WO2019085303A1 - 浮动对接装置、换电机器人、对接方法和复位方法 - Google Patents

浮动对接装置、换电机器人、对接方法和复位方法 Download PDF

Info

Publication number
WO2019085303A1
WO2019085303A1 PCT/CN2018/074805 CN2018074805W WO2019085303A1 WO 2019085303 A1 WO2019085303 A1 WO 2019085303A1 CN 2018074805 W CN2018074805 W CN 2018074805W WO 2019085303 A1 WO2019085303 A1 WO 2019085303A1
Authority
WO
WIPO (PCT)
Prior art keywords
floating
docking device
base
positioning
reset
Prior art date
Application number
PCT/CN2018/074805
Other languages
English (en)
French (fr)
Inventor
周肖鸿
郝战铎
陈炯
Original Assignee
蔚来汽车有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 蔚来汽车有限公司 filed Critical 蔚来汽车有限公司
Priority to EP18873297.8A priority Critical patent/EP3705358A4/en
Publication of WO2019085303A1 publication Critical patent/WO2019085303A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • 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
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Definitions

  • the invention relates to the field of charging and replacing, and particularly relates to a floating docking device, a power changing robot, a docking method and a reset method.
  • the battery replacement scheme is one of the main development directions of electric energy replenishment 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.
  • the battery replacement scheme is generally completed in the charging and replacing power station, and the battery compartment and the power exchange platform for storing the battery are arranged in the charging and replacing power station, and the power exchange of the fully charged/depleted power battery between the battery compartment and the power exchange platform is carried out.
  • Robots such as the 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-layed track between the battery compartment and the power exchange platform.
  • the positioning between the power-changing robot and the vehicle to be replaced is one of the key steps to realize the battery replacement scheme.
  • the success rate and accuracy of the positioning directly affect the success rate of the power-changing and the reliability and life of the battery.
  • the prior art power exchange robot is usually provided with a floating platform capable of lifting and lowering.
  • the floating platform is provided with a positioning pin, and the corresponding body or battery is provided with a positioning hole.
  • the positioning pin can realize the precise positioning between the power-changing robot and the vehicle to be replaced by driving the floating platform to float in a small range, so that the power-changing robot can complete the waiting.
  • the action of removing the deficient power battery or installing the full power battery to the vehicle to be replaced is performed on the electric vehicle.
  • the above setting method improves the positioning success rate to some extent, there are certain problems in the actual application process.
  • the positioning process between the positioning pin and the positioning hole is too frequent, which may cause damage to the vehicle body or the power battery.
  • the positioning process when disassembling the depleted battery and installing the full-ion battery during the power-changing process is repeated, and the repeated positioning also causes the power-changing efficiency to be low.
  • the present invention provides a floating docking device, which
  • the floating docking device includes a base, a floating portion and a position maintaining portion, wherein the floating portion is floatable relative to the base, and the floating portion is provided with at least one positioning member through which the positioning member can pass Floating to complete mating with the engagement member of the vehicle to be replaced; wherein the position maintaining portion is configured to enable the floating portion to be fixed relative to the base.
  • the floating portion includes at least one floating plate and a floating platform connected to the at least one floating plate, and the at least one positioning member is disposed on the floating platform.
  • the floating portion includes a plurality of floating plates
  • the position maintaining portion includes at least one jacking mechanism corresponding to each of the floating plates, and the jacking mechanism is capable of jacking To the floating plate, the floating plate is fixed relative to the base.
  • each of the jacking mechanisms includes a cylinder and a friction block
  • the base is provided with a through hole
  • the cylinder is fixedly connected to the base
  • a piston of the cylinder passes through The through hole is connected to the friction block.
  • each of the floating plates is configured with a plurality of first limiting members, the first limiting members being configured to allow the floating plates to float in a horizontal plane.
  • the first limiting member is a bull's eye bearing
  • the bull's eye bearing is disposed on the base
  • the floating plate abuts against the bull's eye bearing.
  • each of the floating plates is further configured with at least one second limiting member, the second limiting member being configured to enable an edge between the floating plate and the base The vertical direction cannot move relative to each other.
  • each of the floating plates is provided with a plurality of supporting members, and each of the floating plates is connected to the floating platform by the plurality of supporting members.
  • each of the floating plates further includes a plurality of reset members, and the reset member is coupled to the floating plate for adjusting a position of the floating plate.
  • the reset member includes a spring disposed between the base and the floating plate, and the spring is configured to enable the floating plate to return to the The preload of the spring determines the position.
  • the floating platform is provided with at least one unlocking mechanism, and the unlocking mechanism is configured to be capable of unlocking the power battery.
  • the present invention also provides a power-changing robot, the power-changing robot comprising a body, the body being provided with a traveling device and a floating docking device, wherein the floating docking device is a floating device according to any one of the above aspects Docking device.
  • the present invention also provides a method for docking a floating docking device according to any one of the above aspects, the docking method comprising:
  • the floating portion is fixed relative to the base.
  • the present invention also provides a method for resetting a floating docking device according to any of the above aspects, the reset method comprising:
  • the floating portion is reset while the positioning member is detached from the engaging member, before or after.
  • the floating docking device includes a base, a floating portion, and a position maintaining portion.
  • the floating portion can float relative to the base, and the floating portion is provided with at least one positioning member, which is configured to be able to complete the docking with the engaging member on the vehicle to be replaced by the floating of the floating portion.
  • the position holding portion can fix the floating portion with respect to the base.
  • the present invention can fix the floating portion relative to the base after the floating docking device completes the positioning of the vehicle to be replaced after the positioning member and the engaging member are docked for the first time, that is, when the power battery is unloaded.
  • the battery When the battery is fully charged for the vehicle to be replaced, it can be directly installed without repositioning, which reduces the damage to the vehicle body or the power battery caused by frequent positioning, and improves the service life and power exchange efficiency of the floating docking device.
  • the floating portion includes a floating platform and a plurality of floating plates, the floating platform is connected to the floating plate, and the floating platform is provided with a plurality of positioning members, and each floating plate is realized under the limitation of the plurality of first limiting members.
  • the float in the horizontal plane has no relative movement with the base in the vertical direction under the restriction of the at least one second limiting member.
  • the position retaining portion includes a plurality of jacking mechanisms, each jacking mechanism including a cylinder and a friction pad coupled to the piston end of the cylinder.
  • the cylinder lifting friction block causes the friction block to closely abut against the floating plate to generate a friction force, which causes the floating plate to float horizontally relative to the base, thereby
  • the floating plate and the floating platform fixedly connected to the floating plate are fixed in position by the combination of the second limiting member and the frictional force. Therefore, the present invention can reduce the number of times of positioning during the power exchange process and improve the power conversion efficiency.
  • FIG. 1 is a schematic structural view of a floating docking device of the present invention
  • FIG. 2 is a schematic structural view of the floating docking device of the present invention after removing the floating platform
  • Figure 3 is a front elevational view of the floating docking device of the invention.
  • Figure 4 is a partial enlarged view of Figure 3 at A;
  • Figure 5 is a cross-sectional view of Figure 2 at B-B;
  • Figure 6 is a partial enlarged view of Figure 2 at C;
  • Figure 7 is a partial enlarged view of Figure 3 at D;
  • FIG. 8 is a schematic structural view of a track-guide type power-changing robot of the present invention.
  • FIG. 9 is a flow chart of a docking method of the floating docking device of the present invention.
  • FIG. 10 is a flow chart of a reset method of the floating docking device of the present invention.
  • Floating docking device 11, base; 111, cylindrical bracket; 112, L-shaped bracket; 12, floating portion; 121, floating platform; 122, floating plate; 123, support member; 124, positioning member; Mechanism; 126, first limiting member; 127, second limiting member; 128, reset member; 1281, spring; 1282, fastening screw; 13, position maintaining portion; 131, jacking mechanism; 1311, cylinder; , friction block; 2, body; 3, walking device; 4, battery transfer device; 41, power roller group; 42, no power roller group; 5, scissor drive frame.
  • 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.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • FIG. 1 is a schematic structural view of a floating docking device of the present invention
  • FIG. 2 is a schematic structural view of the floating docking device of the present invention after removing a floating platform
  • the floating docking device 1 of the present invention mainly includes the base 11 and the floating.
  • the floating portion 12 is floatable within a certain range with respect to the base 11, and at least one positioning member 124 is disposed thereon, and the positioning member 124 can complete the docking with the engaging member of the vehicle to be replaced by the floating of the floating portion 12.
  • the position holding portion 13 is provided to fix the floating portion 12 with respect to the base 11 after the positioning member 124 is engaged with the engaging member.
  • the positioning member 124 (such as the positioning pin) located on the floating portion 12 passes through the floating docking device 1 and the engaging member on the vehicle to be replaced (such as the positioning hole on the chassis or the power battery).
  • the position holding portion 13 fixes the floating portion 12 with respect to the base 11 in the current floating state, and after the positioning pin is withdrawn from the positioning hole, the floating portion 12 can still stay at the position of the plug connection.
  • the floating docking device 1 can directly complete the insertion of the positioning pin and the positioning hole and the installation of the full battery without repositioning.
  • the invention can save the number of times of positioning of the floating docking device 1 and the vehicle to be replaced, avoiding damage to the vehicle body or the power battery caused by frequent positioning, and improving floating docking.
  • the floating portion 12 includes a floating platform 121 and a plurality of floating plates 122 , and the floating platform 121 and each floating plate 122 are fixedly connected by a plurality of supporting members 123 . At least one positioning member 124 and at least one unlocking mechanism 125 are fixedly coupled to the floating platform 121. The positioning member 124 is for docking with the vehicle to be replaced, and the unlocking mechanism 125 is used for unlocking the power battery.
  • the floating portion 12 includes two floating plates 122 , and the floating platform 121 is connected with each floating plate 122 through eight supporting members 123 , and is disposed on the floating platform 121 .
  • the unlocking mechanism 125 may further comprise a servo motor and an unlocking head disposed on the output shaft of the servo motor (such as a hexagonal lock).
  • the above arrangement is not unique, and those skilled in the art can adjust it as long as the modulation enables the floating docking device 1 to successfully complete the condition of docking with the vehicle to be replaced and unlocking the power battery.
  • the number of the floating plates 122 may also be set to one or four pieces
  • the positioning member 124 may also be a positioning hole (the corresponding vehicle chassis or the positioning pin is disposed on the power battery)
  • the floating platform 121 and the floating plate 122 are welded or One-piece molding, etc.
  • Fig. 4 is a partial enlarged view of Fig. 3 at A.
  • each of the two floating plates 122 and the base 11 is floated by a plurality of first limiting members 126 and at least one second limiting member 127, wherein the first The limiting member 126 is configured to allow the floating plate 122 to float in a horizontal plane, and the second limiting member 127 is disposed such that there is no relative movement between the floating plate 122 and the base 11 in the vertical direction.
  • the first limiting member 126 is a bull's eye bearing, the base of which is fixedly coupled to the base 11, the ball faces the floating plate 122, and the bottom surface of the floating plate 122 abuts against the bull's eye bearing.
  • the second limiting member 127 is a large cap bolt, and the floating plate 122 is provided with a limiting hole capable of accommodating the stud portion of the bolt (not shown in the drawing, that is, the aperture of the limiting hole is larger than the diameter of the stud for the floating plate
  • the 122 is freely floatable, and the stud is screwed to the base 11 through the limiting hole, and after the screwing is completed, the lower side of the nut abuts against the top surface of the floating plate 122.
  • the first limiting member 126 can also be a member such as a universal wheel or the like that can freely float the floating plate 122, and the base of the first limiting member can also be fixedly connected to the floating plate 122; the second limiting member 127 It may also be a member such as a rivet or the like which can make the floating plate 122 have no relative movement with respect to the base 11 in the vertical direction, or may be an L-shaped steel disposed around the floating plate 122, and the vertical portion of the L-shaped steel is fixedly connected with the base 11 , L The lateral portion of the profile steel faces the floating plate 122 and abuts against the top surface of the floating plate 122, restricting the movement of the floating plate 122 in the vertical direction.
  • each floating plate 122 is further provided with a plurality of reset members 128 for the floating plate. 122 automatic return after floating.
  • the reset member 128 includes a spring 1281 and a fastening screw 1282 disposed between the base 11 and the floating plate 122, and the fastening screw 1282 is used to adjust the preload of the spring 1281.
  • each of the floating plates 122 is provided with eight reset members 128, two on each side. 5 and 6, a connecting hole or a counterbore is provided on the side of the floating plate 122.
  • the corresponding connecting hole and the counterbore hole of the base 11 are respectively provided with a cylindrical bracket 111 and an L-shaped bracket 112.
  • One end of the spring 1281 of a portion of the reset member 128 extends into the cylindrical bracket 111 through the connecting hole, and the other end is fastened in the connecting hole by the fastening screw 1282; the spring 1281 of the rest of the reset member 128 extends into the counterbore at one end and passes through the counterbore at the other end.
  • a fastening screw 1282 is coupled to the L-shaped bracket 112.
  • each spring 1281 when the positioning member 124 completes the engagement with the engaging member by the floating of the floating plate 122, each spring 1281 generates an elastic force, and after the insertion connection is cancelled, the floating plate 122 is automatically reset by the elastic force. Even if the floating plate 122 returns to the position determined by the preload of the spring 1281.
  • the position maintaining portion 13 includes at least one jacking mechanism 131 corresponding to each of the floating plates 122.
  • the jacking mechanism 131 can be upward.
  • the floating plate 122 is lifted so that the floating plate 122 is fixed relative to the base 11 under the joint restriction of the jacking mechanism 131 and the second limiting member 127.
  • each floating plate 122 is correspondingly provided with two jacking mechanisms 131.
  • the jacking mechanism 131 includes a cylinder 1311 and a friction block 1312 (such as a non-slip textured metal block on the top surface), and the base 11 is provided with a through hole. (not shown), the cylinder 1311 is fixedly coupled below the base 11, and the piston is connected to the friction block 1312 through the through hole, and can push the friction block 1312 up and down.
  • a friction block 1312 such as a non-slip textured metal block on the top surface
  • the piston pushing the friction block 1312 is lifted up to the bottom surface of the floating plate 122 by the starting cylinder 1311, and the friction between the friction block 1312 and the floating plate 122 is generated, and then the floating plate 122 is in the second limit.
  • the combination of the restriction of the position member 127 and the frictional force can overcome the elastic force generated by the spring 1281 and remain relatively fixed with the base 11, and at the same time, the floating platform 121 fixedly connected to the floating plate 122 is also relatively fixed to the base 11. .
  • the position maintaining portion 13 is arranged such that during the power-changing process, the floating docking device 1 only needs to perform positioning once with the vehicle to be replaced, that is, when the battery is unloaded, the positioning is performed, and the subsequent installation does not need to be performed again when the battery is fully charged. Positioning eliminates the need for a precise positioning process, which reduces damage to the vehicle body that may be caused by the pinhole positioning and speeds up the power-changing cycle.
  • the position and the number of the position maintaining portion 13 are only used to explain the working principle of the present invention, and are not intended to limit the scope of the present invention. Those skilled in the art can without departing from the principle of the present invention. Make any adjustments to it so that it can adapt to more specific application scenarios.
  • the cylinder 1311 can also be replaced by a hydraulic cylinder.
  • the friction block 1312 can also be replaced by a rubber block. Even the friction block 1312 can be disposed on the cylinder 1311.
  • the relative lift between the floating plate 122 and the base can be realized only by the lifting force of the piston rod. Fixed, etc.
  • FIG. 8 is a schematic structural view of a track-guide type power-changing robot of the present invention.
  • the present invention further provides a track-guide type power-changing robot (hereinafter referred to as a power-changing robot), which mainly includes a body 2 and a traveling device 3 disposed on the body 2 The floating docking device 1 and the battery transfer device 4.
  • the traveling device 3 is a wheel that can roll on a set track
  • the battery transfer device 4 includes a power roller group 41 and an unpowered roller group 42 for the power battery in the power changing robot and the charging and replacing power station. Transfer between battery racks.
  • the floating docking device 1 is the floating docking device 1 in the foregoing embodiment, and is fixed to the robot body 2 by the lifting mechanism 5 .
  • the lifting mechanism 5 is a scissor drive frame
  • the base 11 of the floating docking device 1 is fixed to the scissor drive frame.
  • the scissor drive frame can drive the floating docking device 1 to lift and lower, and the positioning pin on the floating platform 121 can be inserted into the positioning hole on the vehicle to be replaced under the floating of the floating plate 122 relative to the base 11 to realize the power changing robot.
  • the cylinder 1311 lifts the friction block 1312 to achieve the aforementioned fixing between the floating plate 122 and the base 11.
  • FIG. 9 is a flow chart of the docking method of the floating docking device of the present invention. As shown in FIG. 9, the present invention also provides a docking method for the floating docking device 1, which mainly includes:
  • the positioning member 124 on the floating platform 121 is docked with the joint member on the vehicle to be replaced;
  • Figure 10 is a flow chart of a method of resetting a floating docking device of the present invention. As shown in FIG. 10, the present invention also provides a reset method of the floating docking device 1, which mainly includes:
  • a power exchange process of the power-changing robot applying the floating docking device 1 of the present invention may be:
  • the vehicle to be replaced arrives at the parking platform of the charging and replacing station, and the coarse positioning and lifting are completed ⁇ the position of the changing robot reaches the projection position of the vehicle to be replaced and the precise positioning of the vehicle to be exchanged in the vertical direction is completed ⁇ the scissor drive frame is raised
  • the floating docking device 1 is configured to insert the positioning pin into the positioning hole of the depletion battery.
  • the piston of the cylinder 1311 lifts the friction block 1312 to the floating plate 122, so that the floating plate 122 is fixed relative to the base 11 and the unlocking mechanism 125 is removed.
  • the electric battery ⁇ scissing drive frame lowers the floating docking device 1 and completes the disassembly of the depleted battery.
  • the power exchange robot leaves the power exchange position and reaches the battery rack.
  • the battery transfer device 4 replaces the deficient battery with a full battery and makes the positioning.
  • the positioning hole of the pin and the full battery completes the plug positioning ⁇ the power-changing robot reaches the projection position of the vehicle to be replaced again and completes the precise positioning of the vehicle to be exchanged ⁇ the scissor drive frame directly jacks up the floating docking device 1 and unlocks
  • the mechanism 125 completes the fastening of the fully charged battery ⁇ the scissor drive frame causes the floating docking device 1 to descend while the piston of the cylinder 1311 descends, and the elastic force of the floating plate 122 at the reset member 128 ⁇ automatically reset to the initial position of the robot for power, for power to complete.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Manipulator (AREA)

Abstract

一种浮动对接装置（1）、换电机器人、对接方法和复位方法，所述浮动对接装置包括底座（11）、浮动部（12）和位置保持部（13），浮动部能够相对于底座浮动，并且浮动部上设置有至少一个定位构件（124），定位构件能够通过浮动部的浮动来完成与待换电车辆的接合构件对接，位置保持部设置为能够使浮动部相对于底座固定，通过位置保持部的设置，可以减少浮动对接装置与待换电车辆的对接次数，大幅提高换电效率。所述浮动对接装置、换电机器人、对接方法和复位方法能够解决换电过程中由于频繁定位而导致的容易对车身或动力电池造成损伤以及换电效率低的问题。

Description

浮动对接装置、换电机器人、对接方法和复位方法 技术领域
本发明涉及充换电领域，具体涉及一种浮动对接装置、换电机器人、对接方法和复位方法。
背景技术
随着新能源汽车的普及，如何有效地为能量不足的汽车提供快速有效的能量补给成为车主和各大厂商非常关注的问题。以电动汽车为例，当前主流的电能补给方案包括充电方案和电池更换方案。相对于充电方案，电池更换方案由于可以在很短的时间完成动力电池的更换且对动力电池的使用寿命没有明显的影响，因此是电能补给的主要发展方向之一。电池更换方案一般在充换电站内完成，充换电站内配置有存放电池的电池仓和换电平台，以及在电池仓和换电平台的之间的运载满电/亏电动力电池的换电机器人，如轨道导引车(Rail Guided Vehicle，RGV)。换电机器人通过在电池仓和换电平台之间预先铺设的轨道上往复行驶的方式，完成为停于换电平台上的电动汽车更换动力电池的动作。
换电过程中，换电机器人与待换电车辆之间的定位是实现电池更换方案的关键步骤之一，定位的成功率和精度直接影响换电的成功率以及电池的可靠性和寿命。为减小定位误差、提高定位成功率，现有技术中换电机器人上通常设置有能够升降的浮动平台，浮动平台上设置有定位销，对应的车身或电池上设置有定位孔。举升过程中，定位销通过带动浮动平台在小范围浮动的方式，完成与定位孔的配合插接，实现换电机器人与待换电车辆之间的精准定位，进而换电机器人能够完成从待换电车辆上取下亏电动力电池或将满电动力电池安装到待换电车辆上的动作。虽然上述设置方式一定程度上提高了定位成功率，但是在实际应用过程中也存在着一定的问题。首先，定位销与定位孔之间过于频繁的定位过程容易对车身或动力电池造成损伤。其次，在换电过程中拆卸亏电电池和安装满电电池时的定位过程是重复的，这种重复定位还会导致换电效率变低。
相应地，本领域需要一种新的浮动对接装置来解决上述问题。
发明内容
为了解决现有技术中的上述问题，即为了解决换电过程中由于频繁定位而导致的容易对车身或动力电池造成损伤以及换电效率低的问题，本发明提供了一种浮动对接装置，该浮动对接装置包括底座、浮动部和位置保持部，其中，所述浮动部能够相对于所述底座浮动，并且所述浮动部上设置有至少一个定位构件，所述定位构件能够通过所述浮动部的浮动来完成与待换电车辆的接合构件对接；其中，所述位置保持部设置为能够使所述浮动部相对于所述底座固定。
在上述浮动对接装置的优选技术方案中，所述浮动部包括至少一个浮动板以及与所述至少一个浮动板连接的浮动平台，所述至少一个定位构件设置在所述浮动平台上。
在上述浮动对接装置的优选技术方案中，所述浮动部包括多个浮动板，所述位置保持部包括与每个所述浮动板对应的至少一个顶升机构，所述顶升机构能够顶升至所述浮动板，使所述浮动板相对于所述底座固定。
在上述浮动对接装置的优选技术方案中，每个所述顶升机构包括气缸和摩擦块，所述底座上设置有通孔，所述气缸与所述底座固定连接，所述气缸的活塞穿过所述通孔与所述摩擦块连接。
在上述浮动对接装置的优选技术方案中，每个所述浮动板配置有多个第一限位构件，所述第一限位构件设置为允许所述浮动板在水平面内浮动。
在上述浮动对接装置的优选技术方案中，所述第一限位构件为牛眼轴承，所述牛眼轴承设置于所述底座，所述浮动板抵靠于所述牛眼轴承。
在上述浮动对接装置的优选技术方案中，每个所述浮动板还配置有至少一个第二限位构件，所述第二限位构件设置为能够使所述浮动板与所述底座之间沿竖直方向无法相对移动。
在上述浮动对接装置的优选技术方案中，每个所述浮动板上设置有多个支撑构件，每个所述浮动板通过所述多个支撑构件与所述浮动平台连接。
在上述浮动对接装置的优选技术方案中，每个所述浮动板上还包括多个复位构件，所述复位构件与所述浮动板连接，用于调整所述浮动板的位置。
在上述浮动对接装置的优选技术方案中，所述复位构件包括弹簧，所述弹簧设置于所述底座与所述浮动板之间，所述弹簧设置为能够使所述浮动板回复到由所述弹簧的预紧力确定的位置。
在上述浮动对接装置的优选技术方案中，所述浮动平台上设置有至少一个加解锁机构，所述加解锁机构设置为能够对动力电池进行加解锁。
本发明还提供了一种换电机器人，所述换电机器人包括本体，所述本体上设置有行走装置和浮动对接装置，其中，所述浮动对接装置为上述方案中任一项所述的浮动对接装置。
本发明还提供了一种上述方案中任一项所述的浮动对接装置的对接方法，该对接方法包括：
使所述定位构件与所述接合构件对接；
在所述定位构件与所述接合构件对接后，使所述浮动部相对于所述底座固定。
本发明还提供了一种上述方案中任一项所述的浮动对接装置的复位方法，该复位方法包括：
使所述定位构件与所述接合构件脱离；
在所述定位构件与所述接合构件脱离的同时、之前或之后，使所述浮动部复位。
本领域技术人员能够理解的是，在本发明的优选技术方案中，浮动对接装置包括底座、浮动部和位置保持部。其中，浮动部能够相对于底座浮动，并且浮动部上设置有至少一个定位构件，定为构件能够通过浮动部的浮动来完成与待换电车辆上的接合构件的对接。其中，位置保持部能够使浮动部相对于底座固定。通过位置保持部的设置，本发明能够在定位构件与接合构件第一次对接后，即卸载亏电电池时浮动对接装置完成与待换电车辆的定位后，使浮动部相对于底座固定，进而 在为待换电车辆安装满电电池时，无需再次定位即可直接安装，减少了由于频繁定位而导致的对车身或动力电池造成的损伤，提高了浮动对接装置的使用寿命和换电效率。
具体而言，浮动部包括浮动平台和多个浮动板，浮动平台与浮动板连接，并且浮动平台上设置有多个定位构件，每个浮动板在多个第一限位构件的限制下实现在水平面内的浮动，在至少一个第二限位构件的限制下沿竖直方向与底座无相对运动。位置保持部包括多个顶升机构，每个顶升机构包括气缸以及与气缸的活塞端部连接的摩擦块。在定位构件通过浮动平台的浮动与待换电车辆对接后，气缸顶升摩擦块使摩擦块与浮动板紧密顶靠而产生摩擦力，该摩擦力使得浮动板相对于底座无水平浮动，从而在第二限位构件和该摩擦力的联合作用下浮动板以及与浮动板固定连接的浮动平台保持位置固定。因此，本发明能够减少换电过程中的定位次数，提高换电效率。
附图说明
下面参照附图并结合轨道导引型换电机器人来描述本发明的浮动对接装置、换电机器人、对接方法和复位方法。附图中：
图1为本发明的浮动对接装置的结构示意图；
图2为本发明的浮动对接装置的去除浮动平台后的结构示意图；
图3为发明的浮动对接装置的主视示意图；
图4为图3在A处的局部放大图；
图5为图2在B-B处的剖视图；
图6为图2在C处的局部放大图；
图7为图3在D处的局部放大图；
图8为本发明的轨道导引型换电机器人的结构示意图；
图9为本发明的浮动对接装置的对接方法流程图；
图10为本发明的浮动对接装置的复位方法流程图。
附图标记列表
1、浮动对接装置；11、底座；111、圆柱支架；112、L型支架；12、浮动部；121、浮动平台；122、浮动板；123、支撑构件；124、定位构件；125、加解锁机构；126、第一限位构件；127、第二限位构件； 128、复位构件；1281、弹簧；1282、紧固螺钉；13、位置保持部；131、顶升机构；1311、气缸；1312、摩擦块；2、本体；3、行走装置；4、电池转运装置；41、动力辊筒组；42、无动力辊筒组；5、剪式驱动架。
具体实施方式
下面参照附图来描述本发明的优选实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。例如，虽然附图中的浮动平台上设置有两个定位销，但是这种数量关系非一成不变，本领域技术人员可以根据需要对其作出调整，以便适应具体的应用场合。
需要说明的是，在本发明的描述中，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方向或位置关系的术语是基于附图所示的方向或位置关系，这仅仅是为了便于描述，而不是指示或暗示所述装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
此外，还需要说明的是，在本发明的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域技术人员而言，可根据具体情况理解上述术语在本发明中的具体含义。
首先参照图1、图2和图3，其中，图1为本发明的浮动对接装置的结构示意图；图2为本发明的浮动对接装置的去除浮动平台后的结构示意图；图3为发明的浮动对接装置的主视示意图。
如图1至图3所示，为了避免换电过程中由于频繁定位而导致的容易对车身或动力电池造成损伤以及换电效率低的问题，本发明的浮动对接装置1主要包括底座11、浮动部12和位置保持部13。浮动部12能够相对于底座11在一定的范围内浮动，其上设置有至少一个定位构件124，定位构件124能够通过浮动部12的浮动来完成与待换电车辆的接合构件的对接。位置保持部13设置为在定位构件124完成与接合构件的对接后，使浮动部12相对于底座11固定。例如，在拆卸亏电电池时， 位于浮动部12上的定位构件124(如定位销)通过浮动对接装置1的浮动与待换电车辆上的接合构件(如汽车底盘或动力电池上的定位孔)插合好后，位置保持部13使浮动部12相对于底座11保持当前的浮动状态固定不动，进而在定位销退出定位孔后，浮动部12仍然能够停留在插合连接的位置。这样一来，在后续安装满电电池时，浮动对接装置1无需再次定位，便可直接完成定位销与定位孔的插接以及满电电池的安装。
也就是说，通过位置保持部13的设置，本发明可以节省浮动对接装置1与待换电车辆的定位次数，避免了由于频繁定位而导致的对车身或动力电池造成的损伤，提高了浮动对接装置1的使用寿命和换电效率。
参照图1和图2，具体而言，浮动部12包括浮动平台121和多个浮动板122，浮动平台121与每个浮动板122之间通过多个支撑构件123固定连接。浮动平台121上固定连接有至少一个定位构件124和至少一个加解锁机构125，定位构件124用于与待换电车辆对接，加解锁机构125用于对动力电池加解锁。结合图1至图2，在一种可能的实施方式中，浮动部12包括两块浮动板122，浮动平台121与每个浮动板122之间通过八个支撑构件123连接，浮动平台121上设置有两个定位销(待换电车辆上设置有对应的两个定位孔)和十个加解锁机构125，加解锁机构125又可以包括伺服电机和设置于伺服电机输出轴上的加解锁头(如内六角锁头)。
显然，上述设置方式并非唯一，本领域技术人员可以对其进行调整，只要该调制使得浮动对接装置1能够顺利完成与待换电车辆对接以及对动力电池加解锁的条件即可。例如，浮动板122的数量还可以设置为一块或四块、定位构件124还可以为定位孔(对应的汽车底盘或动力电池上设置定位销)、浮动平台121与浮动板122之间采用焊接或一体成型等。
下面参照图2、图3和图4，其中，图4为图3在A处的局部放大图。如图2至图4所示，两块浮动板122中每块浮动板122与底座11之间都通过多个第一限位构件126和至少一个第二限位构件127实现浮动，其中第一限位构件126设置为允许浮动板122在水平面内浮动，第二限位构件127设置为使浮动板122与底座11之间沿竖直方向无相对移动。结合图3和图4，优选地，第一限位构件126为牛眼轴承，其基座 固定连接于底座11上，滚珠朝向浮动板122，浮动板122的底面抵靠在牛眼轴承上。第二限位构件127为大帽螺栓，浮动板122上开设有能够容纳该螺栓的螺柱部分的限位孔(图中未示出，即限位孔的孔径大于螺柱直径，以便浮动板122能够自由浮动)，螺柱穿过该限位孔与底座11螺接，并且在螺接好后，螺帽的下侧抵靠在浮动板122的顶面。
本领域技术人员能够理解的是，第一限位构件126与第二限位构件127的具体形式、设置位置以及个数并非一成不变，在满足上述限位条件下，本领域技术人员能够对其做出任意形式的调整，以便其适应更加具体的应用场景。如第一限位构件126还可以是万向轮等可使浮动板122实现自由浮动的构件，并且第一限位件的基座还可以固定连接于浮动板122上；第二限位构件127还可以是铆钉等可以使浮动板122相对于底座11在竖直方向无相对运动的构件，也可以是设置在浮动板122四周的L型钢，L型钢的竖向部分与底座11固定连接，L型钢的横向部分朝向浮动板122并抵靠于浮动板122的顶面，限制浮动板122在竖直方向的移动。
下面参照图2、图5和图6，其中，图5为图2在B-B处的剖视图；图6为图2在C处的局部放大图。如图2、图5和图6所示，为实现浮动对接装置1的自动复位，在一种可能的实施方式中，每个浮动板122上还配置有多个复位构件128，用于浮动板122在浮动后的自动回位。优选地，复位构件128包括弹簧1281和紧固螺钉1282，弹簧1281设置于底座11与浮动板122之间，紧固螺钉1282则用于调节弹簧1281的预紧力。结合图2所示，每个浮动板122上设置有八个复位构件128，每个侧面分别设置两个。结合图5和图6，在浮动板122的侧面设置有连接孔或者沉头孔，底座11上对应连接孔和沉头孔分别设置有圆柱支架111和L型支架112。一部分复位构件128的弹簧1281一端通过连接孔伸入圆柱支架111，另一端通过紧固螺钉1282紧固于连接孔中；另一部分的复位构件128的弹簧1281一端伸入沉头孔，另一端通过紧固螺钉1282与L型支架112连接。如此一来，在定位构件124通过浮动板122的浮动来完成与接合构件的插合时，各个弹簧1281会各自产生弹力，在插合连接取消后，浮动板122在弹力的作用下实现自动复位，即使浮动板122回复到由弹簧1281的预紧力确定的位置。
当然上述复位构件128的设置形式和数量只是一种较为具体的实施方式，除此以外，任何能够实现浮动板122复位的结构都应该落入本发明的保护范围之内。
下面参照图3和图7，其中图7为图3在D处的局部放大图。如图3和图7所示，位置保持部13包括与每个浮动板122对应的至少一个顶升机构131，优选地本实施例中设置有两个顶升机构131，顶升机构131能够向上顶升浮动板122，使浮动板122在顶升机构131和第二限位构件127的联合限制下相对于底座11固定。优选地，每个浮动板122对应配置有两个顶升机构131，顶升机构131包括气缸1311和摩擦块1312(如顶面带有的防滑纹理的金属块)，底座11上设置有通孔(图中未示出)，气缸1311固定连接在底座11的下方，活塞穿过通孔与摩擦块1312连接，并能够推动摩擦块1312升降。
浮动板122在水平面内产生浮动后，通过启动气缸1311，使活塞推动摩擦块1312顶升至浮动板122底面，摩擦块1312与浮动板122之间产生摩擦力，进而浮动板122在第二限位构件127的限制和摩擦力的联合作用下能够克服弹簧1281产生的弹力，与底座11之间保持相对固定，与此同时，与浮动板122固定连接的浮动平台121也与底座11保持相对固定。
如前所述，位置保持部13的设置使得换电过程中，浮动对接装置1只需与待换电车辆进行一次定位，即卸载亏电电池时进行定位，后续安装装满电电池时无需再次定位，省去了一次精确定位过程，减少了可能由于销孔定位对车身造成的损伤，加快了换电节拍。
需要说明的是，上述位置保持部13的设置位置和数量仅仅用来阐述本发明的工作原理，并非旨在于限制本发明的保护范围，在不偏离本发明原理的条件下，本领域技术人员可以对其做出任意形式的调整，以便其适应更加具体的应用场景。例如，气缸1311还可以使用液压缸替代，摩擦块1312还可以由橡胶块替代、甚至气缸1311上还可以不设置摩擦块1312，只依靠活塞杆的顶升力实现浮动板122与底座之间的相对固定等。
下面参照图8，图8为本发明的轨道导引型换电机器人的结构示意图。如图8所示，本发明还提供了一种轨道导引型换电机器人(以下简称换电机器人)，该轨道导引型换电机器人主要包括本体2、设置于 本体2上的行走装置3、浮动对接装置1以及电池转运装置4。其中，行走装置3为能够在设定的轨道上滚动的车轮，电池转运装置4包括动力辊筒组41和无动力辊筒组42，其用于动力电池在换电机器人与充换电站内的电池架之间的转运。其中，浮动对接装置1为前述本实施例中的浮动对接装置1，其通过升降机构5固定于机器人本体2上。如升降机构5为剪式驱动架，浮动对接装置1的底座11固定于剪式驱动架上。剪式驱动架能够驱动浮动对接装置1升降，进而位于浮动平台121上的定位销在浮动板122相对于底座11的浮动下完成与待换电车辆上的定位孔的插接，实现换电机器人与待换电车辆的定位。此时气缸1311顶升摩擦块1312实现前述的浮动板122与底座11之间的固定。
下面参照图9，图9为本发明的浮动对接装置的对接方法流程图。如图9所示，本发明还提供了一种浮动对接装置1的对接方法，该方法主要包括：
S100、使浮动平台121上的定位构件124与待换电车辆上的接合构件对接；
S200、在定位构件124与接合构件对接后，使浮动部12相对于底座11固定。
下面参照图10，图10为本发明的浮动对接装置的复位方法流程图。如图10所示，本发明还提供了一种浮动对接装置1的复位方法，该方法主要包括：
S300、使浮动平台121上的定位构件124与待换电车辆上的接合构件脱离；
S400、在定位构件124与接合构件脱离的同时、之前或之后，使浮动部复位。
参照图9、图10并结合图8，作为一种可能的实施方式，应用本发明的浮动对接装置1的换电机器人的一次换电流程可以为：
待换电车辆到达充换电站的停车平台，完成粗定位和举升→换电机器人到达待换电车辆的投影位置并完成与待换电车辆在竖直方向的精确定位→剪式驱动架抬升浮动对接装置1，使定位销与亏电电池的定位孔配合插接→气缸1311的活塞顶升摩擦块1312至浮动板122，使浮动板122相对于底座11固定→加解锁机构125卸下亏电电池→剪式驱动架使浮动对接装置1下降，完成亏电电池的拆卸→换电机器人离开换电位 置到达电池架，利用电池转运装置4将亏电电池更换为满电电池，并使定位销与满电电池的定位孔完成插接定位→换电机器人再次到达待换电车辆的投影位置并完成与待换电车辆的精确定位→剪式驱动架直接顶升浮动对接装置1，加解锁机构125完成对满电电池的紧固→剪式驱动架使浮动对接装置1下降，同时气缸1311的活塞下降，浮动板122在复位构件128的弹力下自动复位→换电机器人回到初始位置，换电完成。
最后，还需要说明的是，尽管本实施方式是结合轨道导引型换电机器人进行描述的，但是本发明显然还可以应用于其他带有浮动对接装置1的设备上，如自动导引型换电机器人等。
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。

Claims (14)

  1. 一种浮动对接装置，其特征在于，所述浮动对接装置包括底座、浮动部和位置保持部，
    其中，所述浮动部能够相对于所述底座浮动，并且所述浮动部上设置有至少一个定位构件，所述定位构件能够通过所述浮动部的浮动来完成与待换电车辆的接合构件的对接；
    其中，所述位置保持部设置为能够使所述浮动部相对于所述底座固定。
  2. 根据权利要求1所述的浮动对接装置，其特征在于，所述浮动部包括至少一个浮动板以及与所述至少一个浮动板连接的浮动平台，所述至少一个定位构件设置在所述浮动平台上。
  3. 根据权利要求2所述的浮动对接装置，其特征在于，所述浮动部包括多个浮动板，所述位置保持部包括与每个所述浮动板对应的至少一个顶升机构，所述顶升机构能够顶升至所述浮动板，使所述浮动板相对于所述底座固定。
  4. 根据权利要求3所述的浮动对接装置，其特征在于，每个所述顶升机构包括气缸和摩擦块，所述底座上设置有通孔，所述气缸与所述底座固定连接，所述气缸的活塞穿过所述通孔与所述摩擦块连接。
  5. 根据权利要求2至4中任一项所述的浮动对接装置，其特征在于，每个所述浮动板配置有多个第一限位构件，所述第一限位构件设置为允许所述浮动板在水平面内浮动。
  6. 根据权利要求5所述的浮动对接装置，其特征在于，所述第一限位构件为牛眼轴承，所述牛眼轴承设置于所述底座，所述浮动板抵靠于所述牛眼轴承。
  7. 根据权利要求5所述的浮动对接装置，其特征在于，每个所述浮动板还配置有至少一个第二限位构件，所述第二限位构件设置为能够使所 述浮动板与所述底座之间沿竖直方向无法相对移动。
  8. 根据权利要求7所述的浮动对接装置，其特征在于，每个所述浮动板上设置有多个支撑构件，每个所述浮动板通过所述多个支撑构件与所述浮动平台连接。
  9. 根据权利要求8所述的浮动对接装置，其特征在于，每个所述浮动板上还配置有多个复位构件，所述复位构件与所述浮动板连接，用于调整所述浮动板的位置。
  10. 根据权利要求9所述的浮动对接装置，其特征在于，所述复位构件包括弹簧，所述弹簧设置于所述底座与所述浮动板之间，所述弹簧设置为能够使所述浮动板回复到由所述弹簧的预紧力确定的位置。
  11. 根据权利要求2所述的浮动对接装置，其特征在于，所述浮动平台上设置有至少一个加解锁机构，所述加解锁机构设置为能够对动力电池进行加解锁。
  12. 一种换电机器人，所述换电机器人包括本体，所述本体上设置有行走装置和浮动对接装置，其特征在于，所述浮动对接装置为权利要求1至11中任一项所述的浮动对接装置。
  13. 一种权利要求1至11中任一项所述的浮动对接装置的对接方法，其特征在于，所述对接方法包括：
    使所述定位构件与所述接合构件对接；
    在所述定位构件与所述接合构件对接后，使所述浮动部相对于所述底座固定。
  14. 一种权利要求1至11中任一项所述的浮动对接装置的复位方法，其特征在于，所述复位方法包括：
    使所述定位构件与所述接合构件脱离；
    在所述定位构件与所述接合构件脱离的同时、之前或之后，使所述浮动部复位。
PCT/CN2018/074805 2017-11-02 2018-01-31 浮动对接装置、换电机器人、对接方法和复位方法 WO2019085303A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18873297.8A EP3705358A4 (en) 2017-11-02 2018-01-31 SUSPENSION CONNECTION DEVICE, BATTERY REPLACEMENT ROBOT, CONNECTION PROCESS AND RESET PROCEDURE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711064658.9A CN107719331B (zh) 2017-11-02 2017-11-02 浮动对接装置、换电机器人、对接方法和复位方法
CN201711064658.9 2017-11-02

Publications (1)

Publication Number Publication Date
WO2019085303A1 true WO2019085303A1 (zh) 2019-05-09

Family

ID=61222335

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/074805 WO2019085303A1 (zh) 2017-11-02 2018-01-31 浮动对接装置、换电机器人、对接方法和复位方法

Country Status (4)

Country Link
EP (1) EP3705358A4 (zh)
CN (1) CN107719331B (zh)
TW (2) TWM578663U (zh)
WO (1) WO2019085303A1 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110356373A (zh) * 2019-06-27 2019-10-22 博众精工科技股份有限公司 一种侧向力消除机构
CN110509756A (zh) * 2019-09-12 2019-11-29 博众精工科技股份有限公司 一种变距解锁机构、换电平台
CN111301217A (zh) * 2020-04-02 2020-06-19 昆山迈征自动化科技有限公司 用于新能源汽车的电动换电池装置
CN112455278A (zh) * 2020-10-30 2021-03-09 武汉瑞杰特材料有限责任公司 一种换电移载小车
CN113524112A (zh) * 2021-08-27 2021-10-22 宁波舜宇贝尔自动化有限公司 一种agv顶升装配用浮动合装台

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108556609B (zh) * 2018-04-09 2020-10-23 上海蔚来汽车有限公司 浮动侧向力消除机构
CN109501760B (zh) * 2018-04-10 2022-06-03 蔚来控股有限公司 浮动装置、换电设备和换电站
CN110884383A (zh) * 2018-09-07 2020-03-17 蔚来汽车有限公司 换电装置
CN109501778B (zh) * 2018-10-30 2024-04-26 蔚来(安徽)控股有限公司 电池转运系统、车辆换电系统及车辆换电方法
CN110001599B (zh) * 2018-12-06 2022-12-02 蔚来(安徽)控股有限公司 换电平台、换电机器人及充换电站
CN109927682B (zh) * 2018-12-18 2023-02-21 蔚来控股有限公司 定位装置以及定位方法
CN110371088A (zh) * 2019-06-27 2019-10-25 博众精工科技股份有限公司 具有无侧向力浮动的换电移载装置
CN110435605B (zh) * 2019-06-27 2021-01-08 博众精工科技股份有限公司 一种用于换电的浮动平台侧向力消除方法
CN110316163B (zh) * 2019-06-27 2024-02-27 博众精工科技股份有限公司 一种二次周转式充电仓及换电站
CN110329219A (zh) * 2019-06-27 2019-10-15 博众精工科技股份有限公司 一种用于换电平台的浮动机构、浮动平台
CN110406504B (zh) * 2019-06-27 2020-12-25 博众精工科技股份有限公司 基于浮动平台的电池拆卸方法
CN110329220B (zh) * 2019-06-27 2024-04-23 博众精工科技股份有限公司 一种无侧向力的浮动平台
CN110435604B (zh) * 2019-06-27 2021-04-16 博众精工科技股份有限公司 一种电池组件浮动安装方法
CN110696782B (zh) * 2019-09-05 2021-06-22 浙江吉智新能源汽车科技有限公司 一种具有浮动功能的换电装置
CN110562214A (zh) * 2019-09-12 2019-12-13 博众精工科技股份有限公司 一种浮动切换机构、浮动换电平台
CN112519627B (zh) * 2019-09-17 2023-03-10 杭州海康机器人股份有限公司 Agv的电池更换方法及换电站
CN113707987B (zh) * 2020-05-06 2023-11-24 博众精工科技股份有限公司 一种用于车辆电池的消防箱、电池仓机构及换电系统
CN113783006B (zh) * 2020-06-09 2022-11-11 华为技术有限公司 一种具有多单板对接的计算机设备和机框
JP7062729B2 (ja) * 2020-08-06 2022-05-06 本田技研工業株式会社 燃料電池用部材の製造方法及びその装置
CN112477680B (zh) * 2020-11-20 2023-06-23 浙江吉利控股集团有限公司 一种车辆换电装置、双浮动吊装换电站及换电系统
CN112498278B (zh) * 2020-11-24 2022-07-05 上海能辉科技股份有限公司 一种防错式重卡电池与电插头对接系统
CN112477575B (zh) * 2020-11-30 2022-05-03 浙江吉利控股集团有限公司 一种电池箱固定装置及车辆
CN113954108B (zh) * 2021-09-16 2023-08-11 三一锂能有限公司 抓手装置及换电装置
CN115972971A (zh) * 2021-10-14 2023-04-18 比亚迪股份有限公司 轨道交通车辆自动换电控制方法、设备、车辆和系统
CN115179908A (zh) * 2022-09-06 2022-10-14 徐工集团工程机械股份有限公司建设机械分公司 换电车

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4227463A (en) * 1978-03-27 1980-10-14 Pflow Industries, Inc. Apparatus for removing and installing batteries
JP2013169862A (ja) * 2012-02-20 2013-09-02 Honda Motor Co Ltd 電動車両用電源装置の端子台
CN103596819A (zh) * 2012-02-20 2014-02-19 日本电产三协株式会社 电池更换机器人
CN205452693U (zh) * 2015-12-31 2016-08-10 上海电巴新能源科技有限公司 一种乘用车浮动式平面连接器
CN206254981U (zh) * 2016-11-17 2017-06-16 蔚来汽车有限公司 悬挂式电池存储单元
CN106926825A (zh) * 2016-11-17 2017-07-07 蔚来汽车有限公司 用于换电设备的浮动对准装置和方法
CN206432475U (zh) * 2016-09-09 2017-08-22 上海电巴新能源科技有限公司 一种浮动电连接器

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6098775A (en) * 1997-12-23 2000-08-08 Warner Electric Technology, Inc. Spud locking assembly for a pneumatically actuated clutch/brake
EP2463162B1 (de) * 2010-12-07 2016-03-30 Carbike GmbH System zur Energieversorgung von Elektrofahrzeugen
CN104045022B (zh) * 2013-03-15 2017-10-27 北京科易动力科技有限公司 一种能自动复位的浮动平台
CN105283375B (zh) * 2013-06-19 2018-01-09 特斯拉公司 电池更换系统和技术
CN206307626U (zh) * 2016-11-17 2017-07-07 蔚来汽车有限公司 无线穿梭式换电小车
CN206231369U (zh) * 2016-11-17 2017-06-09 蔚来汽车有限公司 用于换电设备的浮动对准装置
CN107097067B (zh) * 2017-06-02 2023-08-08 上海蔚来汽车有限公司 自动加解锁装置、换电机器人、充换电站及加解锁方法
CN207496653U (zh) * 2017-11-02 2018-06-15 蔚来汽车有限公司 浮动对接装置、换电机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4227463A (en) * 1978-03-27 1980-10-14 Pflow Industries, Inc. Apparatus for removing and installing batteries
JP2013169862A (ja) * 2012-02-20 2013-09-02 Honda Motor Co Ltd 電動車両用電源装置の端子台
CN103596819A (zh) * 2012-02-20 2014-02-19 日本电产三协株式会社 电池更换机器人
CN205452693U (zh) * 2015-12-31 2016-08-10 上海电巴新能源科技有限公司 一种乘用车浮动式平面连接器
CN206432475U (zh) * 2016-09-09 2017-08-22 上海电巴新能源科技有限公司 一种浮动电连接器
CN206254981U (zh) * 2016-11-17 2017-06-16 蔚来汽车有限公司 悬挂式电池存储单元
CN106926825A (zh) * 2016-11-17 2017-07-07 蔚来汽车有限公司 用于换电设备的浮动对准装置和方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3705358A4 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110356373A (zh) * 2019-06-27 2019-10-22 博众精工科技股份有限公司 一种侧向力消除机构
CN110509756A (zh) * 2019-09-12 2019-11-29 博众精工科技股份有限公司 一种变距解锁机构、换电平台
CN111301217A (zh) * 2020-04-02 2020-06-19 昆山迈征自动化科技有限公司 用于新能源汽车的电动换电池装置
CN112455278A (zh) * 2020-10-30 2021-03-09 武汉瑞杰特材料有限责任公司 一种换电移载小车
CN112455278B (zh) * 2020-10-30 2022-10-18 武汉瑞杰特材料有限责任公司 一种换电移载小车
CN113524112A (zh) * 2021-08-27 2021-10-22 宁波舜宇贝尔自动化有限公司 一种agv顶升装配用浮动合装台

Also Published As

Publication number Publication date
EP3705358A4 (en) 2021-08-25
CN107719331A (zh) 2018-02-23
TW201929337A (zh) 2019-07-16
TWM578663U (zh) 2019-06-01
EP3705358A1 (en) 2020-09-09
CN107719331B (zh) 2021-05-25

Similar Documents

Publication Publication Date Title
WO2019085303A1 (zh) 浮动对接装置、换电机器人、对接方法和复位方法
WO2019101028A1 (zh) 浮动对接装置、换电机器人以及加锁、解锁和加解锁方法
WO2019085306A1 (zh) 用于浮动换电装置的复位机构、浮动换电装置及换电方法
CN109484368B (zh) 换电系统
WO2018090668A1 (zh) 用于换电设备的浮动对准装置和方法
CN207496653U (zh) 浮动对接装置、换电机器人
WO2018210016A1 (zh) 自动导引型换电机器人及充换电站
WO2023098907A1 (zh) 车辆校正系统、换电站及换电方法
EP3718836B1 (en) Localization mechanism and battery-swapping mechanism
CN110696782B (zh) 一种具有浮动功能的换电装置
WO2023098864A1 (zh) 换电设备及包含其的换电站
WO2023098862A1 (zh) 换电设备及包含其的换电机器人、换电站
CN111907367A (zh) 一种换电平台及换电系统
WO2023098727A1 (zh) 可升降平台、换电站以及换电控制方法
CN216761504U (zh) 车辆校正系统和换电站
CN109501769B (zh) 浮动机构和包括其的换电小车
CN210162191U (zh) 一种动力电池与车身拆装机构
CN105711680A (zh) 一种自动变速器与发动机合装工装
CN211054966U (zh) 一种电动汽车换电装置
CN210162190U (zh) 一种前动力总成及后悬总成与车身的拆装机构
CN109501768B (zh) 浮动机构和包括其的换电小车
CN219058425U (zh) 一种适于新能源汽车换电的车身底盘调平装置
CN114220642B (zh) 一种高速磁悬浮列车用电磁铁装配方法及工装
WO2018188229A1 (zh) 储能单元的可调节安装组件
CN112297941A (zh) 新能源汽车电池承载系统、更换工装和电池更换方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18873297

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2018873297

Country of ref document: EP

Effective date: 20200602