WO2018210017A1

WO2018210017A1 - Rail guided battery replacing robot, battery charging and replacing station, and battery replacing method

Info

Publication number: WO2018210017A1
Application number: PCT/CN2018/075688
Authority: WO
Inventors: 郝战铎; 杨潮; 陈炯
Original assignee: 上海蔚来汽车有限公司
Priority date: 2017-05-15
Filing date: 2018-02-07
Publication date: 2018-11-22
Also published as: CN107097762B; CN107097762A

Abstract

A rail guided battery replacing robot, a battery charging and replacing station, and a battery replacing method. The battery replacing robot (10) comprises a body (11), as well as a battery transporting part and a battery mounting and dismounting part provided on the body (11); the battery transporting part can enable the battery to reach the body (11); the battery mounting and dismounting part can move in the mode of approaching/moving away from the body (11) in a first direction, and the movement can enable a battery to approach/move away from a target battery replacing location of a vehicle having a battery to be replaced; and in an assembled state, the battery mounting and dismounting part is configured in the mode of not interfering with the battery transporting part. By configuring the battery mounting and dismounting part not to interfere with the battery transporting part, an operating space of the battery replacing robot is increased, and the battery replacing robot can further achieve the effects of high positioning accuracy and smooth battery replacement, so that battery replacing time is indirectly shortened, and the battery replacing efficiency is improved.

Description

Track guiding type power changing robot, charging and replacing power station and power changing method

Technical field

The invention relates to the field of power exchange, and particularly relates to a track guiding type power changing robot, a charging and replacing power station and a power changing method.

Background technique

With the popularity of new energy vehicles, how to provide fast and efficient energy replenishment for vehicles with insufficient energy has become a matter of great concern to car owners and major manufacturers. Taking electric vehicles as an example, one of the current mainstream power supply solutions is a battery replacement solution. The battery replacement scheme is one of the main development directions of electric energy supply because it can complete the replacement of the power battery in a short time and has no obvious influence on the service life of the power battery. In the battery replacement scheme, the power exchange at the bottom of the electric vehicle is a mainstream power exchange mode, and the power exchange mode is generally completed in a dedicated charging and replacing power station. Specifically, the charging and replacing station is provided with a charging and replacing platform and a power exchange platform, and a power-changing robot carrying a full/depletion battery between the charging and replacing platforms, such as a stacker/ Rail Guided Vehicle (RGV). The power-changing robot completes the action of replacing the power battery for the electric vehicle stopped on the power-changing platform by reciprocating the track on the pre-laying track between the charging and the power-changing platform.

However, the above-mentioned power exchange method generally has a problem of low power conversion efficiency. The reason for this problem is that on the one hand, when the power-changing robot reaches the bottom of the electric vehicle or the power battery is in the pick-up position of the charging and replacing frame, the operation space of the bottom-changing mode is small, and the positioning accuracy is high, resulting in each time. The positioning time is too long, which reduces the efficiency of power conversion. On the other hand, in a complete power-changing process, the power-changing robot needs to reciprocate at a fixed position of the power-changing platform and the charging and replacing frame (such as reaching the power-changing platform, taking the depleted battery and removing the power-changing platform, The full-battery battery is again brought to the power-changing platform, etc., and needs to be repositioned each time, thereby causing the time required for the power-changing process to be indirectly increased due to the excessive number of times of positioning, thereby reducing the power-changing efficiency. With the substantial increase in the number of electric vehicles, there is a significant increase in the number of electric vehicles that need to be exchanged in the unit time period. Under this circumstance, the emergence of the above problems not only causes an increase in the waiting time of the vehicle owner when the electric vehicle is changed, but also has a poor service experience, and also limits the service efficiency of the service provider, which is disadvantageous for the service provider to provide high quality power exchange. service.

Accordingly, there is a need in the art for a new track-guided power-changing robot to solve the above problems.

Summary of the invention

In order to solve the above problems in the prior art, that is, to solve the problem of low power conversion efficiency existing in the existing battery replacement scheme, the present invention provides a track guiding type power changing robot including a body and a setting And a battery transporting portion and a battery loading and unloading portion of the body, wherein the battery transporting portion enables the battery to reach a set position of the power changing robot; wherein the battery loading and unloading portion can be approached in the first direction/ Moving away from the body, the movement enabling the battery to approach/away from a target power-changing position of the vehicle to be replaced; and in the assembled state, the battery loading and unloading portion does not interfere with the battery transport portion Mode setting.

In a preferred embodiment of the above-described track-guide type power-changing robot, the battery loading and unloading portion and the battery transport portion are capable of generating a relative displacement in the first direction, the relative displacement being at least capable of causing the battery transport portion and The battery loading and unloading portion alternately contacts the battery.

In a preferred embodiment of the above-described track-guide type power-changing robot, the battery transport portion is fixedly coupled to the body, and the battery loading and unloading portion can be relatively close to/away from the body in a first direction. The battery transfer unit moves.

In a preferred technical solution of the above-described track-guide type power-changing robot, the battery loading and unloading portion includes: an unlocking mechanism capable of locking/disengaging the battery to be replaced; and A lifting mechanism capable of causing the battery to reach the target power changing position in a first direction to approach/away from the body.

In a preferred embodiment of the above-described track-guide type power-changing robot, the lifting mechanism includes: a driving mechanism fixedly coupled to the body, and the driving mechanism is capable of approaching/away from the body in a first direction The manner of moving; the lifting platform: it is fixedly coupled to the drive mechanism, and the lifting platform has a plurality of receiving holes that allow a portion of the battery transfer portion to be received therein.

In a preferred embodiment of the above-described track-guide type power-changing robot, the battery transport portion includes a plurality of roller groups and/or a plurality of roller groups, and the plurality of roller groups and/or the plurality of roller groups and the The body is fixedly connected.

In a preferred embodiment of the above-described track-guide type power-changing robot, the power-changing robot is further provided with a limiting portion that enables the battery to be in the set position.

In a preferred embodiment of the above-described track-guide type power-changing robot, the limiting portion includes a plurality of sets of guiding strips and a plurality of guides disposed on the ground and/or the track and/or the ground near the track. a limiting block, wherein the plurality of sets of guiding strips are capable of restricting movement of the battery in a second direction; wherein the plurality of limiting blocks are capable of causing the battery to be in the set position in a third direction.

In a preferred technical solution of the above-described track-guide type power-changing robot, the power-changing robot further includes a positioning portion capable of completing positioning of the power-changing robot on a track and the battery being replaced by the battery Positioning on the robot.

In a preferred technical solution of the above-described track-guide type power-changing robot, the positioning portion includes a first positioning unit and a second positioning unit, wherein the first positioning unit is capable of causing the power-changing robot to be in the target a projection position of the electrical position; wherein the second positioning unit is configured to position the battery loading and unloading portion in the target power-changing position.

In a preferred embodiment of the track-guide type power-changing robot, the first positioning unit is a mechanical positioning member and/or a positioning sensor disposed at a bottom of the body; the second positioning unit is disposed in the Several positioning pins of the battery loading and unloading section.

In a preferred embodiment of the above-described track-guide type power-changing robot, the power-changing robot further includes a control unit, and the control unit is capable of acquiring at least current position information of the power-changing robot.

In a preferred embodiment of the above-described track-guide type power-changing robot, the power-changing robot further includes a walking portion, the walking portion is disposed on the body, and the walking portion can drive the power-changing robot in a preset track Moving upward, the movement enabling at least the power-changing robot to reach a projection position corresponding to the target power-changing position, and in a case where the power-changing robot is in the projection position, the battery loading and unloading portion can The target power changing position is that the battery to be replaced replaces the battery.

The present invention also provides a charge exchange power station comprising the track-guide type power-changing robot according to any of the preceding claims.

The invention also provides a method for changing the power of a track-guided power-changing robot, the power-changing method comprising the following steps:

Positioning the battery loading and unloading unit at the target power-changing position;

The battery loading and unloading unit disengages the battery in a depleted state from the vehicle to be replaced;

The battery loading and unloading unit carries the battery in a fully charged state to reach the target power changing position again;

The battery loading and unloading unit fixes a battery in a fully charged state to the vehicle to be replaced.

In a preferred technical solution of the power-changing method of the above-described track-guide type power-changing robot, the “making the battery loading and unloading unit in the target power-changing position” further includes:

a projection position of the power changing robot to the target power changing position;

The positioning portion causes the battery loading and unloading portion to be in a target power-changing position in a first direction away from the body;

Obtaining current location information of the power-changing robot.

In a preferred technical solution of the power-changing method of the above-described track-guide type power-changing robot, the “the battery loading and unloading unit carrying the battery in a fully charged state reaches the target power-changing position again” further includes:

The power changing robot reaches the projection position again;

Based on the current position information, the battery loading and unloading portion is again in the target power-changing position in a first direction away from the body.

It can be understood by those skilled in the art that, in a preferred technical solution of the present invention, the track-guide type power-changing robot includes a body and a battery transporting portion and a battery loading and unloading portion disposed on the body, wherein the battery transporting portion can enable the battery to reach the body The battery detachable portion is movable in a first direction in proximity to/away from the body, the movement enabling the battery to approach/away from a target power-changing position of the vehicle to be replaced. In the assembled state, the battery loading and unloading portion is disposed in such a manner as not to interfere with the battery transfer portion. The battery loading and unloading portion does not interfere with the arrangement of the battery transfer portion, so that the operating space of the power-changing robot is increased, thereby enabling the power-changing robot to achieve high positioning accuracy, smooth switching effect, indirectly shortening the power-changing time, and improving the replacement. Electrical efficiency.

DRAWINGS

1 is a schematic structural view of a track-guide type power-changing robot of the present invention;

Figure 2 is a top plan view of Figure 1;

3A is a schematic view showing the track-guide type power-changing robot of the present invention in a transport state;

3B is a schematic view showing the rail-guide type power-changing robot of the present invention in a loading and unloading state;

4 is a flow chart showing a method of switching power of the track-guide type power-changing robot of the present invention.

List of reference signs

10. Track-guided power-changing robot; 11, body; 121, drive wheel; 122, driven wheel; 131, guide bar; 132, limit block; 141, positioning pin; 151, unlocking mechanism; 152, scissor Drive frame; 153, lifting platform; 154 receiving hole; 161, power roller; 162, no power roller; 20, power battery.

detailed description

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the scope of the present invention. For example, although the two positioning pins in the drawing are disposed on the battery loading and unloading portion, the number and setting position thereof are not constant, and those skilled in the art can adjust them as needed to suit a specific application. For example, the positioning pin can also be disposed on the body or the like.

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. The terminology of the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, which is merely for convenience of description, and does not indicate or imply that the device or component must have a specific orientation, constructed and operated in a specific orientation. Therefore, it should not be construed as limiting the invention. Moreover, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In addition, it should be noted that in the description of the present invention, the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed connections, for example, or It is a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be internal communication between the two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

1 and 2, FIG. 1 is a schematic structural view of a track-guide type power-changing robot of the present invention; and FIG. 2 is a schematic plan view of FIG. As shown in FIG. 1 , an electric vehicle replacement power battery that is powered by a power-exchange method is used as an example. The track-guide type power-changing robot 10 (hereinafter referred to as the power-changing robot 10 ) mainly includes a body 11 and a running portion. A limiting portion, a positioning portion, a battery loading and unloading portion, a battery transfer portion, a control portion, and a power supply portion. Wherein, the walking portion can drive the power-changing robot 10 to move by rolling on the track, and the movement can at least enable the power-changing robot 10 to reach a projection position corresponding to the target power-changing position of the vehicle to be replaced. The limit portion enables the battery to be in the set position of the power-changing robot 10. The positioning portion can complete the positioning of the power-changing robot 10 on the track and the positioning of the battery on the power-changing robot 10. For example, the moving power-changing robot 10 is accurately stopped at the projection position of the target power-changing position or the pick-up position of the charging and replacing frame. The battery detaching portion can complete the operation of replacing the power battery for the electric vehicle to be replaced in a manner of approaching/away from the body 11 in the first direction with the power-changing robot 10 at the projection position. The battery transfer portion can complete the transfer of the power battery between the power-changing robot 10 and the charging and replacing frame at the pick-up position, thereby enabling the power battery to reach the set position of the body 11. Preferably, the battery loading and unloading portion and the battery transfer portion are disposed in a manner that does not interfere with each other. For example, the battery transfer portion is spatially partially overlapped with the battery loading and unloading portion, and the arrangement manner makes the movement track of the power battery on the battery transfer portion and the battery assembly portion cross, but does not affect the power battery. Separate movement on the battery transfer and battery assembly. The control unit can realize automatic control of the above parts, so that the entire power exchange process is accurately positioned and the motion is fast and smooth.

It should be noted that, in the preferred embodiment, the target power-changing position may be a position for replacing the power battery for the electric vehicle, and the pick-up position may be a position for exchanging the power battery between the power-changing robot 10 and the charging and replacing rack. For example, the target power-changing position may be a mounting position of the power battery of the electric vehicle in the electric vehicle body, and the battery loading and unloading portion of the power-changing robot 10 can smoothly complete the power battery that is in a de-energized state from the installation position. The action of fixing or fixing the power battery in a fully charged state to the installation position. For example, the pick-up position may be a position immediately adjacent to the transport platform with a horizontal transport mechanism (such as a conveyor belt or a roller) on the charging stand. In the case where the power-changing robot 10 reaches the position, the battery transfer portion can be connected to the platform. Connected and at the same level. In the above case, the battery transfer portion can transfer the power battery in a depleted state to the transport platform, and the transport platform transports the power battery in a depleted state to the charging and charging rack through the transport mechanism for charging; or charging and replacing The rack can transport the power battery in the fully charged state to the battery transfer portion through the transport platform, and the battery transport portion causes the power battery in the fully charged state to reach the set position of the power-changing robot 10. The set position may be a parking position of the power battery on the power-changing robot 10, and the parking position is such that the relative position of the power battery after the power battery is parked is fixed. The first direction may be a substantially vertical direction (Z direction in FIG. 1), and the battery fitting portion can reach the target power-changing position in a substantially vertical direction in a rising/falling manner or in a spatial portion of the battery transfer portion Coincident position.

That is to say, under the control of the control unit, the power-changing robot 10 can be accurately reciprocated by being laid on the track between the lower part of the power-changing platform and the charging and replacing frame under the cooperation of the running part and the positioning part. The ground reaches the projection position of the target power-changing position or the pickup position of the charging and replacing frame, and then the operation of replacing the power battery for the electric vehicle is completed by the battery loading and unloading portion and the battery transfer portion. Wherein, the battery loading and unloading unit can complete the action of removing the power battery in the de-energized state from the electric vehicle or installing the power battery in the fully-charged state to the electric vehicle at the target power-changing position, and the battery transfer portion can be completed at the pick-up position. The power battery in a de-energized state moves to the charging and discharging rack, or moves the power battery in the fully-powered state to the set position on the power-changing robot 10. It can be seen that, due to the control of each part by the control part and the manner in which the battery loading and unloading part does not interfere with the arrangement of the battery transfer part, the power-changing robot 10 increases the power-changing space during the entire power-changing process, thereby making it easier to change the power. The robot 10 achieves the effects of high positioning accuracy and smooth switching operation, thereby shortening the power-changing time and improving the power-changing efficiency.

Specifically, as shown in FIGS. 1 and 2 , the track-guide type power-changing robot 10 mainly includes a main body 11 , a traveling portion, a limiting portion, a positioning portion, a battery loading and unloading portion, a battery transfer portion, a control portion, and a power supply portion. The power supply unit can supply power to the power-changing robot 10, for example, the power supply unit can supply power to the power-changing robot 10 through a power supply mode such as a battery or a power supply line, or a power supply line through a power supply line connected to the power grid. Power is supplied to the power-changing robot 10. The body 11 may be a structure in which the shape of the I-beam is substantially rectangular. The advantage of using such a material arrangement is that the body 11 does not substantially deform due to the high strength characteristics of the material during operation, and the working error of other parts provided on the body 11 can be reduced, so that the position of the power changing robot 10 can be reduced. And the action is more precise. Of course, the material and shape of the body 11 are not unique, and those skilled in the art can flexibly adjust the body 11 according to different application environments, as long as the adjustment can satisfy the condition that the body 11 is not easily deformed during operation. For example, the body 11 can also be welded from a sheet metal piece or a stainless steel square tube, an angle steel, or the like.

With continued reference to Figures 1 and 2, the running portion may be a plurality of track wheels disposed below the body 11, and the track wheels are mated with tracks laid under the power exchange platform and between the charging stations. Preferably, a plurality of track wheels can use four driving wheels 121 with four driven wheels 122. This arrangement can overcome the defect of insufficient driving force caused by uneven track, thereby improving the driving stability of the power-changing robot 10. Sex, which in turn improves the efficiency of power exchange. Those skilled in the art can understand that the manner and quantity of the above-mentioned track wheels are not unique, and can be adjusted according to the actual application environment.

The limiting portion can complete the positioning of the power battery and the conveying platform or the battery transfer portion. Specifically, when the power-changing robot 10 reaches the pick-up position, the power battery in the de-energized state can reach the charging and discharging rack through the limit of the limiting portion in the forward direction of the power battery under the transportation of the battery transporting portion. And the power battery in the fully charged state can be placed at the set position on the power-changing robot 10 through the limit of the limiting portion under the transportation of the battery transfer portion. According to the orientation shown in FIG. 1, the limiting portion preferably comprises a set of two guiding strips 131 and two limiting blocks 132, wherein in the case that the changing robot 10 reaches the pick-up position, the two guiding strips 131 are along The second direction (ie, the Y direction in FIG. 1) is respectively disposed on the ground of the left front end and the right front end of the body 11, and is used for limiting the power battery in the second direction to ensure that the power battery is in the third direction (ie, the figure) The X direction in 1) does not deviate from the power changing robot 10 when moving. The two limiting blocks 132 are disposed in the third direction at the rear end of the body 11 for positioning the power battery on the power changing robot 10 to ensure that the power battery in the fully charged state is accurately in the set position. Due to this arrangement of the guide bar 131 and the limiting block 132, the power battery can be accurately positioned on the power-changing robot 10, thereby improving the positioning accuracy of the power battery on the power-changing robot 10. Although the guide bar 131 and the limiting block 132 are used as the specific embodiment of the limiting portion in this embodiment, this is not intended to limit the scope of protection of the present invention, and those skilled in the art can make the form and quantity according to specific application conditions. Make adjustments. For example, in the case where the power-changing robot 10 reaches the pick-up position, the guide bar 131 may be disposed on the guide rail near the power-changing robot 10, or the guide bar 131 may be directly disposed on the body of the power-changing robot 10. Similarly, in the case where the power-changing robot 10 reaches the pick-up position, the guide block 132 may also be disposed on the rail near the power-changing robot 10 or on the ground.

The positioning part mainly comprises a first positioning unit and a second positioning unit, wherein:

1) The first positioning unit can complete the positioning of the power-changing robot 10 on the track, that is, the first positioning unit can cause the power-changing robot 10 to be in the above-mentioned projection position or the above-mentioned pickup position on the track, and reach the projection position or take After the position is sent, the power-changing robot 10 can perform the next positioning. Preferably, the first positioning unit may be a mechanical positioning member (such as a positioning pin, not shown) disposed at the bottom of the body 11 and a positioning sensor (such as an infrared sensor or a two-dimensional code sensor, not shown) for dual positioning. . By the dual positioning of the mechanical positioning member and the positioning sensor, the power-changing robot 10 can be accurately placed at the projection position of the target power-changing position.

2) The second positioning unit can complete the positioning of the battery loading and unloading part and the electric vehicle to be replaced, that is, the second positioning unit can be the battery loading and unloading part in the target power changing position. In the case of the target power-changing position, the battery detaching portion can smoothly remove the power battery in a depleted state from the vehicle of the electric vehicle or install the power battery in a fully charged state to the vehicle body of the electric vehicle. Preferably, the second positioning unit may be two positioning pins 141 disposed on the battery loading and unloading portion. Correspondingly, a positioning hole matched with the positioning pin 141 is disposed on the body of the electric vehicle, and the positioning pin 141 is positioned and positioned. The mating connection of the holes allows the battery loading and unloading portion to accurately reach the target power changing position. Certainly, the specific form and quantity of the second positioning unit are not unique, and those skilled in the art can adjust according to a specific application environment. For example, the second positioning unit can also be implemented by a visual positioning sensor, a laser positioning sensor, or an infrared positioning sensor. When the body of the electric car is required to be placed with the corresponding positioning mark).

In a more preferred embodiment, the battery can also be recorded when the second positioning unit is positioned with the target power-changing position for the first time (ie, when the battery loading and unloading unit removes the power battery in a de-energized state) The position information of the loading and unloading part, for example, after the positioning of the battery loading and unloading part is completed, the position information of a fixed point on the battery loading and unloading part is obtained, and the position information is temporarily saved, and then in the second positioning unit for the second time When the target power-changing position is positioned (that is, the battery loading and unloading unit carries the positioning of the power battery and the electric vehicle in a fully charged state), the temporary position information of the battery can be used to complete the rapid positioning of the battery loading and unloading unit. The reason why the rapid positioning can be achieved is that the action of the power-changing robot 10 to remove the power battery in a de-energized state and the installation of the power battery in the fully-powered state are all completed at the target power-changing position, and there is no difference in the positions of the two positioning positions. . That is to say, by using the positioning information of the first positioning for the second positioning, the number of positioning is directly reduced during the power-changing process, thereby shortening the power-changing time during a power-changing process, and further Improve the efficiency of power exchange.

With continued reference to Figures 1 and 2, the battery loading and unloading portion includes an unlocking mechanism 151 and a lifting mechanism. Wherein, the lifting mechanism can lift the power battery by moving in the first direction (the Z direction in FIG. 1) relative to the battery transfer portion, so that the power battery reaches the target power changing position, and the unlocking mechanism 151 can be powered. After the battery reaches the target power-changing position, the power battery is locked/detached from the electric vehicle body. The battery transfer portion is fixedly coupled to the body 11, and the battery transfer portion is capable of disengaging the power battery in the third direction (X direction in FIG. 1) from the power-changing robot 10 or reaching the set position of the power-changing robot 10 by its own rotation. Preferably, the lifting mechanism may include a lifting platform 153 and a driving mechanism capable of causing the lifting platform to perform a lifting function, such as a scissor drive frame 152. Wherein, the lifting platform 153 is used for placing the power battery (ie, the power battery is in the set position), and the scissor driving frame 152 can lift the lifting platform 153 together with the power battery on the lifting platform 153 until the target is changed. Electrical location. Preferably, the battery transfer portion may be a combination of a plurality of roller sets and a plurality of roller sets, wherein each roller set includes a plurality of power rollers 161, each of which includes a plurality of unpowered rollers 162 passing through the power roller 161 The drive and the follow-up of the unpowered roller 162 enable the power battery to be removed from the power-changing robot 10 to the transport platform or from the transport platform to the set position of the power-changing robot 10.

It is conceivable by those skilled in the art that the arrangement of the battery loading and unloading portion and the battery transfer portion is not constant. For example, the driving mechanism can be replaced by a rigid chain or a worm gear, such as a power roller, in addition to the scissor drive frame. The cylinder and the unpowered roller can also be used as a track to realize the translation function of the battery.

Referring to FIG. 1, FIG. 3A and FIG. 3B, FIG. 3A is a schematic diagram of the track-guide type power-changing robot of the present invention in a transport state; FIG. 3B is a schematic view of the track-guide type power-changing robot of the present invention in a loading and unloading state. As described above, since the battery loading and unloading portion and the battery transfer portion are both involved in the movement of the power battery 20, there is a coupling in the form of motion, that is, the battery loading and unloading portion is mainly lifted in a substantially vertical direction (Z direction in Fig. 1). In the power battery 20, the battery transfer portion mainly shifts the power battery 20 in a substantially horizontal direction (X direction in FIG. 1), so that the battery loading and unloading portion and the battery transfer portion can be motion-decoupled to reduce the power-changing robot 10 The space occupation makes the power-changing robot 10 have enough operation space to complete the power-changing action, thereby indirectly improving the power-changing efficiency. As shown in FIG. 1, a plurality of receiving holes 154 are formed in the lifting platform 153, and the receiving holes 154 allow one or several sets of roller sets or roller sets of the battery transfer portion to be accommodated therein. In this way, when the plane of the battery loading and unloading portion falls below the plane of the battery transfer portion, the battery transfer portion can carry the power battery 20 and move the power battery 20 in a substantially horizontal direction (refer to FIG. 3A); when the battery is loaded and unloaded When the plane of the portion rises above the plane of the battery transfer portion, the battery loading and unloading portion can carry the power battery 20 and lift the power battery 20 in a substantially vertical direction to the target power-changing position (refer to FIG. 3B). That is, the battery detaching portion and the battery transport portion are capable of generating a relative displacement in the first direction, which enables the battery transfer portion and the battery detaching portion to alternately contact the power battery 20. It can be seen that, by the arrangement of the plurality of receiving holes 154 described above, the battery loading and unloading portion can reduce the vertical direction of the power-changing robot 10 (the Z direction in FIG. 1) by lowering the arrangement to be lower than the battery transfer portion. The space occupation makes the power-changing robot 10 have a larger operating space to complete the power-changing action, thereby indirectly improving the power-changing efficiency.

In addition to the precise control of the above parts, the control unit makes the entire power-changing process accurate and smooth, and has the function of acquiring position information. As described above, the control unit can record the position information of the battery loading and unloading portion when the battery loading and unloading portion reaches the target power-changing position for the first time, so that the second battery loading and unloading portion can directly reach the target power-changing without repeating the positioning. position. By using the positioning information of the first positioning for the second positioning, the number of positioning is directly reduced during the power-changing process, thereby shortening the power-changing time during a power-changing process, thereby improving the power-changing effectiveness. Preferably, the control portion may be disposed on the body 11. Of course, the setting position of the control unit may not be on the power-changing robot 10, and may be set in the operation room, and then the operation of the power-changing robot 10 or the like may be controlled by wireless communication or the like.

In addition, in order to facilitate the manufacture of the track-guided power-changing robot 10 and save the manufacturing cost of the power-changing robot 10, the track-guided power-changing robot 10 of the present invention can be modified on the basis of the existing track-guided vehicle (RGV). Come. Specifically, on the basis of the existing RGV, the main body, the power supply portion, and the walking portion are retained, the positioning portion, the battery loading and unloading portion, and the battery transfer portion are added, and the function of the control portion is upgraded to have the function of acquiring the position information. It is also possible to perform automatic control of the entire power-changing process, thereby saving both manufacturing costs and the present invention.

Further, in order to improve the universality of the power-changing robot 10, the power-changing robot 10 may be classified in an operation mode, and the operation modes of the power-changing robot 10 are classified into an automatic mode, a semi-automatic mode, and a manual mode. Among them, in the automatic mode, the control unit can control the power-changing robot 10 to complete the entire power-changing process. In the semi-automatic mode, the operator confirms each step of the action, for example, by clicking the "Next" button on the human-computer interaction interface to confirm that the previous step is correct, and then complete the entire power-changing process. In the manual mode, the operator manually operates the operation of the power-changing robot 10, such as controlling the operation of the walking portion or controlling the lifting of the battery loading and unloading portion, thereby completing the entire power-changing process.

Referring to Fig. 4, Fig. 4 is a flow chart showing a method of changing the power of the track-guide type power-changing robot of the present invention. As shown in FIG. 4, the present invention further provides a method for changing the power of a track-guided power-changing robot, the method mainly comprising:

S100: The power battery loading and unloading unit is in a target power-changing position.

The S200 and the battery loading and unloading unit disengage the power battery in a depleted state from the vehicle to be replaced.

The S300 and the battery loading and unloading unit carry the power battery in the fully charged state to reach the target power changing position again.

The S400 and the battery loading and unloading unit fix the power battery in a fully charged state to the vehicle to be replaced.

Among them, S100 can further include:

S110. The position of the power-changing robot 10 reaching the target power-changing position;

S120. The positioning portion causes the battery loading and unloading portion to be in the target power-changing position in a first direction away from the body 11;

S130. Acquire current location information of the power-changing robot 10.

The S300 can further include:

S310, the power exchange robot 10 reaches the projection position again;

S320. Based on the current location information, the battery loading and unloading portion is again in the target power-changing position in a first direction away from the body 11.

Wherein, the first direction may be a substantially vertical direction (Z direction in FIG. 1).

Taking the rail-guided power-changing robot 10 of the present invention as an example for power-changing an electric vehicle to be replaced, a complete power-changing process may be:

S1: The electric vehicle to be replaced is switched to the power exchange platform of the charging and replacing station.

S2: The power-changing robot 10 moves along the predetermined position from the initial position under the rolling of the running portion, and is positioned by the mechanical positioning member and the position sensor to a projection position corresponding to the target power-changing position of the electric vehicle.

S3: The lifting platform 153 is raised by the scissor drive frame 152 and is positioned to the target power-changing position by the positioning pin 141, and the control unit records the position information of the lifting platform 153 at this time.

S4: The unlocking mechanism 151 removes the power battery in a depleted state from the electric vehicle and is at the set position of the lifting platform 153.

S5: The power-changing robot 10 carries the power battery in a depleted state and moves along a predetermined track under the rolling of the walking portion, and is positioned to the feeding position of the charging and replacing frame by the mechanical positioning member and the position sensor.

S6: The battery transfer portion transports the power battery in a depleted state to the transport platform under the guidance of the guide bar 131, and the transport platform transfers the power battery to the charging and replacing rack.

S7: the battery transfer portion transfers the power battery from the fully charged state on the charging and discharging frame, and the guiding of the guiding bar 131 and the limiting of the limiting block 132 cause the power battery in the fully charged state to be on the lifting platform 153. Set the location.

S8: The power-changing robot 10 moves along a predetermined track under the rolling of the running portion, and is again positioned to the projected position by the mechanical positioning member and the position sensor.

S9: Based on the position information recorded by the control unit, the lifting platform 153 carries the power battery in the fully charged state to reach the target power changing position again.

S10: The unlocking mechanism 151 fixes the power battery in a fully charged state to the vehicle body of the electric vehicle.

S11: The power changing robot 10 moves back to the initial position.

It should be noted that the initial position may be a fixed position in the charging and replacing station, and the power changing robot 10 may stay in the fixed position without the power exchange service. In the case where the power exchange service is performed, the power-changing robot 10 provides a power-changing service from the fixed position.

The present invention also provides a charging and replacing power station, the charging and replacing power station comprising at least the aforementioned track guiding type power changing robot 10, and the power changing robot 10 is capable of following the above-mentioned track guiding type power changing robot in the charging and replacing power station The power exchange method of 10 completes the action of replacing the power battery for the electric vehicle to be replaced.

In summary, in the track-guide type power-changing robot 10, the charging and replacing station, and the power-changing method of the present invention, the track-guide type power-changing robot 10 mainly includes a body 11 and a walking portion and a limiting portion disposed on the strip. , positioning unit, battery loading and unloading unit, battery transfer unit, control unit, and power supply unit. The walking portion includes four driving wheels 121 and four driven wheels 122. The limiting portion includes a guiding strip 131 and a limiting block 132. The positioning portion includes a mechanical positioning member and a position sensor (first positioning unit), and a mechanical positioning pin 141 ( The second positioning unit) includes a locking mechanism 151, a driving frame and a lifting platform 153, and the lifting platform 153 has a receiving hole 154 therein. The battery transfer portion includes a plurality of roller sets and a plurality of roller sets, and a portion of the roller set and the roller set can be received in the receiving holes 154. The control unit can automatically complete the entire power-changing process by precisely controlling the other parts, and the control unit can also record the position information of the battery loading and unloading unit when it is in the target power-changing position. Through the control of the control unit and the arrangement of the driving wheel 121 and the driven wheel 122, the power-changing robot 10 is smoothly driven during the power-changing process, and the positioning is accurate. The setting of the position information is recorded by the control unit, and a part of the power roller group and the driven roller group can be accommodated in the receiving hole 154, thereby increasing the power exchange space of the power-changing robot 10, thereby shortening the power-changing time and improving The power exchange efficiency is beneficial to the service providers to provide users with high quality service.

Heretofore, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings, but it is obvious to those skilled in the art that the scope of the present invention is obviously not limited to the specific embodiments. Those skilled in the art can make equivalent changes or substitutions to the related technical features without departing from the principles of the present invention, and the technical solutions after the modifications or replacements fall within the scope of the present invention.

Claims

A track-guide type power-changing robot, comprising: a body; and a battery transfer portion and a battery loading and unloading portion disposed on the body;

Wherein the battery transfer portion enables the battery to reach a set position of the power-changing robot;

Wherein the battery loading and unloading portion is movable in a first direction in proximity to/away from the body, the movement enabling the battery to approach/away from a target power-changing position of the vehicle to be replaced;

In the assembled state, the battery attaching and detaching portion is provided in such a manner as not to interfere with the battery transfer portion.
The track-guide type power-changing robot according to claim 1, wherein the battery attaching portion and the battery transport portion are capable of generating a relative displacement in the first direction, the relative displacement being at least capable of causing the The battery transfer portion and the battery detaching portion alternately contact the battery.
The track-guide type power-changing robot according to claim 2, wherein the battery transfer portion is fixedly coupled to the body, and the battery attaching portion is capable of approaching/away from the body in a first direction. The mode moves relative to the battery transport portion.
The track-guide type power-changing robot according to claim 3, wherein the battery loading and unloading portion comprises:

An unlocking mechanism capable of locking/disengaging the battery to be replaced; and

A lifting mechanism capable of causing the battery to reach the target power changing position in a first direction in proximity to/away from the body.
The track-guide type power-changing robot according to claim 4, wherein the lifting mechanism comprises:

a drive mechanism: fixedly coupled to the body, and the drive mechanism is movable in a first direction in a manner to approach/away from the body;

A lifting platform: fixedly coupled to the drive mechanism, and the lifting platform has a plurality of receiving apertures that allow a portion of the battery transfer portion to be received therein.
The track-guide type power-changing robot according to claim 3, wherein the battery transfer portion includes a plurality of roller groups and/or a plurality of roller groups, and the plurality of roller groups and/or the plurality of rollers The set is fixedly coupled to the body.
The track-guide type power-changing robot according to claim 6, wherein the power-changing robot further includes a limit portion that enables the battery to be in the set position.
The track-guide type power-changing robot according to claim 7, wherein the limiting portion includes a plurality of groups of guides disposed on the ground and/or the rail and/or the ground near the rail Strip and several limit blocks,

Wherein the plurality of sets of guiding strips are capable of restricting movement of the battery in a second direction;

Wherein the plurality of limiting blocks enable the battery to be in the set position in the third direction.
The track-guide type power-changing robot according to claim 7, wherein the power-changing robot further comprises a positioning portion capable of completing positioning of the power-changing robot on a track and the battery is Positioning on the power changing robot.
The track-guide type power-changing robot according to claim 9, wherein the positioning portion comprises a first positioning unit and a second positioning unit,

The first positioning unit can enable the power-changing robot to be in a projection position of the target power-changing position;

The second positioning unit can enable the battery loading and unloading portion to be in the target power changing position.
The track-guide type power-changing robot according to claim 10, wherein the first positioning unit is a mechanical positioning member and/or a positioning sensor disposed at a bottom of the body;

The second positioning unit is a plurality of positioning pins disposed on the battery loading and unloading portion.
The track-guide type power-changing robot according to any one of claims 1 to 11, wherein the power-changing robot further includes a control unit, and the control unit is capable of acquiring at least a current position of the power-changing robot information.
The track-guide type power-changing robot according to claim 12, wherein the power-changing robot further includes a running portion, the running portion is disposed on the body, and the walking portion can drive the power-changing robot Moving on a preset track that enables at least the power-changing robot to reach a projection position corresponding to the target power-changing position, and

In a case where the power-changing robot is in the projected position, the battery loading and unloading portion is capable of replacing the battery for the vehicle to be replaced at the target power-changing position.
A charging and replacing power station, characterized in that the charging and replacing power station comprises the track guiding type power changing robot according to any one of claims 1 to 13.
A method for changing the power of a track-guided power-changing robot, characterized in that the power-changing method comprises the following steps:

Positioning the battery loading and unloading unit at the target power-changing position;

The battery loading and unloading unit disengages the battery in a depleted state from the vehicle to be replaced;

The battery loading and unloading unit carries the battery in a fully charged state to reach the target power changing position again;

The battery loading and unloading unit fixes a battery in a fully charged state to the vehicle to be replaced.
The method for changing the power of a track-guide type power-changing robot according to claim 15, wherein said "making the battery loading and unloading portion at the target power-changing position" further comprises:

a projection position of the power changing robot to the target power changing position;

The positioning portion causes the battery loading and unloading portion to be in a target power-changing position in a first direction away from the body;

Obtaining current location information of the power-changing robot.
The method for changing the power of a track-guide type power-changing robot according to claim 16, wherein the "the battery loading and unloading unit carries the battery in a fully charged state to reach the target power-changing position again" further includes:

The power changing robot reaches the projection position again;

Based on the current position information, the battery loading and unloading portion is again in the target power-changing position in a first direction away from the body.