 24 has not moved to the connection operation completion position in step S44, the control unit 27 determines that the drive time of the motor 44 after the start of the connection operation started in step S43 is a predetermined time. It is determined whether or not the reference time has elapsed (step S47). If the drive time of the motor 44 has not passed the reference time in step S47, the process returns to step S44.
　また、ステップＳ４７で、モータ４４の駆動時間が基準時間を経過している場合には、制御部２７は、バッテリー３の取手部１４に係合している係合爪部４１を上昇させてから、モータ４４を逆転させて、バッテリー係合部２４をバス２から離れる方向へ退避させる（ステップＳ４８）。すなわち、接続動作完了位置にバッテリー係合部２４が移動するまでの間に、モータ４４の駆動時間が基準時間を経過すると、制御部２７は、バッテリー３の引抜き方向へバッテリー係合部２４を退避させる。なお、本形態では、ステップＳ４８において、バッテリー搭載部２２はバッテリー３の引抜き方向へ退避しないが、ステップＳ４８において、バッテリー搭載部２２がバッテリー３の引抜き方向へ退避しても良い。 In step S47, when the drive time of the motor 44 has passed the reference time, the control unit 27 raises the engagement claw portion 41 engaged with the handle portion 14 of the battery 3 after raising the engagement claw portion 41. Then, the motor 44 is reversely rotated to retract the battery engaging portion 24 in a direction away from the bus 2 (step S48). That is, if the drive time of the motor 44 has passed the reference time before the battery engaging portion 24 moves to the connection operation completion position, the control portion 27 retracts the battery engaging portion 24 in the direction in which the battery 3 is withdrawn. Let In the present embodiment, the battery mounting unit 22 is not retracted in the direction in which the battery 3 is pulled out in step S48, but the battery mounting unit 22 may be retracted in the direction in which the battery 3 is pulled out in step S48.
　その後、制御部２７は、ステップＳ４２で開始した過負荷制御が終了していない場合には、過負荷制御を終了させて（ステップＳ４９）、バッテリー係合部２４によるバッテリー収容部４へのバッテリー３の差込み動作が異常終了する。なお、過負荷制御が終了する際には、モータ４４の電流値の閾値が、以下で説明する第２基準電流値から第１基準電流値に切り替わる。 Thereafter, if the overload control started in step S42 has not ended, the control unit 27 ends the overload control (step S49), and the battery 3 is supplied to the battery housing unit 4 by the battery engaging unit 24. Plug-in operation ends abnormally. When the overload control ends, the threshold value of the current value of the motor 44 is switched from the second reference current value described below to the first reference current value.
　また、ステップＳ４２で過負荷制御が開始されると、図１６に示すように、制御部２７は、モータ４４の負荷に相当するモータ４４の電流値を算出して（ステップＳ５１）、モータ４４の電流値が第２基準電流値を超えているか否かを判断する（ステップＳ５２）。第２基準電流値は、第１基準電流値よりも小さな値である。また、ステップＳ４２において、過負荷制御が開始される際に、モータ４４の電流値の閾値が第１基準電流値から第２基準電流値に切り替わる。なお、実際には、ステップＳ５１では、モータ４４の電流値に所定の定数をかけた値が算出され、ステップＳ５２では、モータ４４の電流値にこの定数をかけた値が、第２基準電流値に同様の定数をかけた値を超えているか否かが判断される。 When overload control is started in step S42, as shown in FIG. 16, the control unit 27 calculates the current value of the motor 44 corresponding to the load of the motor 44 (step S51). It is determined whether or not the current value exceeds the second reference current value (step S52). The second reference current value is smaller than the first reference current value. In step S42, when overload control is started, the threshold value of the current value of the motor 44 is switched from the first reference current value to the second reference current value. Actually, in step S51, a value obtained by multiplying the current value of the motor 44 by a predetermined constant is calculated, and in step S52, a value obtained by multiplying the current value of the motor 44 by this constant is the second reference current value. It is determined whether or not a value obtained by multiplying the same constant by.
　ステップＳ５２において、モータ４４の電流値が第２基準電流値を超えていない場合には、制御部２７は、バッテリー係合部２４が接続動作完了位置まで移動したか否かを判断する（ステップＳ５３）。ステップＳ５３において、バッテリー係合部２４が接続動作完了位置まで移動していない場合には、ステップＳ５１に戻り、バッテリー係合部２４が接続動作完了位置まで移動している場合には、制御部２７は、過負荷制御を終了する。過負荷制御を終了する際には、モータ４４の電流値の閾値が第２基準電流値から第１基準電流値に切り替わる。 In step S52, when the current value of the motor 44 does not exceed the second reference current value, the control unit 27 determines whether or not the battery engagement unit 24 has moved to the connection operation completion position (step S53). ). In step S53, when the battery engaging portion 24 has not moved to the connection operation completion position, the process returns to step S51, and when the battery engagement portion 24 has moved to the connection operation completion position, the control unit 27. Ends the overload control. When ending the overload control, the threshold value of the current value of the motor 44 is switched from the second reference current value to the first reference current value.
　一方、ステップＳ５２において、モータ４４の電流値が第２基準電流値を超えている場合には、制御部２７は、モータ４４の電流値が第２基準電流値を超えている状態の継続時間を計測し（ステップＳ５４）、この継続時間が所定の基準時間を経過しているか否かを判断する（ステップＳ５５）。ステップＳ５５において、この継続時間が基準時間を経過している場合には、制御部２７は、モータ４４を停止させて（ステップＳ５６）、過負荷制御を終了する。一方、ステップＳ５５において、この継続時間が基準時間を経過していない場合には、ステップＳ５３に進む。 On the other hand, when the current value of the motor 44 exceeds the second reference current value in step S52, the control unit 27 sets the duration of the state where the current value of the motor 44 exceeds the second reference current value. Measurement is performed (step S54), and it is determined whether or not the continuation time has passed a predetermined reference time (step S55). In step S55, when the continuation time has passed the reference time, the control unit 27 stops the motor 44 (step S56) and ends the overload control. On the other hand, in step S55, if the duration time has not passed the reference time, the process proceeds to step S53.
　なお、ステップＳ５５からステップＳ５３、Ｓ５１、Ｓ５２へ進み、ステップＳ５２で、モータ４４の電流値が第２基準電流値を超えていない場合には、モータ４４の電流値が第２基準電流値を超えている状態の継続時間はリセットされる。一方、ステップＳ５５からステップＳ５３、Ｓ５１、Ｓ５２へ進み、ステップＳ５２で、モータ４４の電流値が第２基準電流値を超えている場合には、モータ４４の電流値が第２基準電流値を超えている状態の継続時間はリセットされずに、ステップＳ５４で、モータ４４の電流値が第２基準電流値を超えている状態の継続時間が加算される。 The process proceeds from step S55 to steps S53, S51, and S52. If the current value of the motor 44 does not exceed the second reference current value in step S52, the current value of the motor 44 exceeds the second reference current value. The duration of the active state is reset. On the other hand, the process proceeds from step S55 to steps S53, S51, and S52. If the current value of the motor 44 exceeds the second reference current value in step S52, the current value of the motor 44 exceeds the second reference current value. The duration of the current state is not reset, and the duration of the state in which the current value of the motor 44 exceeds the second reference current value is added in step S54.
　また、本形態では、バッテリー収容部４へのバッテリー３の差込み動作時において、接続動作開始前のモータ４４の回転速度（すなわち、バッテリー係合部２４の移動速度）は、接続動作開始後のモータ４４の回転速度よりも速くなっている。 In this embodiment, when the battery 3 is inserted into the battery housing portion 4, the rotational speed of the motor 44 before the connection operation is started (that is, the moving speed of the battery engagement portion 24) is the motor after the connection operation is started. It is faster than the rotational speed of 44.
　（上述した第１の課題を解決する、本形態の主な効果）
　以上説明したように、本形態では、制御部２７は、バッテリー収容部４へのバッテリー３の差込み動作時に接続動作が開始されると、位置制御に加えて、過負荷制御によってモータ４４を制御している。また、この過負荷制御は、電流制御であり、この過負荷制御では、モータ４４の電流値が第２基準電流値を超えた状態で所定の基準時間が経過すると、モータ４４を停止させている。そのため、本形態では、ロック機構９によってバッテリー３をロックする際に、ロック機構９に対してバッテリー３が位置ずれを起こしてロック機構９とバッテリー３とが干渉し、ロボット５等に損傷が生じる程の過負荷がモータ４４にかかったときや、コネクタ１０とコネクタ１６とを接続する際に、コネクタ１０、１６同士が位置ずれを起こして干渉し、ロボット５等に損傷が生じる程の過負荷がモータ４４にかかったときに、モータ４４を停止させることが可能になる。したがって、本形態では、バッテリー収容部４へのバッテリー３の差込み力で作動してバッテリー３をロックする機械式のロック機構９がバッテリー収容部４に設置され、かつ、バッテリー収容部４へのバッテリー３の差込み力でコネクタ１０とコネクタ１６とを接続する場合であっても、バッテリー収容部４、バッテリー３およびロボット５の損傷を防止することが可能になる。 (Main effect of this embodiment to solve the first problem described above)
As described above, in this embodiment, the control unit 27 controls the motor 44 by the overload control in addition to the position control when the connection operation is started when the battery 3 is inserted into the battery housing unit 4. ing. The overload control is current control. In this overload control, the motor 44 is stopped when a predetermined reference time elapses with the current value of the motor 44 exceeding the second reference current value. . Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9, the battery 3 is displaced with respect to the lock mechanism 9, and the lock mechanism 9 and the battery 3 interfere to cause damage to the robot 5 or the like. When an excessive load is applied to the motor 44 or when the connector 10 and the connector 16 are connected, the connectors 10 and 16 are displaced to interfere with each other, and the robot 5 is damaged. When the motor 44 is applied to the motor 44, the motor 44 can be stopped. Therefore, in this embodiment, the mechanical lock mechanism 9 that locks the battery 3 by operating with the insertion force of the battery 3 into the battery housing portion 4 is installed in the battery housing portion 4, and the battery is connected to the battery housing portion 4. Even when the connector 10 and the connector 16 are connected with the insertion force of 3, it is possible to prevent damage to the battery housing portion 4, the battery 3, and the robot 5.
　また、本形態の過負荷制御では、モータ４４の電流値が第２基準電流値を超えても、モータ４４の電流値が第２基準電流値を超えた状態で基準時間が経過するまでは、モータ４４を駆動させている。そのため、ロック機構９によってバッテリー３をロックする際や、コネクタ１０とコネクタ１６とを接続する際に、ロボット５等に損傷が生じない程度の短時間の過負荷がモータ４４にかかっても、ロック機構９によってバッテリー３をロックしたり、コネクタ１０とコネクタ１６とを接続したりすることが可能になる。すなわち、本形態では、バッテリー収容部４、バッテリー３およびロボット５の損傷を防止しつつ、ロック機構９によってバッテリー３をロックしたり、コネクタ１０とコネクタ１６とを接続したりすることが可能になる。 In the overload control of this embodiment, even if the current value of the motor 44 exceeds the second reference current value, until the reference time elapses in a state where the current value of the motor 44 exceeds the second reference current value, The motor 44 is driven. Therefore, when the battery 3 is locked by the lock mechanism 9 or when the connector 10 and the connector 16 are connected, even if the motor 44 is subjected to a short overload that does not damage the robot 5 or the like, The mechanism 9 can lock the battery 3 and connect the connector 10 and the connector 16. That is, in this embodiment, it is possible to lock the battery 3 by the lock mechanism 9 and to connect the connector 10 and the connector 16 while preventing damage to the battery housing 4, the battery 3, and the robot 5. .
　また、本形態では、接続動作時においても、モータ４４が位置制御されているため、モータ４４の回転量に基づいて、ロック機構９によるバッテリー３のロックおよびコネクタ１０とコネクタ１６との接続が確実に完了しているか否かを検出することが可能になる。 Further, in this embodiment, since the position of the motor 44 is controlled even during the connection operation, the lock of the battery 3 by the lock mechanism 9 and the connection between the connector 10 and the connector 16 are ensured based on the rotation amount of the motor 44. It is possible to detect whether or not it is completed.
　本形態では、接続動作開始後、接続動作完了位置にバッテリー係合部２４が移動するまでの間に、接続動作開始後のモータ４４の駆動時間が基準時間を経過すると、制御部２７は、バッテリー３の引抜き方向へバッテリー係合部２４を退避させている。そのため、本形態では、バッテリー収容部４、バッテリー３およびロボット５の損傷を防止することが可能になる。すなわち、接続動作開始後のモータ４４の駆動時間が基準時間を経過しているにもかかわらず、接続動作完了位置までバッテリー係合部２４が移動しない場合には、ロック機構９とバッテリー３との干渉やコネクタ１０とコネクタ１６との干渉等が発生しており、これらの構成に過負荷がかかっていることが想定されるが、本形態では、接続動作完了位置にバッテリー係合部２４が移動するまでの間に、接続動作開始後のモータ４４の駆動時間が基準時間を経過すると、制御部２７が、バッテリー３の引抜き方向へバッテリー係合部２４を退避させているため、これらの構成にかかっている過負荷を取り除いて、バッテリー収容部４、バッテリー３およびロボット５の損傷を防止することが可能になる。 In this embodiment, when the driving time of the motor 44 after the start of the connection operation has passed the reference time before the battery engagement unit 24 moves to the connection operation completion position after the start of the connection operation, the control unit 27 3, the battery engaging portion 24 is retracted in the pulling direction. Therefore, in this embodiment, it is possible to prevent damage to the battery housing part 4, the battery 3, and the robot 5. That is, when the battery engagement portion 24 does not move to the connection operation completion position even though the drive time of the motor 44 after the connection operation starts has passed the reference time, the lock mechanism 9 and the battery 3 Interference or interference between the connector 10 and the connector 16 has occurred, and it is assumed that these components are overloaded. In this embodiment, the battery engaging portion 24 moves to the connection operation completion position. In the meantime, when the drive time of the motor 44 after the start of the connection operation has passed the reference time, the control unit 27 retracts the battery engaging unit 24 in the direction in which the battery 3 is withdrawn. It is possible to remove the applied overload and prevent damage to the battery housing 4, the battery 3, and the robot 5.
　（上述した第２の課題を解決する、本形態の主な効果）
　以上説明したように、本形態では、制御部２７は、バッテリー収容部４へのバッテリー３の差込み動作時に接続動作が開始されると、接続動作の開始前の第１基準電流値よりも小さい第２基準電流値をモータ４４の電流値が超えた状態で所定の基準時間が経過したときにモータ４４を停止させている。そのため、本形態では、ロック機構９によってバッテリー３をロックする際に、ロック機構９に対してバッテリー３が位置ずれを起こしてロック機構９とバッテリー３とが干渉し、ロボット５等に損傷が生じる程の過負荷がモータ４４にかかったときや、コネクタ１０とコネクタ１６とを接続する際に、コネクタ１０、１６同士が位置ずれを起こして干渉し、ロボット５等に損傷が生じる程の過負荷がモータ４４にかかったときに、モータ４４を停止させることが可能になる。 (Main effect of this embodiment to solve the second problem described above)
As described above, in this embodiment, when the connection operation is started during the insertion operation of the battery 3 into the battery housing unit 4, the control unit 27 has the first reference current value smaller than the first reference current value before the start of the connection operation. The motor 44 is stopped when a predetermined reference time elapses with the current value of the motor 44 exceeding the two reference current values. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9, the battery 3 is displaced with respect to the lock mechanism 9, and the lock mechanism 9 and the battery 3 interfere to cause damage to the robot 5 or the like. When an excessive load is applied to the motor 44 or when the connector 10 and the connector 16 are connected, the connectors 10 and 16 are displaced to interfere with each other, and the robot 5 is damaged. When the motor 44 is applied to the motor 44, the motor 44 can be stopped.
　また、本形態では、接続動作が開始されると、モータ４４の電流値が第２基準電流値を超えても、モータ４４の電流値が第２基準電流値を超えた状態で基準時間が経過するまでは、モータ４４を駆動させている。そのため、本形態では、ロック機構９によってバッテリー３をロックする際や、コネクタ１０とコネクタ１６とを接続する際に、ロボット５等に損傷が生じない程度の短時間の過負荷がモータ４４にかかっても、ロック機構９によってバッテリー３をロックしたり、コネクタ１０とコネクタ１６とを接続したりすることが可能になる。 Further, in this embodiment, when the connection operation is started, even if the current value of the motor 44 exceeds the second reference current value, the reference time elapses with the current value of the motor 44 exceeding the second reference current value. Until then, the motor 44 is driven. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9 or when the connector 10 and the connector 16 are connected, the motor 44 is subjected to a short overload that does not damage the robot 5 or the like. However, the battery 3 can be locked by the lock mechanism 9 and the connector 10 and the connector 16 can be connected.
　したがって、本形態では、バッテリー収容部４へのバッテリー３の差込み力で作動してバッテリー３をロックする機械式のロック機構９がバッテリー収容部４に設置され、かつ、バッテリー収容部４へのバッテリー３の差込み力でコネクタ１０とコネクタ１６とを接続する場合であっても、バッテリー収容部４、バッテリー３およびロボット５の損傷を防止しつつ、ロック機構９によってバッテリー３をロックしたり、コネクタ１０とコネクタ１６とを接続したりすることが可能になる。 Therefore, in this embodiment, the mechanical lock mechanism 9 that locks the battery 3 by operating with the insertion force of the battery 3 into the battery housing portion 4 is installed in the battery housing portion 4, and the battery is connected to the battery housing portion 4. Even when the connector 10 and the connector 16 are connected with an insertion force of 3, the battery 3 is locked by the lock mechanism 9 while the battery housing 4, the battery 3 and the robot 5 are prevented from being damaged. And the connector 16 can be connected.
　本形態では、接続動作の開始前において、モータ４４の電流値が、第２基準電流値よりも大きな第１基準電流値を超えなければモータ４４が停止しない。そのため、本形態では、接続動作の開始前のモータ４４の加減速度を大きくすることが可能になる。したがって、本形態では、バッテリー収容部４へのバッテリー３の差込み動作を開始してから接続動作が開始されるまでのバッテリー３の移動時間を短くすることが可能になる。また、本形態では、接続動作開始前のモータ４４の回転速度が接続動作開始後のモータ４４の回転速度よりも速くなっているため、バッテリー収容部４へのバッテリー３の差込み動作を開始してから接続動作が開始されるまでのバッテリー３の移動時間をより短くすることが可能になる。 In this embodiment, the motor 44 does not stop unless the current value of the motor 44 exceeds the first reference current value that is larger than the second reference current value before the start of the connection operation. Therefore, in this embodiment, the acceleration / deceleration of the motor 44 before the start of the connection operation can be increased. Therefore, in this embodiment, it is possible to shorten the movement time of the battery 3 from the start of the operation of inserting the battery 3 into the battery housing portion 4 until the connection operation is started. Further, in this embodiment, since the rotation speed of the motor 44 before the start of the connection operation is higher than the rotation speed of the motor 44 after the start of the connection operation, the operation of inserting the battery 3 into the battery housing portion 4 is started. It is possible to further shorten the movement time of the battery 3 until the connection operation is started.
　本形態では、接続動作開始後のモータ４４の回転速度が接続動作開始前のモータ４４の回転速度よりも遅くなっている。そのため、本形態では、ロック機構９によってバッテリー３をロックする際に、ロック機構９に対してバッテリー３が位置ずれを起こしてロック機構９とバッテリー３とが干渉し、ロボット５等に損傷が生じる程の過負荷がモータ４４にかかったときや、コネクタ１０とコネクタ１６とを接続する際に、コネクタ１０とコネクタ１６とが位置ずれを起こして干渉し、ロボット５等に損傷が生じる程の過負荷がモータ４４にかかったときに、短時間でモータ４４を停止させることが可能になる。したがって、バッテリー収容部４、バッテリー３およびロボット５の損傷を効果的に防止することが可能になる。 In this embodiment, the rotation speed of the motor 44 after the start of the connection operation is slower than the rotation speed of the motor 44 before the start of the connection operation. Therefore, in this embodiment, when the battery 3 is locked by the lock mechanism 9, the battery 3 is displaced with respect to the lock mechanism 9, and the lock mechanism 9 and the battery 3 interfere to cause damage to the robot 5 or the like. When an excessive load is applied to the motor 44 or when the connector 10 and the connector 16 are connected, the connector 10 and the connector 16 are displaced to interfere with each other, and the robot 5 and the like are damaged. When a load is applied to the motor 44, the motor 44 can be stopped in a short time. Therefore, it is possible to effectively prevent damage to the battery housing part 4, the battery 3, and the robot 5.
　本形態では、接続動作開始後、接続動作完了位置にバッテリー係合部２４が移動するまでの間に、接続動作開始後のモータ４４の駆動時間が基準時間を経過すると、制御部２７は、バッテリー３の引抜き方向へバッテリー係合部２４を退避させている。そのため、本形態では、バッテリー収容部４、バッテリー３およびロボット５の損傷を防止することが可能になる。すなわち、接続動作開始後のモータ４４の駆動時間が基準時間を経過しているにもかかわらず、接続動作完了位置までバッテリー係合部２４が移動しない場合には、ロック機構９とバッテリー３との干渉やコネクタ１０とコネクタ１６との干渉等が発生しており、これらの構成に過負荷がかかっていることが想定されるが、本形態では、接続動作完了位置にバッテリー係合部２４が移動するまでの間に、接続動作開始後のモータ４４の駆動時間が基準時間を経過すると、制御部２７が、バッテリー３の引抜き方向へバッテリー係合部２４を退避させているため、これらの構成にかかっている過負荷を取り除いて、バッテリー収容部４、バッテリー３およびロボット５の損傷を防止することが可能になる。 In this embodiment, when the driving time of the motor 44 after the start of the connection operation has passed the reference time before the battery engagement unit 24 moves to the connection operation completion position after the start of the connection operation, the control unit 27 3, the battery engaging portion 24 is retracted in the pulling direction. Therefore, in this embodiment, it is possible to prevent damage to the battery housing part 4, the battery 3, and the robot 5. That is, when the battery engagement portion 24 does not move to the connection operation completion position even though the drive time of the motor 44 after the connection operation starts has passed the reference time, the lock mechanism 9 and the battery 3 Interference or interference between the connector 10 and the connector 16 has occurred, and it is assumed that these components are overloaded. In this embodiment, the battery engaging portion 24 moves to the connection operation completion position. In the meantime, when the drive time of the motor 44 after the start of the connection operation has passed the reference time, the control unit 27 retracts the battery engaging unit 24 in the direction in which the battery 3 is withdrawn. It is possible to remove the applied overload and prevent damage to the battery housing 4, the battery 3, and the robot 5.
　（他の実施の形態）
　上述した形態は、本発明の好適な形態の一例ではあるが、これに限定されるものではなく本発明の要旨を変更しない範囲において種々変形実施が可能である。 (Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited to this, and various modifications can be made without departing from the scope of the present invention.
　上述した形態では、ステップＳ４７において、モータ４４の駆動時間が基準時間を経過している場合に、制御部２７は、モータ４４を逆転させて、バッテリー係合部２４をバス２から離れる方向へ退避させている。この他にもたとえば、ステップＳ４７において、モータ４４の駆動時間が基準時間を経過している場合に、制御部２７は、バッテリー係合部２４を停止させても良い。すなわち、ステップＳ４７において、モータ４４の駆動時間が基準時間を経過している場合に、制御部２７は、モータ４４を停止させても良い。 In the embodiment described above, when the driving time of the motor 44 has passed the reference time in step S47, the control unit 27 reverses the motor 44 and retracts the battery engaging unit 24 in the direction away from the bus 2. I am letting. In addition, for example, in step S47, when the driving time of the motor 44 has passed the reference time, the control unit 27 may stop the battery engaging unit 24. That is, in step S47, when the driving time of the motor 44 has passed the reference time, the control unit 27 may stop the motor 44.
　上述した第１の課題を解決する場合には、上述した形態では、制御部２７は、過負荷制御において、モータ４４の電流値が第２基準電流値を超えても、この電流値が第２基準電流値を超えた状態で所定の基準時間が経過するまではモータ４４を駆動させるとともに、モータ４４の電流値が第２基準電流値を超えた状態で基準時間が経過するとモータ４４を停止させている。この他にもたとえば、制御部２７は、モータ４４の負荷としてモータ４４の電流値以外の負荷の値を測定し、過負荷制御において、測定されたこの負荷が所定の基準値を超えてもこの負荷が基準値を超えた状態で所定の基準時間が経過するまでモータ４４を駆動させるとともに、この負荷が基準値を超えた状態で基準時間が経過したときにモータ４４を停止させても良い。たとえば、制御部２７は、バッテリー収容部４へのバッテリー３の差込み動作時のバッテリー３と係合爪部４１との接触圧を測定する圧力センサを用いて、モータ４４の負荷を測定し、過負荷制御において、圧力センサの検出値が所定の基準値を超えてもこの検出値が基準値を超えた状態で所定の基準時間が経過するまでモータ４４を駆動させるとともに、この検出値が基準値を超えた状態で基準時間が経過したときにモータ４４を停止させても良い。 In the case of solving the first problem described above, in the above-described form, the control unit 27 causes the current value to be the second even if the current value of the motor 44 exceeds the second reference current value in the overload control. The motor 44 is driven until a predetermined reference time elapses when the reference current value is exceeded, and when the reference time elapses when the current value of the motor 44 exceeds the second reference current value, the motor 44 is stopped. ing. In addition to this, for example, the control unit 27 measures a load value other than the current value of the motor 44 as the load of the motor 44, and in the overload control, even if the measured load exceeds a predetermined reference value, The motor 44 may be driven until a predetermined reference time elapses with the load exceeding the reference value, and the motor 44 may be stopped when the reference time elapses with the load exceeding the reference value. For example, the control unit 27 measures the load of the motor 44 using a pressure sensor that measures the contact pressure between the battery 3 and the engaging claw portion 41 during the operation of inserting the battery 3 into the battery housing unit 4. In the load control, even if the detection value of the pressure sensor exceeds a predetermined reference value, the motor 44 is driven until a predetermined reference time elapses in a state where the detection value exceeds the reference value. The motor 44 may be stopped when the reference time elapses in a state exceeding the above.
　また、上述した第２の課題を解決する場合には、上述した形態では、制御部２７は、過負荷制御において、モータ４４の電流値が第２基準電流値を超えても、この電流値が第２基準電流値を超えた状態で所定の基準時間が経過するまではモータ４４を駆動させるとともに、モータ４４の電流値が第２基準電流値を超えた状態で基準時間が経過するとモータ４４を停止させているが、制御部２７は、過負荷制御において、モータ４４の負荷としてモータ４４の電流値以外の負荷の値を測定し、測定されたこの負荷が所定の第２基準値を超えてもこの負荷が第２基準値を超えた状態で所定の基準時間が経過するまでモータ４４を駆動させるとともに、この負荷が第２基準値を超えた状態で基準時間が経過したときにモータ４４を停止させても良い。たとえば、制御部２７は、過負荷制御において、上述の圧力センサを用いてモータ４４の負荷を測定し、圧力センサの検出値が所定の第２基準値を超えてもこの検出値が第２基準値を超えた状態で所定の基準時間が経過するまでモータ４４を駆動させるとともに、この検出値が第２基準値を超えた状態で基準時間が経過したときにモータ４４を停止させても良い。 In order to solve the second problem described above, in the above-described form, the control unit 27 determines that the current value of the motor 44 does not exceed the second reference current value in overload control. The motor 44 is driven until a predetermined reference time elapses when the second reference current value is exceeded, and when the reference time elapses when the current value of the motor 44 exceeds the second reference current value, the motor 44 is turned off. Although it is stopped, the control unit 27 measures a load value other than the current value of the motor 44 as a load of the motor 44 in the overload control, and the measured load exceeds a predetermined second reference value. The motor 44 is driven until a predetermined reference time elapses when the load exceeds the second reference value, and the motor 44 is operated when the reference time elapses when the load exceeds the second reference value. It can be stopped . For example, in the overload control, the control unit 27 measures the load of the motor 44 using the above-described pressure sensor, and even if the detected value of the pressure sensor exceeds a predetermined second reference value, the detected value is the second reference value. The motor 44 may be driven until a predetermined reference time elapses in a state where the value is exceeded, and the motor 44 may be stopped when the reference time elapses in a state where the detected value exceeds the second reference value.
　同様に、上述した第１の課題を解決する場合、上述した形態では、接続動作開始前において、制御部２７は、モータ４４の電流値が所定の第１基準電流値を超えるとモータ４４を停止させているが、制御部２７は、接続動作開始前において、上述の圧力センサによって測定されたモータ４４の負荷が所定の基準値を超えたときにモータ４４を停止させても良い。 Similarly, when solving the first problem described above, in the above-described form, the controller 27 stops the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before the start of the connection operation. However, the control unit 27 may stop the motor 44 when the load of the motor 44 measured by the pressure sensor described above exceeds a predetermined reference value before starting the connection operation.
　上述した第２の課題を解決する場合、上述した形態では、接続動作開始前において、制御部２７は、モータ４４の電流値が所定の第１基準電流値を超えるとモータ４４を停止させている。この他にもたとえば、制御部２７は、接続動作開始前において、モータ４４の負荷としてモータ４４の電流値以外の負荷の値を測定し、測定されたこの負荷が所定の第１基準値を超えたときにモータ４４を停止させても良い。たとえば、制御部２７は、バッテリー収容部４へのバッテリー３の差込み動作時のバッテリー３と係合爪部４１との接触圧を測定する圧力センサを用いてモータ４４の負荷を測定するとともに、接続動作開始前において、この圧力センサによって測定されたモータ４４の負荷が所定の第１基準値を超えたときにモータ４４を停止させても良い。 When solving the above-described second problem, in the above-described form, the control unit 27 stops the motor 44 when the current value of the motor 44 exceeds a predetermined first reference current value before starting the connection operation. . In addition to this, for example, the control unit 27 measures a load value other than the current value of the motor 44 as a load of the motor 44 before the connection operation starts, and the measured load exceeds a predetermined first reference value. The motor 44 may be stopped when For example, the control unit 27 measures the load of the motor 44 using a pressure sensor that measures the contact pressure between the battery 3 and the engaging claw portion 41 during the operation of inserting the battery 3 into the battery housing unit 4, and the connection. Before the start of operation, the motor 44 may be stopped when the load of the motor 44 measured by the pressure sensor exceeds a predetermined first reference value.
　上述した形態では、ロボット５は、バス２に搭載されるバッテリー３を交換するためのロボットであるが、ロボット５は、トラックや自家用車等のバス２以外の車両のバッテリー３を交換するためのロボットであっても良い。 In the embodiment described above, the robot 5 is a robot for exchanging the battery 3 mounted on the bus 2, but the robot 5 is for exchanging the battery 3 of a vehicle other than the bus 2 such as a truck or a private car. It may be a robot.
　１　バッテリー交換システム　
　２　バス（車両）
　３　バッテリー
　４　バッテリー収容部
　５　ロボット（バッテリー交換ロボット）
　９　ロック機構
　１０　コネクタ（収容部側コネクタ）
　１６　コネクタ（バッテリー側コネクタ）
　１７　バッテリー抜差機構
　２２　バッテリー搭載部
　２４　バッテリー係合部
　２７　制御部
　４４　モータ 1 Battery replacement system
2 Bus (vehicle)
3 Battery 4 Battery compartment 5 Robot (Battery exchange robot)
9 Locking mechanism 10 Connector (container side connector)
16 connector (battery side connector)
17 Battery insertion / removal mechanism 22 Battery mounting part 24 Battery engagement part 27 Control part 44 Motor

Claims (13)

  1. 　車両に搭載されているバッテリーを交換するためのバッテリー交換ロボットにおいて、
    　前記車両に取り付けられるとともに前記バッテリーが収容されるバッテリー収容部からの前記バッテリーの引抜きおよび前記バッテリー収容部への前記バッテリーの差込みを行うバッテリー抜差機構と、前記バッテリー抜差機構を制御する制御部とを備え、
    　前記バッテリーは、前記車両と前記バッテリーとを電気的に接続するためのバッテリー側コネクタを備え、
    　前記バッテリー収容部は、収容された前記バッテリーをロックするロック機構と、前記バッテリー側コネクタに接続される収容部側コネクタとを備え、
    　前記バッテリー抜差機構は、前記バッテリーが搭載されるバッテリー搭載部と、前記バッテリーに係合して前記バッテリーを移動させるバッテリー係合部と、前記バッテリー係合部を駆動するためのモータとを備え、
    　前記ロック機構は、前記バッテリー係合部による前記バッテリー収容部への前記バッテリーの差込み力で作動して前記バッテリーをロックする機械式のロック機構であり、
    　前記バッテリー側コネクタと前記収容部側コネクタとは、前記バッテリー係合部による前記バッテリー収容部への前記バッテリーの差込み力で接続され、
    　前記制御部は、前記バッテリー収容部への前記バッテリーの差込み動作時に、位置制御によって前記モータを制御するとともに、前記差込み動作時において、前記ロック機構による前記バッテリーのロックおよび前記バッテリー側コネクタと前記収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作が開始されると、位置制御に加えて、前記モータの負荷が所定の基準値を超えても前記モータの負荷が前記基準値を超えた状態で所定の基準時間が経過するまで前記モータを駆動させるとともに前記モータの負荷が前記基準値を超えた状態で前記基準時間が経過すると前記モータを停止させる過負荷制御によって前記モータを制御することを特徴とするバッテリー交換ロボット。     In the battery exchange robot for exchanging the battery installed in the vehicle,
    A battery insertion / removal mechanism that is attached to the vehicle and that pulls out the battery from a battery accommodation unit in which the battery is accommodated and inserts the battery into the battery accommodation unit, and a control unit that controls the battery insertion / removal mechanism And
    The battery includes a battery-side connector for electrically connecting the vehicle and the battery,
    The battery accommodating portion includes a lock mechanism that locks the accommodated battery, and an accommodating portion-side connector connected to the battery-side connector,
    The battery insertion / removal mechanism includes a battery mounting portion on which the battery is mounted, a battery engaging portion that engages with the battery and moves the battery, and a motor that drives the battery engaging portion. ,
    The lock mechanism is a mechanical lock mechanism that operates by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery,
    The battery side connector and the housing portion side connector are connected by the insertion force of the battery into the battery housing portion by the battery engaging portion,
    The control unit controls the motor by position control during the insertion operation of the battery into the battery housing unit, and locks the battery by the lock mechanism and the battery-side connector and the housing during the insertion operation. When a connection operation in which at least one of the connection with the section side connector is performed is started, in addition to the position control, even if the load of the motor exceeds a predetermined reference value, the load of the motor reduces the reference value. The motor is controlled by overload control in which the motor is driven until a predetermined reference time elapses in the exceeded state and the motor is stopped when the reference time elapses when the load of the motor exceeds the reference value. A battery replacement robot characterized by
  2. 　前記過負荷制御は、前記モータの電流値が前記基準値である基準電流値を超えても前記モータの電流値が前記基準電流値を超えた状態で前記基準時間が経過するまで前記モータを駆動させるとともに、前記モータの電流値が前記基準電流値を超えた状態で前記基準時間が経過すると前記モータを停止させる電流制御であることを特徴とする請求項１記載のバッテリー交換ロボット。 In the overload control, the motor is driven until the reference time elapses with the motor current value exceeding the reference current value even if the motor current value exceeds the reference current value that is the reference value. 2. The battery replacement robot according to claim 1, wherein current control is performed to stop the motor when the reference time elapses while the current value of the motor exceeds the reference current value.
  3. 　前記ロック機構による前記バッテリーのロックが開始されるロック開始位置、および、前記バッテリー側コネクタと前記収容部側コネクタとの接続が開始されるコネクタ接続開始位置の少なくともいずれか一方まで前記バッテリー係合部が移動すると、前記接続動作が開始されることを特徴とする請求項１または２記載のバッテリー交換ロボット。 The battery engagement portion up to at least one of a lock start position where the battery is locked by the lock mechanism and a connector connection start position where the connection between the battery side connector and the housing portion side connector is started The battery replacement robot according to claim 1, wherein the connection operation is started when the battery moves.
  4. 　前記制御部は、前記接続動作が開始されると、前記接続動作開始後の前記モータの駆動時間の計測を開始し、前記ロック機構による前記バッテリーのロックおよび前記バッテリー側コネクタと前記収容部側コネクタとの接続が完了する接続動作完了位置に前記バッテリー係合部が移動するまでの間に、前記接続動作開始後の前記モータの駆動時間が所定時間を経過すると、前記バッテリーの引抜き方向へ前記バッテリー係合部を退避させることを特徴とする請求項１から３のいずれかに記載のバッテリー交換ロボット。 When the connection operation is started, the control unit starts measuring the driving time of the motor after the connection operation starts, and locks the battery by the lock mechanism and the battery side connector and the housing unit side connector. When the drive time of the motor after the start of the connection operation passes a predetermined time before the battery engagement portion moves to the connection operation completion position where the connection to the battery is completed, the battery is pulled in the battery pulling direction. The battery replacement robot according to claim 1, wherein the engaging portion is retracted.
  5. 　請求項１から４のいずれかに記載のバッテリー交換ロボットと、前記バッテリー収容部とを備えることを特徴とするバッテリー交換システム。 A battery exchange system comprising: the battery exchange robot according to any one of claims 1 to 4; and the battery housing unit.
  6. 　車両に取り付けられるとともにバッテリーが収容されるバッテリー収容部からの前記バッテリーの引抜きおよび前記バッテリー収容部への前記バッテリーの差込みを行うバッテリー抜差機構を備え、前記バッテリーは、前記車両と前記バッテリーとを電気的に接続するためのバッテリー側コネクタを備え、前記バッテリー収容部は、収容された前記バッテリーをロックするロック機構と、前記バッテリー側コネクタに接続される収容部側コネクタとを備え、前記バッテリー抜差機構は、前記バッテリーが搭載されるバッテリー搭載部と、前記バッテリーに係合して前記バッテリーを移動させるバッテリー係合部と、前記バッテリー係合部を駆動するためのモータとを備え、前記ロック機構は、前記バッテリー係合部による前記バッテリー収容部への前記バッテリーの差込み力で作動して前記バッテリーをロックする機械式のロック機構であり、前記バッテリー側コネクタと前記収容部側コネクタとは、前記バッテリー係合部による前記バッテリー収容部への前記バッテリーの差込み力で接続されるバッテリー交換ロボットの制御方法であって、
    　前記バッテリー収容部への前記バッテリーの差込み動作時に、位置制御によって前記モータを制御するとともに、前記差込み動作時において、前記ロック機構による前記バッテリーのロックおよび前記バッテリー側コネクタと前記収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作が開始されると、位置制御に加えて、前記モータの負荷が所定の基準値を超えても前記モータの負荷が前記基準値を超えた状態で所定の基準時間が経過するまで前記モータを駆動させるとともに前記モータの負荷が前記基準値を超えた状態で前記基準時間が経過すると前記モータを停止させる過負荷制御によって前記モータを制御することを特徴とするバッテリー交換ロボットの制御方法。     A battery attaching / detaching mechanism that is attached to a vehicle and that pulls out the battery from a battery housing portion in which the battery is housed and inserts the battery into the battery housing portion; and the battery includes the vehicle and the battery. A battery side connector for electrical connection, wherein the battery housing portion includes a lock mechanism for locking the battery housed therein, and a housing portion side connector connected to the battery side connector; The difference mechanism includes a battery mounting portion on which the battery is mounted, a battery engaging portion that engages with the battery and moves the battery, and a motor that drives the battery engaging portion, and the lock The mechanism accommodates the battery by the battery engaging portion. A mechanical locking mechanism that locks the battery by operating with the insertion force of the battery to the battery, and the battery side connector and the housing portion side connector are connected to the battery housing portion by the battery engaging portion. A control method of a battery exchange robot connected by a battery insertion force,
    When the battery is inserted into the battery housing portion, the motor is controlled by position control. At the time of the insertion operation, the lock of the battery by the lock mechanism and the battery side connector and the housing portion side connector When a connection operation in which at least one of the connections is performed is started, in addition to the position control, even if the motor load exceeds a predetermined reference value, the motor load exceeds the reference value. The motor is driven until the reference time elapses, and the motor is controlled by overload control that stops the motor when the reference time elapses when the load of the motor exceeds the reference value. To control the battery replacement robot.
  7. 　車両に搭載されているバッテリーを交換するためのバッテリー交換ロボットにおいて、
    　前記車両に取り付けられるとともに前記バッテリーが収容されるバッテリー収容部からの前記バッテリーの引抜きおよび前記バッテリー収容部への前記バッテリーの差込みを行うバッテリー抜差機構と、前記バッテリー抜差機構を制御する制御部とを備え、
    　前記バッテリーは、前記車両と前記バッテリーとを電気的に接続するためのバッテリー側コネクタを備え、
    　前記バッテリー収容部は、収容された前記バッテリーをロックするロック機構と、前記バッテリー側コネクタに接続される収容部側コネクタとを備え、
    　前記バッテリー抜差機構は、前記バッテリーが搭載されるバッテリー搭載部と、前記バッテリーに係合して前記バッテリーを移動させるバッテリー係合部と、前記バッテリー係合部を駆動するためのモータとを備え、
    　前記ロック機構は、前記バッテリー係合部による前記バッテリー収容部への前記バッテリーの差込み力で作動して前記バッテリーをロックする機械式のロック機構であり、
    　前記バッテリー側コネクタと前記収容部側コネクタとは、前記バッテリー係合部による前記バッテリー収容部への前記バッテリーの差込み力で接続され、
    　前記制御部は、前記バッテリー収容部への前記バッテリーの差込み動作時において、前記ロック機構による前記バッテリーのロックおよび前記バッテリー側コネクタと前記収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作の開始前は、前記モータの負荷が所定の第１基準値を超えると前記モータを停止させる第１制御によって前記モータを制御し、前記接続動作が開始されると、前記モータの負荷が前記第１基準値よりも小さい第２基準値を超えても前記モータの負荷が前記第２基準値を超えた状態で所定の基準時間が経過するまで前記モータを駆動させるとともに前記モータの負荷が前記第２基準値を超えた状態で前記基準時間が経過すると前記モータを停止させる第２制御によって前記モータを制御することを特徴とするバッテリー交換ロボット。     In the battery exchange robot for exchanging the battery installed in the vehicle,
    A battery insertion / removal mechanism that is attached to the vehicle and that pulls out the battery from a battery accommodation unit in which the battery is accommodated and inserts the battery into the battery accommodation unit, and a control unit that controls the battery insertion / removal mechanism And
    The battery includes a battery-side connector for electrically connecting the vehicle and the battery,
    The battery accommodating portion includes a lock mechanism that locks the accommodated battery, and an accommodating portion-side connector connected to the battery-side connector,
    The battery insertion / removal mechanism includes a battery mounting portion on which the battery is mounted, a battery engaging portion that engages with the battery and moves the battery, and a motor that drives the battery engaging portion. ,
    The lock mechanism is a mechanical lock mechanism that operates by the insertion force of the battery into the battery housing portion by the battery engaging portion to lock the battery,
    The battery side connector and the housing portion side connector are connected by the insertion force of the battery into the battery housing portion by the battery engaging portion,
    The control unit is a connection in which at least one of the lock of the battery by the lock mechanism and the connection between the battery side connector and the storage unit side connector is performed during the operation of inserting the battery into the battery storage unit. Before the start of operation, the motor is controlled by a first control that stops the motor when the load of the motor exceeds a predetermined first reference value, and when the connection operation is started, the load of the motor is Even if the second reference value smaller than the first reference value is exceeded, the motor is driven until a predetermined reference time elapses while the load of the motor exceeds the second reference value, and the load of the motor is The motor is controlled by a second control that stops the motor when the reference time elapses in a state where the second reference value is exceeded. Battery exchange robot to.
  8. 　前記第１制御は、前記モータの電流値が前記第１基準値である第１基準電流値を超えると前記モータを停止させる電流制御であり、
    　前記第２制御は、前記モータの電流値が前記第２基準値である第２基準電流値を超えても前記モータの電流値が前記第２基準電流値を超えた状態で前記基準時間が経過するまで前記モータを駆動させるとともに、前記モータの電流値が前記第２基準電流値を超えた状態で前記基準時間が経過すると前記モータを停止させる電流制御であることを特徴とする請求項７記載のバッテリー交換ロボット。     The first control is current control for stopping the motor when a current value of the motor exceeds a first reference current value that is the first reference value;
    In the second control, even if the current value of the motor exceeds a second reference current value that is the second reference value, the reference time elapses with the motor current value exceeding the second reference current value. 8. The current control is configured to drive the motor until the motor is stopped, and to stop the motor when the reference time elapses while the current value of the motor exceeds the second reference current value. Battery replacement robot.
  9. 　前記ロック機構による前記バッテリーのロックが開始されるロック開始位置、および、前記バッテリー側コネクタと前記収容部側コネクタとの接続が開始されるコネクタ接続開始位置の少なくともいずれか一方まで前記バッテリー係合部が移動すると、前記接続動作が開始されることを特徴とする請求項７または８記載のバッテリー交換ロボット。 The battery engagement portion up to at least one of a lock start position where the battery is locked by the lock mechanism and a connector connection start position where the connection between the battery side connector and the housing portion side connector is started The battery exchange robot according to claim 7 or 8, wherein the connection operation is started when the robot moves.
  10. 　前記接続動作開始前の前記モータの回転速度は、前記接続動作開始後の前記モータの回転速度よりも速くなっていることを特徴とする請求項７から９のいずれかに記載のバッテリー交換ロボット。 10. The battery replacement robot according to claim 7, wherein a rotation speed of the motor before the connection operation starts is higher than a rotation speed of the motor after the connection operation starts.
  11. 　前記制御部は、前記接続動作が開始されると、前記接続動作開始後の前記モータの駆動時間の計測を開始し、前記ロック機構による前記バッテリーのロックおよび前記バッテリー側コネクタと前記収容部側コネクタとの接続が完了する接続動作完了位置に前記バッテリー係合部が移動するまでの間に、前記接続動作開始後の前記モータの駆動時間が所定時間を経過すると、前記バッテリーの引抜き方向へ前記バッテリー係合部を退避させることを特徴とする請求項７から１０のいずれかに記載のバッテリー交換ロボット。 When the connection operation is started, the control unit starts measuring the driving time of the motor after the connection operation starts, and locks the battery by the lock mechanism and the battery side connector and the housing unit side connector. When the drive time of the motor after the start of the connection operation passes a predetermined time before the battery engagement portion moves to the connection operation completion position where the connection to the battery is completed, the battery is pulled in the battery pulling direction. The battery replacement robot according to claim 7, wherein the engaging portion is retracted.
  12. 　請求項７から１１のいずれかに記載のバッテリー交換ロボットと、前記バッテリー収容部とを備えることを特徴とするバッテリー交換システム。 A battery exchange system comprising the battery exchange robot according to any one of claims 7 to 11 and the battery housing portion.
  13. 　車両に取り付けられるとともにバッテリーが収容されるバッテリー収容部からの前記バッテリーの引抜きおよび前記バッテリー収容部への前記バッテリーの差込みを行うバッテリー抜差機構を備え、前記バッテリーは、前記車両と前記バッテリーとを電気的に接続するためのバッテリー側コネクタを備え、前記バッテリー収容部は、収容された前記バッテリーをロックするロック機構と、前記バッテリー側コネクタに接続される収容部側コネクタとを備え、前記バッテリー抜差機構は、前記バッテリーが搭載されるバッテリー搭載部と、前記バッテリーに係合して前記バッテリーを移動させるバッテリー係合部と、前記バッテリー係合部を駆動するためのモータとを備え、前記ロック機構は、前記バッテリー係合部による前記バッテリー収容部への前記バッテリーの差込み力で作動して前記バッテリーをロックする機械式のロック機構であり、前記バッテリー側コネクタと前記収容部側コネクタとは、前記バッテリー係合部による前記バッテリー収容部への前記バッテリーの差込み力で接続されるバッテリー交換ロボットの制御方法であって、
    　前記バッテリー収容部への前記バッテリーの差込み動作時において、前記ロック機構による前記バッテリーのロックおよび前記バッテリー側コネクタと前記収容部側コネクタとの接続の少なくともいずれか一方が行われる接続動作の開始前は、前記モータの負荷が所定の第１基準値を超えると前記モータを停止させ、
    　前記接続動作が開始されると、前記モータの負荷が前記第１基準値よりも小さい第２基準値を超えても前記モータの負荷が前記第２基準値を超えた状態で所定の基準時間が経過するまで前記モータを駆動させるとともに、前記モータの負荷が前記第２基準値を超えた状態で前記基準時間が経過すると前記モータを停止させることを特徴とするバッテリー交換ロボットの制御方法。     A battery attaching / detaching mechanism that is attached to a vehicle and that pulls out the battery from a battery housing portion in which the battery is housed and inserts the battery into the battery housing portion; and the battery includes the vehicle and the battery. A battery side connector for electrical connection, wherein the battery housing portion includes a lock mechanism for locking the battery housed therein, and a housing portion side connector connected to the battery side connector; The difference mechanism includes a battery mounting portion on which the battery is mounted, a battery engaging portion that engages with the battery and moves the battery, and a motor that drives the battery engaging portion, and the lock The mechanism accommodates the battery by the battery engaging portion. A mechanical locking mechanism that locks the battery by operating with the insertion force of the battery to the battery, and the battery side connector and the housing portion side connector are connected to the battery housing portion by the battery engaging portion. A control method of a battery exchange robot connected by a battery insertion force,
    During the operation of inserting the battery into the battery housing portion, before the start of the connection operation in which at least one of the locking of the battery by the lock mechanism and the connection between the battery side connector and the housing portion side connector is performed. , When the load of the motor exceeds a predetermined first reference value, the motor is stopped,
    When the connection operation is started, even if the load of the motor exceeds a second reference value that is smaller than the first reference value, a predetermined reference time is maintained in a state where the load of the motor exceeds the second reference value. A control method for a battery exchange robot, wherein the motor is driven until a lapse of time, and the motor is stopped when the reference time elapses with a load of the motor exceeding the second reference value.
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CN111890967A (en) * 2020-07-17 2020-11-06 蓝谷智慧(北京)能源科技有限公司 Battery transfer device, battery replacement station and battery transfer method

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CN107225955A (en) 2017-10-03
KR20160061318A (en) 2016-05-31

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