WO2019101028A1 - 浮动对接装置、换电机器人以及加锁、解锁和加解锁方法 - Google Patents

浮动对接装置、换电机器人以及加锁、解锁和加解锁方法 Download PDF

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Publication number
WO2019101028A1
WO2019101028A1 PCT/CN2018/116131 CN2018116131W WO2019101028A1 WO 2019101028 A1 WO2019101028 A1 WO 2019101028A1 CN 2018116131 W CN2018116131 W CN 2018116131W WO 2019101028 A1 WO2019101028 A1 WO 2019101028A1
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WO
WIPO (PCT)
Prior art keywords
floating
positioning mechanism
docking device
power battery
vehicle
Prior art date
Application number
PCT/CN2018/116131
Other languages
English (en)
French (fr)
Inventor
周肖鸿
赵志凌
杨潮
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 EP18880459.5A priority Critical patent/EP3715194A4/en
Publication of WO2019101028A1 publication Critical patent/WO2019101028A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R12/00—Structural associations of a plurality of mutually-insulated electrical connecting elements, specially adapted for printed circuits, e.g. printed circuit boards [PCB], flat or ribbon cables, or like generally planar structures, e.g. terminal strips, terminal blocks; Coupling devices specially adapted for printed circuits, flat or ribbon cables, or like generally planar structures; Terminals specially adapted for contact with, or insertion into, printed circuits, flat or ribbon cables, or like generally planar structures
    • H01R12/70—Coupling devices
    • H01R12/91—Coupling devices allowing relative movement between coupling parts, e.g. floating or self aligning
    • 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
    • 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
    • B66F7/025—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars screw operated
    • 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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R2201/00—Connectors or connections adapted for particular applications
    • H01R2201/26—Connectors or connections adapted for particular applications for 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 discharging, and particularly relates to a floating docking device, a power changing robot, and a locking, unlocking and unlocking 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.
  • a position fixing device such as a cylinder
  • the floating platform is held against the floating platform, and the floating platform remains fixed relative to the power-changing robot under the action of friction, that is, the position is recorded when the power battery is unloaded.
  • the present invention provides a floating docking device, which includes a base and a floating portion.
  • the floating portion is disposed to be floatable relative to the base, and the floating portion is provided with at least one first positioning mechanism and at least one second positioning mechanism, the first positioning mechanism being configured to be capable of passing the floating
  • the floating of the portion completes the docking with the body member of the vehicle to be replaced, and the second positioning mechanism is configured to be able to complete the docking with the power battery of the vehicle to be replaced by the floating of the floating portion.
  • the floating portion includes at least one floating plate and a floating platform connected to the at least one floating plate, the at least one first positioning mechanism and the at least one second positioning mechanism Both are disposed on the floating platform.
  • the first positioning mechanism includes a driving unit and a positioning unit, and the driving unit is configured to be capable of driving the positioning unit to move.
  • the driving unit is an electric cylinder, a cylinder or a screw stepping motor; and/or the positioning unit is a first positioning pin.
  • the second positioning mechanism is a second positioning pin, and the second positioning pin is fixedly connected to the floating platform.
  • the floating portion includes a plurality of floating plates, each of the floating plates is configured with a plurality of first limiting members, and the first limiting members are configured to allow the floating The board floats in the 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 disposed such that the floating plate and the base cannot be vertical The direction moves relatively.
  • 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 is further provided with a plurality of reset members, and the reset member is connected to the floating plate for adjusting the 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 being docked with the body of the vehicle to be replaced after the first positioning mechanism After the second positioning mechanism is docked with the power battery of the vehicle to be replaced, the power battery is unlocked.
  • 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 unlocking a floating docking device, the floating docking device includes an unlocking mechanism, and the unlocking method includes:
  • the second positioning mechanism is docked with the power battery in a case where the first positioning mechanism is not in contact with the vehicle body of the to-be-returned vehicle;
  • the unlocking mechanism is caused to unlock the power battery.
  • the invention also provides a locking method for a floating docking device, the floating docking device comprising an unlocking mechanism, the locking method comprising:
  • the unlocking mechanism locks the power battery docked with the second positioning mechanism to the to-be-returned vehicle.
  • the present invention also provides a method for adding and unlocking a floating docking device, the floating docking device includes an unlocking mechanism, and the unlocking method includes:
  • the unlocking mechanism is caused to unlock the depleted power battery
  • the unlocking mechanism is caused to lock the fully-powered power battery to the to-be-returned vehicle.
  • the floating docking device includes a base and a floating portion, the floating portion is disposed to be floatable relative to the base, and the floating portion is provided with at least one first positioning mechanism and At least one second positioning mechanism, the first positioning mechanism is configured to be capable of completing the docking with the body of the vehicle to be replaced (such as the chassis) by floating of the floating portion, and the second positioning mechanism is configured to be capable of being completed by floating of the floating portion Docking of the power battery of the vehicle to be replaced.
  • 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 first positioning mechanism and the at least one second positioning mechanism are both disposed on the floating platform.
  • the second positioning mechanism can complete the loss of the floating platform by the floating platform and the power loss of the vehicle to be replaced.
  • the docking of the power battery further enables the power-changing robot to successfully unload the power battery that is depleted; and when the power battery is fully charged, the fully-powered power battery can be fixed at the floating platform by docking with the second positioning mechanism.
  • the first positioning mechanism can complete the docking with the vehicle body of the vehicle to be replaced by the floating of the floating platform, thereby determining the installation position of the fully charged power battery.
  • the floating docking device of the invention Since the first positioning mechanism and the second positioning mechanism are both disposed on the floating platform, the relative positions of the two are fixed, and thus the installation position determined by the positioning manner is also fixed. That is to say, through the floating portion and the arrangement of the first positioning mechanism and the second positioning mechanism on the floating portion, the floating docking device of the invention has high positioning precision and good running stability, and solves the problem of the existing power-changing robot changing power The problem of low precision and poor stability greatly improves the user's power exchange experience.
  • FIG. 1 is a schematic structural view of a floating docking device of the present invention
  • Figure 2 is a front elevational view of the floating docking device of the invention
  • FIG. 3 is a schematic structural view of the floating docking device of the present invention after removing the floating platform
  • FIG. 4 is a schematic structural view of a first positioning mechanism of the floating docking device of the present invention.
  • Figure 5 is a partial enlarged view of Figure 2 at A;
  • Figure 6 is a cross-sectional view of Figure 3 at B-B;
  • Figure 7 is a partial enlarged view of Figure 3 at C;
  • 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 method for adding and unlocking a 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, first positioning mechanism; 1231, driving unit; Positioning unit; 1233, guide rod; 124, second positioning mechanism; 125, unlocking mechanism; 126, support member; 127, first limiting member; 128, second limiting member; 129, reset member; ; 1292, fastening screws; 2, body; 3, walking device; 4, battery transfer device; 41, power roller group; 42, no power roller group.
  • 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 front view of the floating docking device of the present invention
  • FIG. 3 is a floating docking device of the present invention. Schematic diagram of the structure behind the platform.
  • the floating docking device 1 of the present invention mainly includes a base 11 and a floating portion 12 .
  • the floating portion 12 is disposed to be floatable relative to the base 11 and includes at least one floating plate 122 and a floating platform 121 connected to the at least one floating plate 122.
  • the floating plate 122 is fixedly connected to the floating platform 121, and the floating platform 121 At least one first positioning mechanism 123, at least one second positioning mechanism 124, and an unlocking mechanism 125 are disposed thereon.
  • the first positioning mechanism 123 is configured to be able to complete the docking with the vehicle body (such as the chassis) of the vehicle to be exchanged by the floating of the floating portion 12; the second positioning mechanism 124 is configured to be capable of fully charging the battery compartment of the charging station The docking of the battery, or the floating of the floating portion 12 to complete the docking of the power battery on the vehicle to be replaced; the unlocking mechanism 125 is configured to be able to connect the second positioning mechanism 124 to the depleted power battery, The depleted power battery is unlocked, or after the first positioning mechanism 123 is docked with the body of the vehicle to be replaced, the fully charged power battery is locked.
  • the second positioning mechanism 124 located on the floating portion 12 completes the docking with the power battery that is depleted on the vehicle to be replaced by the floating of the floating portion 12, and after the insertion, The unlocking mechanism 125 unlocks the depleted power battery, and the depleted power battery is removed.
  • the fully-powered power battery can be fixed to the floating platform 121 through the docking with the second positioning mechanism 124, and the first positioning mechanism 123 can be completed by the floating of the floating platform 121 and the power to be replaced.
  • the unlocking mechanism 125 completes the locking operation of the fully charged power battery to complete the full power battery. installation.
  • the present invention can separately disassemble the depleted power battery and install the full power.
  • the disassembly position and the installation position of the battery are accurately determined, thereby improving the positioning accuracy and the running stability of the floating docking device 1, and solving the problem of low precision and poor stability of the existing power-changing robot. Improved user experience of changing power.
  • FIG. 4 is a schematic structural view of a first positioning mechanism of the floating docking device of the present invention.
  • the floating portion 12 includes a floating platform 121 and a plurality of floating plates 122 .
  • the floating platform 121 and each floating plate 122 are fixedly connected by a plurality of supporting members 126 .
  • a plurality of first positioning mechanisms 123, a plurality of second positioning mechanisms 124, and a plurality of unlocking mechanisms 125 are fixedly coupled to the floating platform 121. Referring to FIG.
  • the floating portion 12 includes two floating plates 122, and the floating platform 121 is screwed with each of the floating plates 122 by eight columnar supporting members 126 (such as using screws) The members 126 are connected to the floating platform 121 and the floating plate 122, respectively).
  • the floating platform 121 is provided with two first positioning mechanisms 123 , two second positioning mechanisms 124 and ten unlocking mechanisms 125 .
  • the first positioning mechanism 123 further includes a driving unit 1231 and a positioning unit 1232 .
  • the driving unit 1231 preferably adopts a screw stepping motor, the motor has a built-in rotor with internal threads, and a screw matching the rotor is arranged outside the motor; the positioning unit 1232 preferably adopts a metal positioning pin head (corresponding to the ground of the vehicle to be replaced)
  • the grounding pin hole is disposed at the top end of the screw, and two guiding rods 1233 are connected to both sides of the positioning pin head to ensure the movement precision and the movement stability of the screw.
  • the second positioning mechanism 124 preferably employs a second positioning pin, such as a cylindrical metal positioning pin with a chamfer on the top (a positioning pin hole is correspondingly disposed on the power battery), and the metal positioning pin is fixedly coupled to the floating platform 121.
  • the unlocking mechanism 125 includes a servo motor and an unlocking head (such as a hexagonal lock) disposed on the output shaft of the servo motor.
  • the above arrangement has the advantages that: when the power battery is depleted, two cylindrical metal positioning pins with chamfers are arranged on the floating platform 121, and the floating platform 121 can be used to complete the positioning on the power battery that is depleted.
  • the pin holes are docked to determine the unlocking position, and the unlocking device can smoothly complete the disassembly of the depleted power battery to ensure the disassembly stability of the floating docking device 1.
  • the fully-powered power battery can first be docked with the cylindrical metal positioning pin through the positioning pin hole to achieve positioning on the floating platform 121, and then the two screw stepping motors are driven by the rotation of the rotor.
  • the metal positioning pin head on the screw and the screw completes the docking of the two docking pin holes of the chassis of the vehicle to be replaced under the floating of the floating platform 121, and the mounting position of the fully charged power battery on the chassis of the vehicle is determined, so that The unlocking device can smoothly complete the installation of the fully charged power battery, and improve the positioning and installation accuracy of the floating docking device 1.
  • the number of the floating plates 122 may also be set to one or four; the number of the unlocking mechanisms 125 is four or eight, and the driving device selects a cylinder or a screw stepping motor, and the unlocking head is a hex lock;
  • the unit 1231 may also be a cylinder or an electric cylinder; the positioning unit 1232 may also be a positioning hole (a corresponding positioning pin head is disposed on the chassis of the automobile); the second positioning unit 1232 may also select a conical/rectangular positioning pin; the floating platform 121 and the floating plate Welding or integral molding is used between 122.
  • FIG. 5 is a partial enlarged view of Fig. 2 at A.
  • each of the two floating plates 122 and the base 11 is floated by a plurality of first limiting members 127 and at least one second limiting member 128.
  • the first limiting member 127 is disposed to allow the floating plate 122 to float in a horizontal plane
  • the second limiting member 128 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 127 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 128 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 127 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 127 can also be fixedly coupled to the floating plate 122;
  • the second limiting member The 128 may also be a member such as a rivet or the like that 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 .
  • the lateral portion of the L-shaped 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 129 for The floating plate 122 is automatically returned after being floated.
  • the reset member 129 includes a spring 1291 and a fastening screw 1292 disposed between the base 11 and the floating plate 122, and the fastening screw 1292 is used to adjust the preload of the spring 1291.
  • восем ⁇ reset members 129 are disposed on each of the floating plates 122, and two are disposed on each side.
  • a connecting hole or a counterbore hole is disposed on a side of the floating plate 122.
  • a corresponding connecting hole and a counterbore hole in the base 11 are respectively provided with a cylindrical bracket 111 and an L-shaped bracket 112.
  • One end of the spring 1291 of a portion of the reset member 129 extends into the cylindrical bracket 111 through the connecting hole, and the other end is fastened in the connecting hole by the fastening screw 1292; the other end of the spring member 1291 of the reset member 129 extends into the counterbore hole, and the other end passes through A fastening screw 1292 is coupled to the L-shaped bracket 112.
  • 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 4241 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 of the foregoing embodiment, and is fixed to the robot body 2 by a lifting mechanism. If the lifting mechanism 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 then the first positioning mechanism 123 and the second positioning mechanism 124 on the floating platform 121 respectively complete the positioning pin holes of the power battery under the floating of the floating plate 122 relative to the base 11.
  • the plugging of the docking hole on the chassis of the vehicle to be replaced finally realizes the disassembly of the depleted power battery and the installation of the fully charged power battery.
  • FIG. 9 is a flowchart of a method for adding and unlocking the floating docking device 1 of the present invention. As shown in FIG. 9 , the present invention also provides a method for adding and unlocking the floating docking device 11 , the method mainly includes:
  • the second positioning mechanism 124 is docked with the power battery that is depleted, such as a cylindrical metal positioning pin and a power pin of the power battery that is depleted.
  • the hole is mated and inserted, and after the plugging is completed, the unlocking mechanism 125 is also docked with the fastening bolt on the power battery that is depleted;
  • the second positioning mechanism 124 is docked with the fully charged power battery. If the power battery is replaced with a fully charged power battery, the floating docking device 1 is coupled with the fully charged power battery through the cylindrical metal positioning pin. , completing the fixing of the fully charged power battery on the floating docking device 1;
  • the first positioning mechanism 123 is docked with the body of the vehicle to be replaced, and the insertion pin hole of the metal positioning pin head and the chassis of the vehicle to be replaced is completed by way of a screw stepping motor jacking metal positioning pin head. After being connected and plugged in, the fully charged power battery is in a position that can be directly locked;
  • the unlocking mechanism 125 is configured to lock the fully-powered power battery to the vehicle to be replaced, for example, after the docking is completed, the unlocking mechanism 125 directly The fastening bolt is locked to complete the installation of the fully charged power battery on the vehicle body.
  • 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 rough positioning and lifting of the parking platform 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 replaced in the vertical direction is completed ⁇ cutting
  • the driving frame lifts the floating docking device 1 so that the cylindrical metal positioning pin is inserted into the positioning pin hole of the power battery of the power battery through the floating of the floating platform 121 relative to the base 11 ⁇ after the plugging is completed, the unlocking mechanism 125 is deficient
  • the electric power battery is unlocked, and the power battery falls on the floating platform 121 ⁇ the scissor drive frame causes the floating docking device 1 to descend, completes the disassembly of the depleted power battery ⁇ the power exchange robot leaves the power exchange position to reach the battery rack, and the scissor drive frame
  • the floating docking device 1 continues to descend, and the depleted power battery falls on the battery transfer device 4, and under the guidance of the driving of the power roller group 41 of

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

一种浮动对接装置（1）、换电机器人以及加锁、解锁和加解锁方法，解决现有换电机器人存在的换电精度低、稳定性差的问题。为此目的，浮动对接装置（1）包括底座（11）和浮动部（12），浮动部（12）设置成能够相对于底座（11）浮动，并且浮动部（12）上设置有至少一个第一定位机构（123）和至少一个第二定位机构（124），第一定位机构（123）设置成能够通过浮动部（12）的浮动来完成与待换电车辆的车身件的对接，第二定位机构（124）设置成能够通过浮动部（12）的浮动来完成与待换电车辆的动力电池的对接。通过第一定位机构（123）和第二定位机构（124）的设置，能够在卸载亏电电池和安装满电电池时完成浮动对接装置（1）与待换电车辆的精准定位，提高换电机器人的定位精度和换电稳定性。

Description

浮动对接装置、换电机器人以及加锁、解锁和加解锁方法 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、换电机器人以及加锁、解锁和加解锁方法。
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、提高定位效率，有一种解决方案是在换电机器人上设置浮动平台和位置固定装置(如气缸)，在换电机器人通过浮动平台的浮动与动力电池对准时，位置固定装置顶住浮动平台进而在摩擦力的作用下浮动平台相对于换电机器人保持固定，即卸载亏电动力电池时位置被记录下来。这样一来，在安装满电电池时，便可以直接按照记录下来的位置进行安装，无需再次定位。虽然上述设置方式一定程度上提高了定位效率，但是在实际应用过程中也存在着一定的问题。首先，在换电机器人行走及升降过程中浮动平台有很大几率会由于摩擦力不足而产生窜动，导致被记录的位置出现偏差，进而在安装满电电池的过程中会由于偏差而导致安装失败或损坏电池等问题，影响换电稳定性。其次，如果亏电电池安装位置本身存在偏差，那 么在利用被记录的位置安装满电电池时，满电电池的安装位置同样会存在偏差，进而容易导致电池和车身的安装结构损坏，留下安全隐患。也就是说，现有的换电机器人存在换电精度低、稳定性差的问题。
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，即为了解决现有换电机器人存在的换电精度低、稳定性差的问题，本发明提供了一种浮动对接装置，所述浮动对接装置包括底座和浮动部，所述浮动部设置成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第一定位机构和至少一个第二定位机构，所述第一定位机构设置成能够通过所述浮动部的浮动来完成与待换电车辆的车身件的对接，所述第二定位机构设置成能够通过所述浮动部的浮动来完成与待换电车辆的动力电池的对接。
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，所述至少一个第一定位机构和所述至少一个第二定位机构均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，所述第一定位机构包括驱动单元和定位单元，所述驱动单元设置成能够驱动所述定位单元移动。
在上述浮动对接装置的优选技术方案中，所述驱动单元为电缸、气缸或丝杆步进电机；并且/或者所述定位单元为第一定位销。
在上述浮动对接装置的优选技术方案中，所述第二定位机构为第二定位销，所述第二定位销与所述浮动平台固定连接。
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，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使所述浮动板与所述底座无法沿竖直方向相对移动。
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。
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成能够在所述第一定位机构与待换电车辆的车身对接后或所述第二定位机构与待换电车辆的动力电池对接后，对所述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浮动对接装置的解锁方法，所述浮动对接装置包括加解锁机构，所述解锁方法包括：
在所述第一定位机构与所述待换电车辆的车身不对接的情形下，使所述第二定位机构与动力电池对接；
在所述第二定位机构与动力电池对接完成后，使所述加解锁机构对所述动力电池解锁。
本发明还提供了一种浮动对接装置的加锁方法，所述浮动对接装置包括加解锁机构，所述加锁方法包括：
使所述第一定位机构与所述待换电车辆的车身对接；
在所述第一定位机构与所述待换电车辆的车身对接完成后，使所述加解锁机构将与所述第二定位机构对接好的动力电池加锁至所述待换电车辆。
本发明还提供了一种浮动对接装置的加解锁方法，所述浮动对接装置包括加解锁机构，所述加解锁方法包括：
使所述第二定位机构与亏电的动力电池对接；
在所述第二定位机构与所述亏电的动力电池对接完成后，使所述加解锁机构对所述亏电的动力电池解锁；
使所述第二定位机构与满电的动力电池对接；
使所述第一定位机构与所述待换电车辆的车身对接；
在所述第一定位机构与所述待换电车辆的车身对接完成后，使所述加解锁机构将所述满电的动力电池加锁至所述待换电车辆。
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和浮动部，浮动部设置成能够相对于底座浮动，并且浮动部上设置有至少一个第一定位机构和至少一个第二定位机构，第一定位机构设置成能够通过浮动部的浮动来完成与待换电车辆的车身(如底盘)的对接，第二定位机构设置成能够通过浮动部的浮动来完成与待换电车辆的动力电池的对接。浮动部包括至少一个浮动板以及与至少一个浮动板连接的浮动平台，至少一个第一定位机构和至少一个第二定位机构均设置在浮动平台上。通过在浮动平台上设置至少一个第一定位机构和至少一个第二定位机构，本发明在卸载亏电的动力电池时，第二定位机构能够通过浮动平台的浮动完成与待换电车辆上亏电的动力电池的对接，进而使换电机器人成功卸载亏电的动力电池；而在安装满电的动力电池时，满电的动力电池能够通过与第二定位机构的对接完成在浮动平台的位置固定，第一定位机构能够通过浮动平台的浮动完成与待换电车辆的车身的对接，进而确定满电的动力电池的安装位置。由于第一定位机构与第二定位机构均设置在浮动平台上，二者的相对位置固定不变，因此这种定位方式确定的安装位置也固定不变。也就是说，通过浮动部以及浮动部上第一定位机构与第二定位机构的设置，使得本发明的浮动对接装置定位精度高，运行稳定性好，解决了现有换电机器人存在的换电精度低、稳定性差的问题，大大改善了用户的换电体验。
附图说明
下面参照附图并结合带有轨道导引型换电机器人的充换电站来描述本发明的浮动对接装置、换电机器人以及加锁、解锁和加解锁方法。附图中：
图1为本发明的浮动对接装置的结构示意图；
图2为发明的浮动对接装置的主视示意图；
图3为本发明的浮动对接装置去除浮动平台后的结构示意图；
图4为本发明的浮动对接装置的第一定位机构的结构示意图；
图5为图2在A处的局部放大图；
图6为图3在B-B处的剖视图；
图7为图3在C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加解锁方法的流程图。
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、第一定位机构；1231、驱动单元；1232、定位单元；1233、导向杆；124、第二定位机构；125、加解锁机构；126、支撑构件；127、第一限位构件；128、第二限位构件；129、复位构件；1291、弹簧；1292、紧固螺钉；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。
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，例如，虽然附图中的浮动平台上设置有两个第一定位机构，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为发明的浮动对接装置的主视示意图；图3为本发明的浮动对接装置去除浮动平台后的结构示意图。
如图1至图3所示，为了解决现有技术中换电机器人的换电精度低、稳定性差的问题，本发明的浮动对接装置1主要包括底座11和浮动部12。浮动部12设置成能够相对于底座11在一定的范围内浮动，其包括至少一个浮动板122以及与至少一个浮动板122连接的浮动平台121，浮动板122与浮动平台121固定连接，浮动平台121上设置有至少一个第一定位机构123、至少一个第二定位机构124以及加解锁机构125。第一定位机构123设置成能够通过浮动部12的浮动来完成与待换电车辆的车身(如底盘)的对接；第二定位机构124设置成能够与充换电站的电池仓中满电的动力电池的对接，或者通过浮动部12的浮动来完成与待换电车辆上亏电的动力电池的对接；加解锁机构125设置成能够在第二定位机构124与亏电的动力电池对接后，对亏电的动力电池进行解锁，或者在第一定位机构123与待换电车辆的车身对接后，对满电的动力电池进行加锁。
上述设置方式，在拆卸亏电的动力电池时，位于浮动部12上的第二定位机构124通过浮动部12的浮动完成与待换电车辆上亏电的动力电池的对接，插合好后，加解锁机构125对亏电的动力电池进行解锁，进而亏电的动力电池被卸下。在后续安装满电的动力电池时，满电的动力电池能够通过与第二定位机构124的对接完成在浮动平台121的固定，第一定位机构123能够通过浮动平台121的浮动完成与待换电车辆的底盘的对接，进而确定满电的动力电池在待换电车辆底盘上的精确 安装位置，此时加解锁机构125通过对满电的动力电池进行加锁动作，完成满电的动力电池的安装。
通过上述描述可以看出，通过在换电平台上设置与车身对接的第一定位机构123以及与动力电池对接的第二定位机构124，本发明能够在分别拆卸亏电的动力电池以及安装满电的动力电池时，精准地确定电池的拆卸位置和安装位置，从而提高浮动对接装置1的定位精度和运行稳定性，解决了现有换电机器人存在的换电精度低、稳定性差的问题，大大改善了用户的换电体验。
下面参照图1、图3和图4，具体阐述本发明的原理，其中图4为本发明的浮动对接装置的第一定位机构的结构示意图。如图1、图3和图4所示，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126固定连接。浮动平台121上固定连接有多个第一定位机构123、多个第二定位机构124以及多个加解锁机构125。参照图3，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之间通过八个柱状的支撑构件126螺接(如使用螺钉将支撑构件126分别与浮动平台121和浮动板122连接)。参照图1和图4，浮动平台121上设置有两个第一定位机构123、两个第二定位机构124和十个加解锁机构125，第一定位机构123进一步包括驱动单元1231和定位单元1232，驱动单元1231优选地采用丝杆步进电机，电机内置一个带内螺纹的转子，电机外设置与转子匹配的螺杆；定位单元1232优选地采用金属定位销头(待换电车辆的地盘上对应地设置有对接销孔)，金属定位销头安装在螺杆的顶端，并且定位销头两侧还连接有两根导向杆1233用以保证螺杆的移动精度和移动稳定性。第二定位机构124优选地采用第二定位销，如顶部带有倒角的圆柱金属定位销(动力电池上对应地设置有定位销孔)，该金属定位销与浮动平台121固定连接。加解锁机构125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)。
上述设置方式的优点在于：在拆卸亏电的动力电池时，浮动平台121上设置两个带有倒角的圆柱金属定位销可以通过浮动平台121的浮动完成与亏电的动力电池上设置的定位销孔的对接，以确定加解锁位置，进而加解锁装置能够顺利地完成对亏电的动力电池的拆卸，保证浮动对接装置1的拆卸稳定性。在安装满电的动力电池时，满电的动力 电池首先能够通过定位销孔与圆柱金属定位销完成对接，实现在浮动平台121上的定位，然后两个丝杆步进电机通过转子的转动带动螺杆和螺杆上的金属定位销头在浮动平台121的浮动下完成与待换电车辆的底盘的两个对接销孔的对接，进而满电的动力电池在汽车底盘上的安装位置得以确定，以便加解锁装置能够顺利地完成对满电的动力电池的安装，提高浮动对接装置1定位与安装精度。
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合理地调整，只要该调整使得浮动对接装置11能够顺利完成与待换电车辆的车身和动力电池的对接，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；加解锁机构125数量为四个或八个，其驱动装置选用气缸或丝杆步进电机、加解锁头为外六角锁头；驱动单元1231还可以选用气缸或电缸；定位单元1232还可以为定位孔(对应的汽车底盘上设置定位销头)；第二定位单元1232还可以选用圆锥/矩形定位销；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5，其中，图5为图2在A处的局部放大图。如图2、图3和图5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127和至少一个第二限位构件128实现浮动，其中第一限位构件127设置为允许浮动板122在水平面内浮动，第二限位构件128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5，优选地，第一限位构件127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128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127与第二限位构件128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127还可以是万向轮等可使浮动板122实现自由浮动的构件，并且第一限位构件127的基座还可以固定连接于浮动板122上；第二限位构件128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3、图6和图7，其中，图6为图3在B-B处的剖视图；图7为图3在C处的局部放大图。如图3、图6和图7所示，为实现浮动对接装置1浮动后的自动复位，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129，用于浮动板122在浮动后的自动回位。优选地，复位构件129包括弹簧1291和紧固螺钉1292，弹簧1291设置于底座11与浮动板122之间，紧固螺钉1292则用于调节弹簧1291的预紧力。结合图3所示，每个浮动板122上设置有八个复位构件129，每个侧面分别设置两个。结合图6和图7，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129的弹簧1291一端通过连接孔伸入圆柱支架111，另一端通过紧固螺钉1292紧固于连接孔中；另一部分的复位构件129的弹簧1291一端伸入沉头孔，另一端通过紧固螺钉1292与L型支架112连接。如此一来，在第一定位机构123通过浮动板122的浮动来完成与接合构件(例如接合构件为换电车辆底盘上的定位孔)的插合时，各个弹簧1291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1291的预紧力确定的位置。
当然上述复位构件129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4241，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为本实施例前述的浮动对接装置1，其通过升降机构固定于机器人本体2上。如升降机构为剪 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上的第一定位机构123和第二定位机构124在浮动板122相对于底座11的浮动下分别完成与动力电池的定位销孔和待换电车辆底盘上的对接孔的插接，最终实现亏电的动力电池的拆卸与满电的动力电池的安装。
下面参照图9，图9为本发明的浮动对接装置1的加解锁方法的流程图。如图9所示，本发明还提供了一种浮动对接装置11的加解锁方法，该方法主要包括：
S100、在第一定位机构123与待换电车辆的车身不对接的情形下，使第二定位机构124与亏电的动力电池对接，如通过圆柱金属定位销与亏电的动力电池的定位销孔配合插接，插接好后加解锁机构125与亏电的动力电池上的紧固螺栓也对接完成；
S200、在第二定位机构124与亏电的动力电池对接完成后，使加解锁机构125对亏电的动力电池解锁，如加解锁机构125直接对动力电池解锁；
S300、使第二定位机构124与满电的动力电池对接，如将亏电的动力电池更换为满电的动力电池后，浮动对接装置1通过圆柱金属定位销与满电的动力电池配合插接，完成满电的动力电池在浮动对接装置1上的固定；
S400、使第一定位机构123与待换电车辆的车身对接，如通过丝杆步进电机顶升金属定位销头的方式完成金属定位销头与待换电车辆底盘上的对接销孔的插接，并且插接好后，满电的动力电池处于可直接加锁的位置；
S500、在第一定位机构123与待换电车辆的车身对接完成后，使加解锁机构125将满电的动力电池加锁至待换电车辆，如在对接完成后，加解锁机构125直接对紧固螺栓加锁，进而完成满电的动力电池在车身上的安装。
由上述方法可以看出，在卸载亏电的动力电池时，只需要第二定位机构124与动力电池插合连接，便可完成对亏电的动力电池的解锁；在安装满电的动力电池时，满电的动力电池先通过第二定位机构124与浮动对接装置1定位，然后浮动对接装置1通过第一定位机构123与待换电车辆的底盘实现插接定位，进而间接完成了满电的动力电池与汽 车底盘的定位，克服了现有技术中换电机器人存在的换电精度低、稳定性差的问题，提高了浮动对接装置1的定位精度和换电稳定性，改善了换电体验。
参照图9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，完成在停车平台的粗定位和举升→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，使圆柱金属定位销通过浮动平台121相对于底座11的浮动完成与亏电的动力电池的定位销孔配合插接→插接完成后，加解锁机构125对亏电的动力电池解锁，动力电池落在浮动平台121→剪式驱动架使浮动对接装置1下降，完成对亏电的动力电池的拆卸→换电机器人离开换电位置到达电池架，剪式驱动架使浮动对接装置1继续下降，亏电的动力电池落在电池转运装置4上，在电池转运装置4的动力辊筒组41的驱动和无动力辊筒组4241的导向下，将亏电的动力电池更换为满电的动力电池→剪式驱动架顶升浮动对接装置1，圆柱金属定位销与满电的动力电池的定位销孔完成插接定位→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→剪式驱动架继续顶升浮动对接装置1，同时丝杆步进电机顶升金属定位销头，金属定位销头在浮动平台121的浮动下完成与待换电车辆底盘上的对接销孔的插接→插接好后，满电的动力电池已经处于加解锁位置，加解锁机构125直接对满电的动力电池的进行加锁→剪式驱动架使浮动对接装置1下降，浮动板122在复位构件129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 (16)

  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和浮动部，所述浮动部设置成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第一定位机构和至少一个第二定位机构，所述第一定位机构设置成能够通过所述浮动部的浮动来完成与待换电车辆的车身的对接，所述第二定位机构设置成能够通过所述浮动部的浮动来完成与待换电车辆的动力电池的对接。
  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，所述至少一个第一定位机构和所述至少一个第二定位机构均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，所述第一定位机构包括驱动单元和定位单元，所述驱动单元设置成能够驱动所述定位单元移动。
  4. 根据权利要求3所述的浮动对接装置，其特征在于，所述驱动单元为电缸、气缸或丝杆步进电机；并且/或者所述定位单元为第一定位销。
  5. 根据权利要求3所述的浮动对接装置，其特征在于，所述第二定位机构为第二定位销，所述第二定位销与所述浮动平台固定连接。
  6. 根据权利要求5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，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。
  7. 根据权利要求6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。
  8. 根据权利要求6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使所述浮动板与所述底座无法沿竖直方向相对移动。
  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。
  10. 根据权利要求9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。
  11. 根据权利要求10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。
  12. 根据权利要求1至11中任一项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成能够在所述第一定位机构与待换电车辆的车身对接后或所述第二定位机构与待换电车辆的动力电池对接后，对所述动力电池进行加解锁。
  13. 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12中任一项所述的浮动对接装置。
  14. 一种权利要求12所述的浮动对接装置的解锁方法，其特征在于，所述解锁方法包括：
    在所述第一定位机构与所述待换电车辆的车身不对接的情形下，使所述第二定位机构与动力电池对接；
    在所述第二定位机构与动力电池对接完成后，使所述加解锁机构对所述动力电池解锁。
  15. 一种权利要求12所述的浮动对接装置的加锁方法，其特征在于，所述加锁方法包括：
    使所述第一定位机构与所述待换电车辆的车身对接；
    在所述第一定位机构与所述待换电车辆的车身对接完成后，使所述加解锁机构将与所述第二定位机构对接好的动力电池加锁至所述待换电车辆。
  16. 一种权利要求12所述的浮动对接装置的加解锁方法，其特征在于，所述加解锁方法包括：
    使所述第二定位机构与亏电的动力电池对接；
    在所述第二定位机构与所述亏电的动力电池对接完成后，使所述加解锁机构对所述亏电的动力电池解锁；
    使所述第二定位机构与满电的动力电池对接；
    使所述第一定位机构与所述待换电车辆的车身对接；
    在所述第一定位机构与所述待换电车辆的车身对接完成后，使所述加解锁机构将所述满电的动力电池加锁至所述待换电车辆。
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