WO2019085317A1 - 用于换电站的车辆升举装置及其控制方法 - Google Patents

用于换电站的车辆升举装置及其控制方法 Download PDF

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Publication number
WO2019085317A1
WO2019085317A1 PCT/CN2018/075145 CN2018075145W WO2019085317A1 WO 2019085317 A1 WO2019085317 A1 WO 2019085317A1 CN 2018075145 W CN2018075145 W CN 2018075145W WO 2019085317 A1 WO2019085317 A1 WO 2019085317A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
height
lifting
beam assembly
columns
Prior art date
Application number
PCT/CN2018/075145
Other languages
English (en)
French (fr)
Inventor
林海岩
李楠
田小涛
丁习坤
马永跃
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 EP18872077.5A priority Critical patent/EP3705448A4/en
Publication of WO2019085317A1 publication Critical patent/WO2019085317A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
    • B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
    • B66F7/20—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by several jacks with means for maintaining the platforms horizontal during movement
    • 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
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
    • 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 belongs to the technical field of power battery replacement of a vehicle, and relates to a power station, in particular to a vehicle lifting device for a power station and a control method thereof.
  • new energy vehicles such as electric vehicles
  • new energy vehicles are becoming more and more popular.
  • One of the most important development directions in existing new energy vehicles is the replacement of new energy vehicles, which can significantly shorten the energy supply time compared to plug-in new energy vehicles.
  • a vehicle position adjustment system is needed in the power exchange to move the vehicle that needs to be changed to It is suitable for the target position of the power exchange, and then uses the power changing device (for example, the electric trolley for loading the power battery pack) to perform automatic power exchange.
  • the vehicle position adjustment system of the substation usually includes a vehicle lift device or it is implemented as a vehicle lift device.
  • the lifting accuracy of the vehicle lifting device directly affects the positioning accuracy of the vehicle, which in turn affects the subsequent automatic power-changing operation process; the lifting accuracy of the vehicle lifting device also affects the safety during the power-changing process, for example, if the lifting height is inconsistent, the vehicle is tilted. It will easily lead to larger safety issues such as rolling and falling of the vehicle.
  • One of the objects of the present invention is to know in time whether the vehicle lift device is tilted during lifting or lowering of the vehicle.
  • the present invention provides the following technical solutions.
  • a vehicle lift apparatus for a power station comprising:
  • a first lifting beam assembly mounted between the first set of columns and movable up and down relative to the first set of columns in a height direction
  • a second lifting beam assembly mounted between the second set of columns and movable up and down relative to the second set of columns in a height direction
  • two sides of the lifted vehicle are respectively placed on the first lifting beam assembly and the second lifting beam assembly;
  • a first height measuring component mounted on at least one of the first set of uprights for measuring a current first height value of the first lift beam assembly in real time and feeding it back to the control component;
  • a second height measuring component mounted on at least one of the columns of the second set of columns for measuring a current second height value of the second lift beam assembly in real time and feeding it back to the control component.
  • control component comprises:
  • a comparison module for comparing a first height value fed back by the first height measuring component with a second height value fed back by the second height measuring component to determine a difference therebetween;
  • a tilt determination module for determining that the vehicle has tilted during the lifting or lowering process if the difference is greater than or equal to the tolerance value.
  • control unit is further configured to issue an instruction to trigger the AC motor to perform a brake and/or trigger a fall arrest mechanism to perform a fall prevention action when it is determined that the tilt has occurred.
  • a vehicle lifting device wherein a ratchet corresponding to the fall prevention mechanism is disposed on the column; and the fall prevention mechanism includes:
  • a base that is movable up and down with respect to the upright in a height direction
  • a first pawl mounted on the base by a first shaft and rotatable relative to the first axis;
  • An electromagnetically actuated member fixedly mounted on the base and having an output shaft offset from a side of the first pawl opposite the ratchet.
  • a vehicle lifting device wherein the electromagnetic actuating member drives an output shaft thereof to protrude when receiving a fall prevention command, thereby pushing a lower end of the first pawl toward the ratchet Until the first pawl is stuck to the ratchet.
  • a vehicle lifting device further comprising a fall prevention mechanism disposed before the pillar and the corresponding first lifting beam assembly or the second lifting beam assembly, corresponding to the fall prevention mechanism a ratchet disposed on the column; and the fall prevention mechanism includes:
  • a base that is movable up and down with respect to the upright in a height direction
  • a second pawl mounted on the base by a second shaft and rotatable relative to the second shaft, and the upper end of the second pawl is pulled by the suspension chain in a normal state;
  • An elastic member mounted on the base and capable of outputting a repulsive force to a side of the lower end of the second pawl opposite to the ratchet in a normal state.
  • a vehicle lifting device wherein, in an abnormal state in which the suspension chain is broken, a repulsive force of the elastic member urges a lower end of the second pawl to rotate toward the ratchet until The second pawl is stuck to the ratchet.
  • a vehicle lifting apparatus wherein any one of the first height measuring part and the second height measuring part is used to control the first lifting beam assembly and the second lifting beam The lifting or lowering height of the component.
  • a vehicle lift apparatus further comprising a guard grating for detecting whether a person enters the vehicle lift apparatus.
  • a vehicle lifting device according to an embodiment of the present invention, wherein the first height measuring member and the second height measuring member are code legs.
  • a power station comprising the vehicle lift device of any of the above.
  • the method further includes the steps of:
  • the AC motor is triggered to perform a brake and/or a fall arrest mechanism to perform a fall prevention action when it is determined that the tilt has occurred.
  • the method further includes the steps of:
  • the fall prevention mechanism is triggered to perform a fall prevention action when it is determined that a person enters the vehicle lift device.
  • a control method further comprising a parameter setting step of setting a magnitude of the tolerance value
  • FIG. 1 is a schematic structural view of a power substation according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a vehicle lifting device according to an embodiment of the present invention.
  • Figure 3 is an exploded view of the vehicle lift apparatus of the embodiment of Figure 2;
  • FIGS. 2 and 3 are a partial structural schematic views of a column in which a height measuring device is mounted in the vehicle lifting device of the embodiment shown in FIGS. 2 and 3.
  • FIG. 5 is a block diagram showing the structure of a vehicle lifting device according to an embodiment of the present invention.
  • Fig. 6 is a partial structural schematic view showing a column in which a fall prevention structure is mounted in the vehicle lifting device of the embodiment shown in Figs. 2 and 3.
  • Fig. 7 is a diagram showing the fall prevention operation of the fall prevention structure shown in Fig. 6, wherein Fig. 7(a) shows a state in which the fall prevention function is turned on but the fall prevention operation is not performed; and Fig. 7(b) shows a state in which the fall prevention operation has been performed.
  • FIG. 8 is a flow chart of a method of controlling a vehicle lift device in accordance with an embodiment of the present invention.
  • a vehicle refers to a pure electric or hybrid vehicle that is at least partially powered by a power battery.
  • the power battery of the vehicle is installed, for example, at a substantially chassis position of the vehicle, so that if the power exchange operation needs to be conveniently performed, the vehicle lifting device 20 of the embodiment of the present invention is required to lift the vehicle.
  • the vehicle lifting device 20 also Ability to drop the vehicle.
  • the vehicle lift device 20 of the embodiment of the present invention is applied to a power station to construct the power exchange unit 10 as shown in FIG.
  • the power station 10 mainly includes a battery compartment 11, a vehicle lifting device 20, a rail 13 disposed in the battery compartment 11 and the vehicle lifting device 20, and a commutation trolley 15 traveling on the rail 13.
  • the vehicle lift device 20 needs to lift the vehicle 900 to a predetermined height, and the power exchange cart 15 removes the power battery that needs to be replaced from the chassis under the vehicle 900, and then carries the sufficient amount of power from the battery compartment 11
  • the power battery is below the vehicle 900, and after the power battery is aligned with the power battery mounting position of the vehicle 900, automatic mounting is performed.
  • the power substation 10 of the above embodiment may not require a worker to enter the area around the vehicle 900 during the power exchange process. To ensure safe power exchange, for example, personnel may be prohibited from entering the area where the vehicle lift device 20 is located.
  • the main function of the vehicle lifting device 20 is to lift the vehicle 900 to a predetermined position, but it should be understood that the vehicle lifting device 20 can also achieve a position on the horizontal plane of the vehicle 900 in the vertical height direction. Positioning, a detailed description of the function will be omitted below.
  • the vehicle lifting device 20 of the embodiment of the present invention is a column type lifting device which uses a plurality of uprights 23, for example, four uprights 23a, 23b, 23c and 23d in a square arrangement.
  • a work platform 21 is disposed in the vehicle lift device 20, and four uprights 23a, 23b, 23c, and 23d are fixedly mounted on the work platform 21.
  • the columns 23a and 23d may be provided as a set of uprights, and the uprights 23b and 23c may be provided as a further set of uprights, each set of columns corresponding to a lifting beam assembly 25 provided with a vehicle lifting device 20, for example, a column 23a and a column A lifting beam assembly 25a is installed between 23d, and a lifting beam assembly 25b is installed between the column 23b and the column 23c.
  • the lift beam assembly 25a and the lift beam assembly 25b are disposed substantially horizontally in parallel, and the lifted vehicle 200 is moved onto the lift beam assembly 25 prior to lifting, and the sides (eg, left and right sides) of the vehicle 200 are placed separately On the lifting beam assembly 25a and the lifting beam assembly 25b.
  • the lifting beam assembly 25a can be moved up and down in the height direction with respect to the uprights 23a and 23d, and the lifting beam assembly 25b can be moved up and down in the height direction with respect to the columns 23b and 23c, so that the vehicle 200 can follow the lifting beam assembly
  • the 25a and 25b move up and down in the height direction, and are positioned at a certain height position when the lifting beam assemblies 25a and 25b stop moving.
  • the lift beam assemblies 25a and 25b are each provided with two support arms 251, the support arms 251 of each lift beam assembly 25 extending inwardly, and the four wheels of the vehicle 200 can be positioned on the four support arms 251 .
  • Each of the support arms 251 is correspondingly provided with a motor, so that positional adjustment of the vehicle 200 can be achieved on a horizontal plane.
  • the AC motor 28 is selected as the power component, and the AC motor 28 may specifically be a three-phase AC motor, which may be configured to configure a corresponding type of AC motor 28 according to specific requirements;
  • the corresponding AC motor 28 is provided with a control unit 29 for controlling the operation of the motor 28, even for the brake action and the release operation of the motor 28; thus, the AC motor 28 and the control unit 29 mainly constitute the power system. They enable the uplifting of the drive lift beam assembly 25a and the lift beam assembly 25b.
  • the control unit 29 can be realized, for example, by a PLC or the like, which can be implemented modularly and correspondingly to the AC motor 28 installation.
  • the power system can be mounted on a top platform 27 supported by uprights 23a, 23b, 23c, and 23d, which can include beams (e.g., beams and columns between uprights 23a and 23b)
  • Top lift chains 29a and 29b are respectively provided, wherein the top lift chain 29a can transmit the power output from the AC motor 28 to the lift beam assembly 25a, thereby causing the lift beam assembly 25a to move up and down along the columns 23a and 23d in the height direction, top
  • the lift chain 29b can transmit the power output from the AC motor 28 to the lift beam assembly 25b, thereby causing the lift beam assembly 25b to move up and down along the columns 23b and 23c in the height direction.
  • the lift beam assembly 25a and the lift beam assembly 25b are driven synchronously by the same AC motor 28, that is, the top lift chains 29a and 29b are synchronously driven by the same AC motor 28.
  • the top lift chains 29a and 29b are driven synchronously using different AC motors 28, such as two AC motors 28 that are controlled synchronously.
  • corresponding rails can be provided on the columns 23a, 23b, 23c and 23d, and the lifting beam assembly 25a and the lifting beam assembly 25b can each travel along the respective rails on the uprights 23.
  • the vehicle lift device 20 further includes a height measuring member 24 mounted on the column 23.
  • the height measuring component 24 includes a height measuring component measurement 24a mounted on at least one of the upright 23a and the upright 23d for measuring the current first height value of the lift beam assembly 25a in real time and feeding it back to the control component 25 (eg Figure 6); the height measuring component 24 further includes a height measuring component measurement 24b mounted on at least one of the upright 23b and the upright 23c for measuring the current second height value of the lift beam assembly 25b in real time and Feedback is made to the control component 25 (shown in Figure 6).
  • a height measuring member 24 is provided on one of the column 23a and the column 23d to achieve height measurement of the lifting beam assembly 25a.
  • Height measurement of the lifting beam assembly 25b can be achieved by providing a height measuring member 24 on one of the uprights 23b and the uprights 23c.
  • a corresponding height measuring member 24 can also be provided on each of the uprights 25 as needed.
  • two height measuring members 24, such as the height measuring member measuring 24a and the height measuring member measuring 24b may be diagonally mounted on different columns, such as the columns 23a and the columns 23a, 23b, 23c and 23d, respectively. On the column 23c, or on the column 23b and the column 23d of the columns 23a, 23b, 23c and 23d, respectively.
  • the height values sensed by the two height measuring components 24 respectively best reflect the unbalancedness of the ascending vehicle 200.
  • Each height measuring component 24 can be mounted between the respective uprights 23 and one end of the respective lift beam assembly 25.
  • the height measuring component 24 is implemented by a coder that includes a ruler 241 mounted on the upright 23 and an encoder 242 that moves up and down with the lift beam assembly 25, ascending or descending
  • the encoder 242 can detect the displacement amount of the lifting beam assembly 25 relative to the fixed ruler 241, that is, read out the first height value or the second height value, and send the height value as a feedback signal.
  • the rule member 241 is specifically a linear rule member which is mounted in the height direction.
  • the control unit 29 of the AC motor 28 can control the lifting height of the lifting beam assemblies 25a and 25b by any one of the height measuring members 24, and the control unit 29 controls the lifting process as an example.
  • the lifting beam assembly 25a corresponds to
  • the height measuring component measures 24a to control the lifting height
  • the control component 29 issues a need to lift the lifting beam assemblies 25a and 25b to a predetermined height (the predetermined height may be the height that ultimately needs to be lifted or may be a certain lifting process)
  • the moment of the height is commanded to the AC motor 28, based on which the AC motor 28 synchronously drives the lift beam assemblies 25a and 25b up through the top lift chains 29a and 29b, while the height measuring component measures the current first height value of the 24a feedback measurement.
  • the comparison module 291 of the control unit 29 can compare the first height value with a predetermined height corresponding to the instruction. If there is a deviation between the two, the control unit 29 can control the execution unit (for example, the AC motor 28) to face the direction of eliminating the deviation. Movement until the deviation is substantially equal to zero or the deviation is substantially eliminated.
  • the execution unit for example, the AC motor 28
  • the height value of the feedback will be more accurate, and the accuracy of the height improvement is better.
  • the lift height may also be controlled based on the height measurement component measurement 24b corresponding to the lift beam assembly 25b.
  • the height measurement component measurement 24a or the height measurement component measurement 24b measured the height value is fed back to the control component 29 to control the lift height, problems due to the deviation of the motion mechanism, the inaccuracy of the synchronization transmission, and the like It may result in inconsistent current heights of both the lift beam assembly 25a and the lift beam assembly 25b during lifting or lowering, and there may be an imbalance problem with the vehicle 200.
  • the second height value measured by the height measuring component measurement 24b of the height measuring component 24 may be the first measurement of the height measuring component 24a.
  • the height value of the height feedback signal that is, the second height value corresponding to the lift beam assembly 25b, acts as a feedback signal corresponding to the first height value of the lift beam assembly 25a.
  • the first height value measured by the height measuring component measurement 24a of the height measuring component 24 can be used as the height feedback signal of the second height value measured by the height measuring component 24b, that is, the corresponding lifting beam assembly 25a
  • the first height value is used as a feedback signal corresponding to the second height value of the lifting beam assembly 25b.
  • Height measurement component measurement 24a measurement and height measurement component measurement 24b measurement can be used as a feedback detection component of each other.
  • the first height value and the second height value at the same time of the height measurement component measurement 24a measurement and height measurement component measurement 24b are fed back to the comparison module 291 of the control component 29, and the comparison module 291 is used for comparison.
  • the control unit 29 is further provided with a tilt determination module 292, and the tilt determination module 292 is configured to use the difference value greater than or equal to the tolerance value It is determined in the case that the vehicle 200 has tilted during the ascent or descent.
  • the tolerance value may be set in advance, for example, manually set manually, and the tolerance value reflects the balance requirement for the vehicle 200 during the lifting or lowering process, and the specific size of the tolerance value is not limited.
  • the control unit 29 can monitor whether the vehicle 200 is tilted during the lifting or lowering process in real time, which is beneficial for preventing the risk in the power exchange process in time.
  • control component 29 is further configured to issue an instruction to trigger the AC motor 28 to perform a brake action when it is determined that the tilt has occurred, for example, when the tilt determination module 292 determines that the tilt has occurred, the control component 29 issues a brake In response to the command, the AC motor 28 performs the brake action in time to stop or stop the output power.
  • the vehicle lifting device 20 is further provided with a fall prevention mechanism 26 between the column 23 and one end of the corresponding lifting beam assembly 25, and the fall prevention mechanism 26 can The fall prevention operation is controlled to prevent the vehicle 200 from being lifted from falling, thereby effectively improving safety.
  • control component 29 is further configured to issue an instruction to trigger the fall arrest mechanism 26 to perform a fall prevention action when it is determined that tilt has occurred, for example, when the tilt determination module 292 determines that tilt has occurred, the control component 29 issues an action In the fall command, the fall prevention mechanism 26 accordingly performs the fall prevention action in time, and stops or stops the lifting/lowering process.
  • control unit 29 can simultaneously issue the above-described brake command and the fall prevention command when determining that the tilt has occurred, and simultaneously perform the brake and the fall prevention operation, thereby effectively ensuring safety.
  • the fall arrest mechanism 26 includes a base 261 that can be fixedly mounted on one end of the lift beam assembly 25 and that can move up and down with the lift beam assembly 25. .
  • the top lifting chain 29 is actuated by the suspension chain 262, and the suspension chain 262 drives the base 261 to move up and down along the column 23.
  • the fall prevention mechanism 26 further includes a ratchet 231 disposed on the upright 23 facing the base 261.
  • the corresponding ratchet 231 is provided with a pawl 263, and the pawl 263 is mounted on the base 261 via the shaft 264.
  • the pawl 263 is rotatable about the axis 264.
  • the suspension chain 262 is attached to the upper end of the pawl 263, so that the pawl 263 is in the pulled state, that is, the initial state as shown in Fig.
  • the lower end of the pawl 263 is the spine
  • the teeth 231 are separated from each other without affecting the up and down movement of the base 261, and the back surface of the lower end of the pawl 263 is provided with an elastic member 266 which is pressed by the pawl 263 in the initial state as shown in Fig. 7(a).
  • the pawl 263 will be disengaged from the suspension chain 262 and in a free state relative to the suspension chain 262, i.e., the chain is not suspended. 262 is pulled up, such that the lower end of the pawl 263 rotates about the shaft 264 in the direction shown in FIG. 7(b) under the elastic force of the elastic member 266, and the pawl 263 is caught on the ratchet teeth 231, thereby blocking the base 261 and The fixedly connected lifting beam assembly 25 is lowered downward to prevent the vehicle 200 from falling.
  • the corresponding ratchet teeth 231 may also be provided with pawls 269 that are mounted on the base 261 by shafts 268 that are rotatable about the shaft 268.
  • an electromagnetic actuating member 267 is provided, and the electromagnetic actuating member 267 can be fixedly mounted on the base 261, and its output shaft and pawl 269 The back of the lower end is offset.
  • the output shaft of the electromagnetic actuating member 267 is contracted, and the lower end of the claw 269 is separated from the ratchet teeth 231, and does not affect the up and down movement of the base 261.
  • the electromagnetically actuated component 267 can be coupled to the control component 29 as shown in Figures 2 and 5 and receive a fall arrest command from the control component 29 that, upon receipt of the fall arrest command, drives the output shaft extension As shown in FIG. 7(b), the lower end of the push pawl 269 is rotated toward the ratchet teeth 231, and the pawl 269 is caught on the ratchet teeth 231, thereby preventing the base 261 and its fixedly connected lifting beam assembly 25 from moving relative to the column 23. The vehicle 200 is prevented from being lifted or lowered while the vehicle 200 is prevented from being lifted or lowered.
  • the electromagnetically actuated component 267 can also receive anti-drop commands from other components and perform the above-described similar fall arrest action by the electromagnetic actuating component 267 and the pawl 269.
  • a protective grating (not shown) is disposed around the vehicle lifting device 20 (for example, on or near the column 23). If a person enters the power-changing area, it will be first detected by the protective grating, and the protective grating is triggered to be emitted.
  • the fall prevention command to the electromagnetic actuating member 267, through the electromagnetic actuating member 267 and the pawl 269, can lock the base 261 and its fixedly connected lifting beam assembly 25 to prevent a person from entering a safety accident.
  • step S81 the power system such as the AC motor 28 is powered on.
  • step S82 the substation system (including the vehicle lift device) is self-tested and ready to be in place.
  • step S83 parameter setting such as tolerance value is performed.
  • step S84 the promotion is initiated. At this point, it indicates that the lifting action is ready.
  • step S851 the motor 28 of the power system is released.
  • step S852, step S853, and step S854 can be selected as needed to turn on the corresponding security function.
  • the height detection and feedback are turned on, the height measuring component 24 is ready to be in position; for example, in step S853, the fall prevention function is turned on, the fall prevention mechanism 26 (for example, the electromagnetic actuating component 267) is ready to be in place; and, for example, the steps In S854, the security protection is turned on and the protective grating is ready to be in place.
  • step S85 under the control of the control module 29, the AC motor 28 outputs power to perform a lifting operation.
  • the lifting height can be controlled by any one of the height measuring members 24, thereby controlling the lifting accuracy or accuracy.
  • the height measuring sections 24a and 24b detect the first height value and the second height value, respectively, in real time, and feed them back to the control section 29.
  • the guard grating also detects and feeds back corresponding data or instructions in real time as the security guard is turned on.
  • step S87 the first height value fed back by the height measuring section 24a and the second height value fed back by the height measuring section 24b are compared, the difference between them is determined, and it is judged whether the difference is greater than or equal to the tolerance value.
  • the brake command can be issued by the control unit 29 to perform the AC motor 28
  • the brake action that is, step S89
  • the fall prevention command can be issued by the control member 29 to perform the fall prevention operation, that is, step S90, for example, the drive electromagnetic actuating member 267 drives the output shaft to extend, as shown in FIG. 7(b).
  • the lower end of the push pawl 269 is rotated toward the ratchet teeth 231, and the pawl 269 is snapped onto the ratchet teeth 231, thereby preventing the base 261 and its fixedly connected lifting beam assembly 25 from moving relative to the uprights 23, preventing the vehicle 200 from continuing to be lifted. .
  • step S88 is further performed to determine whether the guard grating is in motion.
  • the fall prevention command can be issued by the guard grating or the like to perform the fall prevention operation, that is, step S90, for example, the drive electromagnetic actuating member 267 drives the output shaft to extend, as shown in Fig. 7(b). It is shown that the lower end of the push pawl 269 is rotated toward the ratchet teeth 231, and the pawl 269 is caught on the ratchet teeth 231, thereby preventing the base 261 and its fixedly connected lifting beam assembly 25 from moving relative to the uprights 23, preventing the vehicle 200 from continuing to be lifted.
  • step S87 and step S88 are judged as YES, an alarm can be performed, that is, step S91, so that the worker can be informed in time and perform corresponding operations or actions in response to the alarm.
  • step S92 the AC motor 28 can be braked, that is, step S93, and the fall prevention operation, that is, step S94, is performed, so that the vehicle 200 is safely raised to the corresponding height, the related action is performed, and the lifting is completed, that is, the step At S95, at this time, the power battery replacement operation can be performed by the electric change trolley 15.
  • step S96 After completing the power battery replacement operation, for example, it is possible to proceed to step S96, that is, to lower the startup step.
  • the descending process and the lifting process are the reverse processes, but the same or similar methods of the lifting process may be employed to ensure the security of the descending process, for example, steps S87 to S95 are similarly performed, and no longer One by one.
  • FIG. 5 Some of the block diagrams shown in FIG. 5 are functional entities and do not necessarily have to correspond to physically or logically independent entities. These functional entities may be implemented in software, or implemented in one or more hardware modules or integrated circuits, or implemented in different network and/or processor devices and/or microcontroller devices.
  • the first height measuring component and the second height measuring component are disposed on different columns corresponding to different lifting beam assemblies, and the height value measured by one height measuring component can be measured as another height measuring component.
  • the feedback value of the height value can accurately and automatically determine whether the different lifting beam assemblies are highly consistent, so as to accurately determine whether the vehicle is tilted, which is beneficial to avoiding the safety problem caused by the continued lifting or lowering while the vehicle is tilting, the vehicle The lifting or lowering process is safer.

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Abstract

一种用于换电站（10）的车辆升举装置（20）和控制方法，包括分别安装在第一组立柱（23a、23d）和第二组立柱（23b、23c）之间并在高度方向上上下移动的第一提升梁组件（25a）和第二提升梁组件（25b）；第一组立柱（23a、23d）至少一个立柱上安装第一高度测量部件（24a），用于实时地测量第一提升梁组件（25a）的当前的第一高度值并将其反馈至控制部件（29），第二组立柱（23b、23c）的至少一个立柱上安装第二高度测量部件（24b），用于实时地测量第二提升梁组件（25b）的当前的第二高度值并将其反馈至控制部件（29）；从而准确确定车辆（900）是否发生倾斜，有利于及时避免在车辆（900）倾斜的情况下继续进行提升或下降所导致的安全问题。

Description

用于换电站的车辆升举装置及其控制方法 技术领域
本发明属于车辆的动力电池更换技术领域，涉及换电站，尤其涉及用于换电站的车辆升举装置及其控制方法。
背景技术
为了适应环保和能源危机，新能源汽车(例如电动汽车)越来越普及。现有的新能源车辆中很重要的一个发展方向就是换电式新能源汽车，相较于插充式新能源汽车而言能够大大缩短能源补给时间。
为方便汽车用户进行换电，需要建立相应的换电站(或称为“换电系统”)。由于人工换电效率太低并不适于换电站内的产业应用，所以，为了实现快速高效的自动换电，在换电站中需要配备车辆位置调节系统，用以将需要进行换电的车辆移动到适于换电的目标位置，然后利用换电设备(例如用于装载动力电池包的换电小车)进行自动换电。
由于电动汽车中的动力电池一般安装在大概底盘位置处，为方便换电设备进行换电操作，在换电过程中，首先需要将车辆提升至一定的高度。为此，换电站的车辆位置调节系统中通常包含有车辆升举装置，或者其被实现为车辆升举装置。
车辆升举装置的提升精度直接影响车辆的定位准确性，进而影响后面自动换电操作过程；车辆升举装置的提升精度还影响换电过程中的安全性，例如，如果提升高度不一致导致车辆倾斜，将容易引发车辆滚动跌落等较大的安全问题。
发明内容
本发明的目的之一在于，及时获知车辆升举装置在提升或下降车辆过程中是否发生倾斜。
本发明的又一目的在于，提高车辆升举装置的安全性。
为实现以上目的或者其他目的，本发明提供以下技术方案。
按照本发明的第一方面，提供一种用于换电站的车辆升举装置，其包括：
第一组立柱和第二组立柱，
安装在第一组立柱之间并且能够相对所述第一组立柱在高度方向上上下移动的第一提升梁组件，
安装在第二组立柱之间并且能够相对所述第二组立柱在高度方向上上下移动的第二提升梁组件，和
用于驱动所述第一提升梁组件和第二提升梁组件上下移动的交流电机及其控制部件；
其中，被提升的车辆的两侧分别置放于所述第一提升梁组件和第二提升梁组件上；
并且还包括：
安装在所述第一组立柱的至少一个立柱上的第一高度测量部件，其用于实时地测量所述第一提升梁组件的当前的第一高度值并将其反馈至所述控制部件；和
安装在所述第二组立柱的至少一个立柱上的第二高度测量部件，其用于实时地测量所述第二提升梁组件的当前的第二高度值并将其反馈至所述控制部件。
根据本发明一实施例的车辆升举装置，其中，所述控制部件包括：
比较模块，其用于比较所述第一高度测量部件反馈的第一高度值和所述第二高度测量部件反馈的第二高度值以确定它们之间的差值；和
倾斜确定模块，其用于在所述差值大于或等于容差值的情况下确定在提升或下降过程中所述车辆已经发生倾斜。
根据本发明一实施例的车辆升举装置，其中，所述控制部件还被配置为在确定已经发生倾斜时发出指令触发所述交流电机进行抱闸和/或触发防坠落机构进行防坠落动作。
根据本发明一实施例的车辆升举装置，其中，对应于所述防坠落机构在所述立柱上设置的棘齿；并且，所述防坠落机构包括：
基座，其能够相对所述立柱在高度方向上上下移动；
第一棘爪，其通过第一轴安装在所述基座上并且能够相对第一轴转动；以及
电磁致动部件，其固定安装在所述基座上并且其输出轴与所述第一棘爪的相背于所述棘齿的一面相抵。
根据本发明一实施例的车辆升举装置，其中，所述电磁致动部件 在接收到防坠落指令时驱动其输出轴伸出，从而推动所述第一棘爪的下端朝向所述棘齿转动，直到所述第一棘爪卡于所述棘齿。
根据本发明一实施例的车辆升举装置，其中，还包括设置在所述立柱与相应的第一提升梁组件或第二提升梁组件之前的防坠落机构，对应于所述防坠落机构在所述立柱上设置的棘齿；并且，所述防坠落机构包括：
基座，其能够相对所述立柱在高度方向上上下移动；
第二棘爪，其通过第二轴安装在所述基座上并且能够相对第二轴转动，并且，所述第二棘爪的上端在正常状态下被悬挂链提拉；以及
弹性部件，其安装在所述基座上并且在正常状态下能够输出反弹力至所述第二棘爪的下端的相背于所述棘齿的一面上。
根据本发明一实施例的车辆升举装置，其中，在所述悬挂链断裂的非正常状态下，所述弹性部件的反弹力推动所述第二棘爪的下端朝向所述棘齿转动，直到所述第二棘爪卡于所述棘齿。
根据本发明一实施例的车辆升举装置，其中，所述第一高度测量部件和所述第二高度测量部件的任意一个被用来控制所述第一提升梁组件和所述第二提升梁组件的提升或下降高度。
根据本发明一实施例的车辆升举装置，其中，还包括用于检测是否有人进入所述车辆升举装置中的防护光栅。
根据本发明一实施例的车辆升举装置，其中，所述第一高度测量部件和所述第二高度测量部件为编码尺。
按照本发明的又一方面，提供一种换电站，其包括以上任一所述的车辆升举装置。
按照本发明的还一方面，还提供一种以上所述的车辆升举装置的控制方法，其包括步骤：
比较所述第一高度测量部件反馈的第一高度值和所述第二高度测量部件反馈的第二高度值以确定它们之间的差值；和
在所述差值大于或等于容差值的情况下确定在提升或下降过程中所述车辆已经发生倾斜。
根据本发明一实施例的控制方法，其中，还包括步骤：
在确定已经发生倾斜时触发所述交流电机进行抱闸和/或触发防坠落机构进行防坠落动作。
根据本发明一实施例的控制方法，其中，还包括步骤：
在确定有人进入所述车辆升举装置中时触发防坠落机构进行防坠落动作。
根据本发明一实施例的控制方法，其中，还包括设定所述容差值的大小的参数设定步骤
根据以下描述和附图本发明的以上特征和操作将变得更加显而易见。
附图说明
从结合附图的以下详细说明中，将会使本发明的上述和其他目的及优点更加完整清楚，其中，相同或相似的要素采用相同的标号表示。
图1是按照本发明一实施例的换电站的结构示意图。
图2是按照本发明一实施例的车辆升举装置的结构示意图。
图3是图2实施例的车辆升举装置的爆炸图。
图4是图2和图3所示实施例的车辆升举装置中安装有高度测量装置的立柱的局部结构示意图。
图5是按照本发明一实施例的车辆升举装置的模块结构示意图。
图6是图2和图3所示实施例的车辆升举装置中安装有防坠落结构的立柱的局部结构示意图。
图7示意图6所示的防坠落结构的防坠落动作过程，其中图7(a)示意防坠落功能开启但是未进行防坠落动作的状态；图7(b)示意防坠落动作已经进行的状态。
图8是按照本发明一实施例的车辆升举装置的控制方法的流程图。
具体实施方式
现在将参照附图更加完全地描述本发明，附图中示出了本发明的示例性实施例。但是，本发明可按照很多不同的形式实现，并且不应该被理解为限制于这里阐述的实施例。相反，提供这些实施例使得本公开变得彻底和完整，并将本发明的构思完全传递给本领域技术人员。附图中，相同的标号指代相同的元件或部件，因此，将省略对它们的描述。
在本文中，车辆是指使用动力电池至少部分提供驱动的纯电动汽 车或混合动力汽车。其中，车辆的动力电池例如安装在车辆的大致底盘位置，从而，如果需要方便地进行换电操作，需要使用本发明实施例的车辆升举装置20来提升车辆，当然，车辆升举装置20也能够下降车辆。
本发明实施例的车辆升举装置20应用于换电站中来构建如图1所示的换电站10。换电站10主要地包括电池仓11、车辆升举装置20、设置在电池仓11和车辆升举装置20的轨道13、以及在轨道13上行进的换电小车15。在进行换电操作时，车辆升举装置20需要将车辆900提升至预定高度，换电小车15在车辆900的下方从其底盘上拆卸需要更换的动力电池，然后从电池仓11载运电量充足的动力电池至车辆900下方，在将动力电池与车辆900的动力电池安装位置对准后，进行自动安装。
以上实施例的换电站10在换电过程中可以不需要工作人员进入车辆900周围区域，为保证换电安全，例如可以禁止人员进入车辆升举装置20所处的区域。
在本发明实施例中，车辆升举装置20的主要功能是将车辆900提升至预定位置，但是，应当理解到，车辆升举装置20还可以实现对车辆900在垂直高度方向的水平面上的位置定位，以下将省略对该功能的具体描述。
如图2和图3所示，本发明实施例的车辆升举装置20为立柱式升举装置，其使用多个立柱23，例如呈四方形布局的四个立柱23a、23b、23c和23d。车辆升举装置20中设置有工作平台21，四个立柱23a、23b、23c和23d固定安装在工作平台21上。
根据需要，可以将立柱23a和23d设置为一组立柱、将立柱23b和23c设置为又一组立柱，每组立柱对应设置有车辆升举装置20的提升梁组件25，例如，立柱23a与立柱23d之间安装有提升梁组件25a，立柱23b与立柱23c之间安装有提升梁组件25b。提升梁组件25a和提升梁组件25b是基本平行地水平设置，在提升之前，被提升的车辆200被移动至提升梁组件25上，并且，车辆200的两侧(例如左右两侧)分别置放于提升梁组件25a和提升梁组件25b上。在提升或下降过程中，提升梁组件25a可以相对立柱23a和23d在高度方向上上下移动，提升梁组件25b可以相对立柱23b和23c在高度方向上上下移动，从 而，车辆200可以随提升梁组件25a和25b在高度方向上上下移动，并且在提升梁组件25a和25b停止移动时被定位在某一高度位置。
在一实施例中，提升梁组件25a和25b分别设置有两个支撑臂251，每个提升梁组件25的支撑臂251向内伸展，车辆200的四个车轮可以定位在四个支撑臂251上。每个支撑臂251对应设置有电机，从而可以实现在水平面上实现对车辆200的位置调节。
考虑到车辆200的重量较大，在本发明的实施例中，选择交流电机28作为动力部件，交流电机28具体可以为三相交流电机，其可以根据具体要求选择配置相应类型的交流电机28；对应交流电机28设置有控制部件29，控制部件29用来控制电机28的运转，甚至对电机28的抱闸动作和松闸动作；这样，交流电机28和控制部件29主要地构成了动力系统，它们能实现驱动提升梁组件25a和提升梁组件25b上下移动。控制部件29具体例如可以通过PLC等实现，其可以模块化地实现并对应交流电机28安装。
继续如图2和图3所示，动力系统可以安装在由立柱23a、23b、23c和23d所支撑的顶部平台27上，顶部平台27可以包括横梁(例如立柱23a和23b之间的梁、立柱23c和23d之间的梁)和纵梁(例如立柱23a和23d之间的梁、立柱23b和23c之间的梁)，在采用链条传动的情况下，在顶部平台27上的两纵梁上分别设置有顶部提升链29a和29b，其中，顶部提升链29a可以将交流电机28输出的动力传递至提升梁组件25a，从而带动提升梁组件25a在高度方向上沿立柱23a和23d上下移动，顶部提升链29b可以将交流电机28输出的动力传递至提升梁组件25b，从而带动提升梁组件25b在高度方向上沿立柱23b和23c上下移动。
在一实施例中，提升梁组件25a和提升梁组件25b采用同一个交流电机28同步驱动，也就是说，顶部提升链29a和29b同步地被同一个交流电机28驱动。在又一替换实施例中，顶部提升链29a和29b采用不同的交流电机28同步驱动，例如两个被同步控制的交流电机28。
继续如图2和图3所示，立柱23a、23b、23c和23d上可以设置相应的轨道，提升梁组件25a和提升梁组件25b可以分别沿各自的轨道在立柱23上行进。
结合图2至图5所示，车辆升举装置20还包括安装在立柱23上 的高度测量部件24。高度测量部件24包括安装在立柱23a和立柱23d的至少一个上的高度测量部件测量24a，其用于实时地测量提升梁组件25a的当前的第一高度值并将其反馈至控制部件25(如图6所示)；高度测量部件24还包括安装在立柱23b和立柱23c的至少一个上的高度测量部件测量24b，其用于实时地测量提升梁组件25b的当前的第二高度值并将其反馈至所述控制部件25(如图6所示)。
鉴于提升梁组件25a的梁式结构，其被整体地同步提升或下降，在立柱23a和立柱23d的其中一个上设置一个高度测量部件24即可实现对提升梁组件25a的高度测量，同样地，在立柱23b和立柱23c的其中一个上设置一个高度测量部件24即可实现对提升梁组件25b的高度测量。当然，根据需要，也可以在每个立柱25上均设置相应的高度测量部件24。
需要说明的是，两个高度测量部件24，例如高度测量部件测量24a和高度测量部件测量24b，可以呈对角地安装在不同立柱上，例如分别安装立柱23a、23b、23c和23d的立柱23a和立柱23c上，或者分别安装立柱23a、23b、23c和23d的立柱23b和立柱23d上。这样，两个高度测量部件24分别感测的高度值最能体现被提升的车辆200的非平衡性。
每个高度测量部件24可以额安装在相应立柱23与相应的提升梁组件25的一端之间。在一实施例中，如图4所示，高度测量部件24通过编码尺实现，其包括安装在立柱23上的尺件241和随提升梁组件25一起上下移动的编码器242，在提升或下降过程中，编码器242可以检测出提升梁组件25相对固定的尺件241的移位量，也即读出第一高度值或第二高度值，并且，将该高度值以反馈信号的形式发送至如图5所示的控制部件29的比较模块291。尺件241具体为直线型尺件，其在高度方向上安装。
交流电机28的控制部件29可以通过高度测量部件24的任意一个来控制提升梁组件25a和25b的提升高度，以控制部件29控制提升过程为示例，在提升过程中，假设基于提升梁组件25a对应的高度测量部件测量24a来控制提升高度，控制部件29会发出需要将提升梁组件25a和25b的提升到某一预定高度(该预定高度可以是最终需要提升的高度也可以是提升过程的某一时刻的高度)的指令至交流电机28，交 流电机28基于该指令通过顶部提升链29a和29b同步驱动提升梁组件25a和25b上升，同时，高度测量部件测量24a反馈测量的当前的第一高度值，控制部件29的比较模块291可以将第一高度值与该指令对应的预定高度进行比较，若二者有偏差，控制部件29可以控制执行部件(例如交流电机28)使其向着消除偏差的方向运动，直至偏差基本等于零或偏差基本被消除为止。因此，可以实现对车辆900的提升高度的相对精确控制。特别是在高度测量部件24为编码尺时，反馈的高度值将更加准确，提升高度的准确性更好。
将理解，在其他实施例中，也可以基于提升梁组件25b对应的高度测量部件测量24b来控制提升高度。
需要说明的是，虽然高度测量部件测量24a或高度测量部件测量24b所测量的高度值被反馈至控制部件29来控制提升高度，但是，由于运动机构的偏差、同步性传递的不准确性等问题，可能会导致在提升或下降过程中，提升梁组件25a和提升梁组件25b二者的当前高度并不一致，可能会存在车辆200的不平衡问题。
为检测车辆200在提升或下降过程的平衡性、防止车辆200倾斜过度而导致危险发生，高度测量部件24的高度测量部件测量24b测量的第二高度值可以作为高度测量部件测量24a测量的第一高度值的高度反馈信号，也就是说，对应提升梁组件25b的第二高度值作为对应提升梁组件25a的第一高度值的反馈信号。在又一实施例中，高度测量部件24的高度测量部件测量24a测量的第一高度值可以作为高度测量部件测量24b测量的第二高度值的高度反馈信号，也就是说，对应提升梁组件25a的第一高度值作为对应提升梁组件25b的第二高度值的反馈信号。高度测量部件测量24a测量和高度测量部件测量24b测量可以相互作为对方的反馈检测部件。
继续如图5所示，高度测量部件测量24a测量和高度测量部件测量24b测量的同一时刻的第一高度值和第二高度值被反馈至控制部件29的比较模块291，比较模块291用于比较第一高度值和第二高度值以确定它们之间的差值；进一步，控制部件29中还设置有倾斜确定模块292，倾斜确定模块292用于在所述差值大于或等于容差值的情况下确定在提升或下降过程中车辆200已经发生倾斜。其中，该容差值可以预先地设置，例如，通过人工手动地设置，容差值反映提升或下降 过程中对车辆200的平衡性要求，容差值的具体大小不是限制性的。这样，控制部件29可以实时地监测提升或下降过程中的车辆200是否发生倾斜，有利于及时防范换电过程中的风险。
在一实施例中，控制部件29还被配置为在确定已经发生倾斜时发出指令触发交流电机28进行抱闸动作，示例地，在倾斜确定模块292确定已经发生倾斜时，控制部件29发出抱闸指令，交流电机28相应地及时进行抱闸动作，停止或中止输出动力。
继续如图5和图6所示，在一实施例中，车辆升举装置20中还设置有位于立柱23和相应的提升梁组件25的一端之间的防坠落机构26，防坠落机构26可以被控制地执行防坠落动作，来避免被提升的车辆200发生坠落，有效提高安全性。
在一实施例中，控制部件29还被配置为在确定已经发生倾斜时发出指令触发防坠落机构26进行防坠落动作，示例地，在倾斜确定模块292确定已经发生倾斜时，控制部件29发出防坠落指令，防坠落机构26相应地及时进行防坠落动作，停止或中止提升/下降过程。
将理解，控制部件29在确定已经发生倾斜时可以同时发出上述抱闸指令和防坠落指令，同时进行抱闸和防坠落动作，有效保证安全性。
在一实施例中，如图6和图7所示，防坠落机构26包括基座261，该基座261可以固定地安装在提升梁组件25的一端上，并且可以随提升梁组件25上下移动。在提升梁组件25被提升时，顶部提升链29是悬挂链262一起动作的，通过悬挂链262带动基座261沿立柱23上下运动。
具体地，防坠落机构26还包括设置在立柱23上的相向于基座261而设置的棘齿231，对应棘齿231，设置有棘爪263，棘爪263通过轴264安装在基座261上，棘爪263可以绕轴264转动。在正常状态下，悬挂链262连接于棘爪263的上端，使棘爪263处于提拉状态，也即如图7(a)所示的初始状态，此时，棘爪263的下端是与棘齿231相分离的，不影响基座261的上下移动，同时棘爪263的下端的背面对应设置有弹性部件266，其在如图7(a)所示的初始状态是被棘爪263按压在基座261上。
假如提升或下降过程发生传动的链条断裂，例如，悬挂链262断裂，如图7(b)所示，棘爪263将脱离悬挂链262并相对悬挂链262 处于自由状态，也即未被悬挂链262提拉，这样，棘爪263的下端在弹性部件266的弹力作用下绕轴264作如图7(b)所示的方向转动，棘爪263卡于棘齿231，从而阻止基座261及其固定连接的提升梁组件25向下坠落，防止车辆200发生坠落事故。
在一实施例中，如图6和图7所示，对应棘齿231还可以设置棘爪269，棘爪269通过轴268安装在基座261上，棘爪269可以绕轴268转动。对应于棘爪269的下端的与棘齿231相反的一面(即背面)上，设置有电磁致动部件267，电磁致动部件267可以固定安装在基座261上，其输出轴与棘爪269的下端的背面相抵。在正常状态下，如图7(a)所示，电磁致动部件267的输出轴收缩，爪269的下端是与棘齿231相分离的，不影响基座261的上下移动。
电磁致动部件267可以与如图2和图5所示的控制部件29耦接，并从控制部件29接收防坠落指令，在接收到该防坠落指令时，电磁致动部件267驱动输出轴伸出，如图7(b)所示，推动棘爪269的下端朝向棘齿231转动，棘爪269卡于棘齿231，从而阻止基座261及其固定连接的提升梁组件25相对立柱23移动，阻止车辆200继续被提升或下降的同时，防止车辆200因倾斜而发生坠落事故。
需要理解的是，电磁致动部件267还可以接收来自其他部件的防坠落指令，并通过电磁致动部件267和棘爪269执行以上类似的防坠落动作。
示例地，为实现换电过程的安全防护，在自动换电过程中是禁止人员进入换电区域。因此，在车辆升举装置20的四周(例如立柱23上或旁边)设置防护光栅(图中未示出)，如果有人员进入换电区域，将首先被防护光栅检测到，防护光栅被触发发出防坠落指令至电磁致动部件267，通过电磁致动部件267和棘爪269可以锁止基座261及其固定连接的提升梁组件25，避免人员进入引发安全事故。
因此，车辆升举装置20在换电过程的安全性被进一步提高。
以下进一步结合图8，以换电操作过程为示例，说明本发明以上实施例的车辆升举装置20的控制方法。
首先，步骤S81，对交流电机28等动力系统上电。
进一步，步骤S82，换电站系统(包括车辆升举装置)自检，并准备就位。
进一步，步骤S83，进行例如容差值等的参数设定。
进一步，步骤S84，提升启动。此时，表示提升动作已经准备好。
进一步，步骤S851，动力系统的电机28松闸。对应于该步骤，可以根据需要选择步骤S852、步骤S853和步骤S854来开启相应的安全功能。例如，步骤S852，高度检测和反馈开启，高度测量部件24准备就位；还例如，步骤S853，防坠落功能开启，防坠落机构26(例如电磁致动部件267)准备就位；还例如，步骤S854，安全防护开启，防护光栅准备就位。
进一步，步骤S85，在控制模块29的控制下，交流电机28输出动力进行提升动作。在该提升过程中，可以通过高度测量部件24的任意一个来控制提升高度，从而控制提升精度或准确度。
在一实施例中，在该步骤中，由于高度检测和反馈开启，高度测量部件24a和24b会实时地分别检测出第一高度值和第二高度值，并将它们反馈至控制部件29。
在一实施例中，在该步骤中，由于安全防护开启，防护光栅也实时地检测并反馈相应的数据或指令。
进一步，步骤S87，比较高度测量部件24a反馈的第一高度值和高度测量部件24b反馈的第二高度值，确定它们之间的差值，以及判断该差值是否大于或等于容差值。
在判断为“否”的情况下，表明提升梁组件25a和提升梁组件25b确实是在同步地提升，车辆200未发生倾斜，保持提升动作，直到步骤S92，到达提升高度。
在判断为“是”的情况下，表明提升梁组件25a和提升梁组件25b当前不是在同步地提升，车辆200发生倾斜；一方面，可以通过控制部件29发出抱闸指令，进行交流电机28的抱闸动作，即步骤S89，另一方面，可以通过控制部件29发出防坠落指令，进行防坠落动作，即步骤S90，例如，驱动电磁致动部件267驱动输出轴伸出，如图7(b)所示，推动棘爪269的下端朝向棘齿231转动，棘爪269卡于棘齿231，从而阻止基座261及其固定连接的提升梁组件25相对立柱23移动，阻止车辆200继续被提升。
在一实施例中，在执行步骤S87的同时还执行步骤S88，判断防护光栅是否动作。
在判断为“否”的情况下，表明在提升动作过程中没有人进入换电区域，可以保持提升动作，直到步骤S92，到达提升高度。
在判断为“是”的情况下，可以通过防护光栅等发出防坠落指令，进行防坠落动作，即步骤S90，例如，驱动电磁致动部件267驱动输出轴伸出，如图7(b)所示，推动棘爪269的下端朝向棘齿231转动，棘爪269卡于棘齿231，从而阻止基座261及其固定连接的提升梁组件25相对立柱23移动，阻止车辆200继续被提升。
在一实施例中，步骤S87和步骤S88被判断为“是”的情况下，均可以进行报警，即步骤S91，从而方便工作人员及时获知并响应于该报警进行相应的操作或动作。
在步骤S92之后，可以对交流电机28进行抱闸，即步骤S93，并且进行防坠落动作，即步骤S94，这样，车辆200被安全地提升至相应的高度，执行相关动作并完成提升，即步骤S95，此时，可以通过换电小车15进行动力电池更换操作。
在例如完成动力电池更换操作后，可以进入步骤S96，即下降启动步骤。需要说明的是，下降过程与提升过程是相反的过程，但是可以采用提升过程的同样的或类似的方法，从而保证下降过程的安全性，例如，类似地执行步骤S87至S95，在此不再一一赘述。
需要说明的是，图5中所示的一些方框图是功能实体，不一定必须与物理或逻辑上独立的实体相对应。可以采用软件形式来实现这些功能实体，或者在一个或多个硬件模块或集成电路中实现这些功能实体，或者在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。
本发明实施例的方案中，通过在对应不同提升梁组件的不同立柱上设置第一高度测量部件和第二高度测量部件，其中一个高度测量部件测量的高度值可以作为另一个高度测量部件测量的高度值的反馈值，可以准确地自动确定不同提升梁组件是否高度一致，从而准确确定车辆是否发生倾斜，有利于及时避免在车辆倾斜的情况下继续进行提升或下降所导致的安全问题，车辆的提升或下降过程更安全。
以上例子主要说明了本发明的车辆升举装置及其控制方法以及使用该车辆升举装置的换电站。尽管只对其中一些本发明的实施方式进行了描述，但是本领域普通技术人员应当了解，本发明可以在不偏离 其主旨与范围内以许多其他的形式实施。因此，所展示的例子与实施方式被视为示意性的而非限制性的，在不脱离如所附各权利要求所定义的本发明精神及范围的情况下，本发明可能涵盖各种的修改与替换。

Claims (15)

  1. 一种用于换电站的车辆升举装置，其包括：
    第一组立柱和第二组立柱，
    安装在第一组立柱之间并且能够相对所述第一组立柱在高度方向上上下移动的第一提升梁组件，
    安装在第二组立柱之间并且能够相对所述第二组立柱在高度方向上上下移动的第二提升梁组件，和
    用于驱动所述第一提升梁组件和第二提升梁组件上下移动的交流电机及其控制部件；
    其中，被提升的车辆的两侧分别置放于所述第一提升梁组件和第二提升梁组件上；
    其特征在于，还包括：
    安装在所述第一组立柱的至少一个立柱上的第一高度测量部件，其用于实时地测量所述第一提升梁组件的当前的第一高度值并将其反馈至所述控制部件；和
    安装在所述第二组立柱的至少一个立柱上的第二高度测量部件，其用于实时地测量所述第二提升梁组件的当前的第二高度值并将其反馈至所述控制部件。
  2. 如权利要求1所述的车辆升举装置，其特征在于，所述控制部件包括：
    比较模块，其用于比较所述第一高度测量部件反馈的第一高度值和所述第二高度测量部件反馈的第二高度值以确定它们之间的差值；和
    倾斜确定模块，其用于在所述差值大于或等于容差值的情况下确定在提升或下降过程中所述车辆已经发生倾斜。
  3. 如权利要求1或2所述的车辆升举装置，其特征在于，所述控制部件还被配置为在确定已经发生倾斜时发出指令触发所述交流电机进行抱闸和/或触发防坠落机构进行防坠落动作。
  4. 如权利要求3所述的车辆升举装置，其特征在于，对应于所述防坠落机构在所述立柱上设置的棘齿；并且，所述防坠落机构包括：
    基座，其能够相对所述立柱在高度方向上上下移动；
    第一棘爪，其通过第一轴安装在所述基座上并且能够相对第一轴转动；以及
    电磁致动部件，其固定安装在所述基座上并且其输出轴与所述第一棘爪的相背于所述棘齿的一面相抵。
  5. 如权利要求4所述的车辆升举装置，其特征在于，所述电磁致动部件在接收到防坠落指令时驱动其输出轴伸出，从而推动所述第一棘爪的下端朝向所述棘齿转动，直到所述第一棘爪卡于所述棘齿。
  6. 如权利要求1所述的车辆升举装置，其特征在于，还包括设置在所述立柱与相应的第一提升梁组件或第二提升梁组件之前的防坠落机构，对应于所述防坠落机构在所述立柱上设置的棘齿；并且，所述防坠落机构包括：
    基座，其能够相对所述立柱在高度方向上上下移动；
    第二棘爪，其通过第二轴安装在所述基座上并且能够相对第二轴转动，并且，所述第二棘爪的上端在正常状态下被悬挂链提拉；以及
    弹性部件，其安装在所述基座上并且在正常状态下能够输出反弹力至所述第二棘爪的下端的相背于所述棘齿的一面上。
  7. 如权利要求6所述的车辆升举装置，其特征在于，在所述悬挂链断裂的非正常状态下，所述弹性部件的反弹力推动所述第二棘爪的下端朝向所述棘齿转动，直到所述第二棘爪卡于所述棘齿。
  8. 如权利要求1所述的车辆升举装置，其特征在于，所述第一高度测量部件和所述第二高度测量部件的任意一个被用来控制所述第一提升梁组件和所述第二提升梁组件的提升或下降高度。
  9. 如权利要求1所述的车辆升举装置，其特征在于，还包括用于检测是否有人进入所述车辆升举装置中的防护光栅。
  10. 如权利要求1所述的车辆升举装置，其特征在于，所述第一高度测量部件和所述第二高度测量部件为编码尺。
  11. 一种换电站，其特征在于，包括如权利要求1至10中任一所述的车辆升举装置。
  12. 一种如权利要求1所述车辆升举装置的控制方法，其特征在于，包括步骤：
    比较所述第一高度测量部件反馈的第一高度值和所述第二高度测 量部件反馈的第二高度值以确定它们之间的差值；和
    在所述差值大于或等于容差值的情况下确定在提升或下降过程中所述车辆已经发生倾斜。
  13. 如权利要求12所述的控制方法，其特征在于，还包括步骤：
    在确定已经发生倾斜时触发所述交流电机进行抱闸和/或触发防坠落机构进行防坠落动作。
  14. 如权利要求12所述的控制方法，其特征在于，还包括步骤：
    在确定有人进入所述车辆升举装置中时触发防坠落机构进行防坠落动作。
  15. 如权利要求12所述的控制方法，其特征在于，还包括设定所述容差值的大小的参数设定步骤。
PCT/CN2018/075145 2017-11-03 2018-02-02 用于换电站的车辆升举装置及其控制方法 WO2019085317A1 (zh)

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