CN102328636B - Passenger vehicle electricity-changing platform system capable of realizing automatic attitude adjustment and vehicle positioning - Google Patents
Passenger vehicle electricity-changing platform system capable of realizing automatic attitude adjustment and vehicle positioning Download PDFInfo
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Abstract
The invention discloses a passenger vehicle electricity-changing platform system capable of realizing automatic attitude adjustment and vehicle positioning. The system comprises an electricity-changing platform, and a quick changing robot and a charging frame which are matched with the electricity-changing platform, wherein the electricity-changing platform and the quick changing robot are connected with a control system; the electricity-changing platform is a hollow trapezoid platform body; the horizontal part of the electricity-changing platform is provided with a horizontally deviation-correcting rotary circular ring and an auxiliary vehicle body positioning device; a freely lifting circular disc is embedded into the horizontally deviation-correcting rotary circular ring; the horizontally deviation-correcting rotary circular ring and the freely lifting circular disc are connected with respective driving devices; and the driving devices are connected with the control system. The control system receives a real-time vehicle body position transmitted by a sensor and drives the horizontally deviation-correcting circular ring structure to rotate and the vertically lifting circular disc structure to do lifting motion, so that an electric passenger vehicle is accurately positioned; and the whole design is more skillful, and the operation reliability and accuracy of the system are higher.
Description
Technical field
The present invention relates to a kind of for electric passenger vehicle accurately the location change the level platform, relate in particular to that fixing the realized attitude in a kind of adjustment for the electric passenger vehicle attitude and position is adjusted automatically and the manned vehicle of vehicle location changes level platform system.
Background technology
Electronlmobil is as a kind of new traffic tool, have the advantages such as " zero-emission ", energy source be wide, being to alleviate the important means that the China's oil resource is nervous, the urban atmospheric pollution problem is serious, is to advance transport development mode to change the effective carrier of propulsion energy-saving emission reduction work.Yet the backwardness of associated batteries technology and charging technique becomes the bottleneck of latent electricity electrical automobile industry development, and national governments and enterprise work hard and improve the supporting infrastructure industry of electronlmobil.At present, the electric automobile energy supply mainly contains car load charging and machinery changes electric two large classes.The charging duration that the car load charging needs is longer, and easily grid side is produced harmonic pollution, and therefore, this pattern has very large drawback.In contrast to this, it is simple to operate that machinery changes electricity, can in 5 minutes, finish the quick-replaceable of manned vehicle battery pack, simultaneously, can utilize the concentrated charging of carrying out battery pack night, realized " peak-clipping and valley-filling " of electric load, improved the comprehensive utilization ratio of electrical equipment, obtained giving more sustained attention of researchist.
In published patent of invention CN200910090807.8, introduced a kind of method for the chassis of electric passenger vehicle battery altering, belong to machinery and change a kind of of electric mode.The mode that its robot changes electricity is: four rigidity lifting fulcrums are arranged at the electric passenger vehicle bottom, and the lifting actuating equipment is with the suitable height of electric passenger vehicle fixed pedestal to tire liftoff.Can't satisfy in this lifting process before and after the electric passenger vehicle and about the location, the error of both direction is larger, and does not have corresponding quasi-complement measure, causes more exchange device to realize that the feasibility of automatically replacing battery is not high.
Summary of the invention
Purpose of the present invention is exactly the defects for prior art, provides a kind of and has realized that attitude is automatically adjusted and the manned vehicle of vehicle location changes level platform system, and it is easy to use, and the needs of electronlmobil quick-replaceable battery have been satisfied in accurate positioning.
For achieving the above object, the present invention adopts following technical scheme:
A kind of manned vehicle of the automatic adjustment of attitude and vehicle location of realizing changes level platform system, it comprise change the level platform and with the Quick change robot and the charging rack that change the level platform and match, changing the level platform is connected with control system with Quick change robot and is connected, describedly change the trapezoidal stage body that the level platform is a hollow out, be provided with the rotating ring that level is rectified a deviation at the horizontal position that changes the level platform, the disk of setting-in free lifting on the rotating ring of level correction; Also be provided with auxiliary device for positioning body of vehicle at this horizontal position; The rotating ring of level correction is connected disk and is connected with separately actuating device respectively with free lifting, actuating device is connected with control system.
The left and right sides guide wire that described auxiliary device for positioning body of vehicle is X-direction and the front and back guide wire of Y-direction and wheel guide groove.
The lower end of the rotating ring of described level correction is furnished with rotating ring servomotor and fan-shaped big gear wheel and linked set; The wherein fan-shaped big gear wheel rotation of rotating ring driven by servomotor, the annulus rotation that described fan-shaped big gear wheel is rectified a deviation by the miniature gears drive level that cooperates with it; Control system is connected with the rotating ring servomotor.
The disk of described free lifting is positioned at the rotating ring inside of level correction, and the lower end is furnished with lifting disk servomotor and worm and gear and linked set; Wherein lifting disk servomotor drives the worm screw rotation, with the dipping and heaving of the disk of realizing free lifting.
The described level platform that changes also is provided with the car body position detecting module, and it comprises being arranged on changes level platform front end and two laser range sensors are set and are arranged on the left and right sides, relatively arranges four laser range sensors, and each laser range sensor is connected with control system.
Described rotating ring servomotor and lifting disk servomotor are AC servo motor, and they are connected with separately coder, and each coder connects with corresponding actuator, and each actuator then is connected with control system.
Described control system comprises the PLC controller that upper computer and upper computer connect, and it is connected with each laser range sensor by the CAN bus; Each actuator, coder and Quick change robot also are connected with the PLC controller.
The manned vehicle of the automatic adjustment of attitude and vehicle location of realizing of the present invention changes the level platform, mainly is comprised of machine assembly and two parts of control system.Wherein, but machine assembly comprises can realize the guiding structural that changes level platform, auxiliary car body location of battery altering, the rotating ring structure that can realize the correction of car body level and the disc structure of easy on and off lifting.
But change the engraved structure that the level platform adopts lateral opening and centre easy on and off lifting disk, can realize insertion and the vertical lifting operation of Quick change robot battery tray.Change guiding structural that auxiliary car body location is arranged on the level platform and the rotating ring structure of car body level correction, cooperate the laser range sensor on the different directions, realize the accurate location of car body.
The guiding structural of auxiliary car body location comprises wheel guide groove, front and back guide wire and left and right sides guide wire.The wheel guide groove can be realized the coarse positioning of car body, and the guide wire accurate location that can realize car body all around.
The rotating ring structure of described realization car body level correction, the lower end is furnished with actuating device and fan-shaped big gear wheel and linked set.Adopt the fan-shaped big gear wheel rotation of driven by servomotor, theory of machines with the rotation of realization level correction annulus, can realize the angle correction and fine setting of car body, each laser range sensor transmits the location information of car body in real time from six direction, control system drives the AC servo motor action, guarantees car body and changes level platform outside keeping parallelism.
But the disc structure of easy on and off lifting, the inside of the rotating ring structure that the level that is positioned at is rectified a deviation, the lower end is furnished with actuating device and worm and gear and linked set.Adopt the rotation of AC servo machinery driving worm screw, to realize the theory of machines of disk free lifting.When electric passenger vehicle sails into when changing the level platform, the rotating ring structure level height of the disk of easy on and off lifting and level correction is consistent.After finishing the accurate location of car body level and front and back position, the disc structure of free lifting drops to desired location, changes the dipping and heaving that the electric machine people realizes the flexible and Z axis of Y-axis, and then finishes the loading or unloading operation of battery pack.
But realize the rotating ring structure of car body level correction and the disc structure of easy on and off lifting, all connect with the AC servo motor that cooperates with it that AC servo motor then is connected with separately coder, each coder and corresponding actuator connection.
Control system comprises PLC controller, electric system and the car body position detecting module that upper computer and upper computer connect.Described PLC controller adopts Siemens S7-300-315PLC controller.The PLC controller is connected with corresponding coder by actuator; The PLC controller is communicated by letter with upper computer by the CAN bus.
Described electric system comprises expansion module, power module, electric power system.
Described car body position detecting module comprises a plurality of laser range sensors, to determine the position all around of car body, communicates by letter with upper computer via the CAN bus.Change level platform front end two laser range sensors be set, about arrange in opposite directions four laser range sensors.
But change the guiding structural that comprises auxiliary car body location on the level platform, the rotating ring structure that realizes the correction of car body level and the disc structure of easy on and off lifting.Electric passenger vehicle reaches with guiding structural and changes the level platform, the actual position of two laser range sensor Real-time Feedbacks of front end car body, and pass to the control system backstage.After vehicle arrives accurately front and back position, still need to carry out the correction of car body level angle.The circular ring structure rotation of level correction, and four laser range sensors about cooperating, the accurate location of realizing the car body horizontal direction.The disc structure of free lifting drops to desired location, changes the dipping and heaving that the electric machine people realizes the flexible and Z axis of Y-axis, and finishes the loading or unloading operation of battery pack.
The invention has the beneficial effects as follows: the manned vehicle platform of the automatic adjustment of the realized attitude that provides and vehicle location, under the cooperation of control system and relevant guiding structural, guaranteed the accurate location of electric passenger vehicle.The car body real time position that the control system receiving sensor transmits, and the rotation of driving level correction circular ring structure and the dipping and heaving of oscilaltion disc structure, the accurate location of having realized electric passenger vehicle.Whole design is more ingenious, and system's reliability of operation and accuracy are higher.
Description of drawings
Fig. 1 is the scheme drawing (front view) of electric passenger vehicle battery replacing overall process in the embodiment of the invention;
Fig. 2 is the birds-eye view that electric passenger vehicle of the present invention changes the level platform;
Fig. 3 is the normal axomometric drawing that electric passenger vehicle of the present invention changes the level platform;
Fig. 4 is the rotating ring constructional drawing of electric passenger vehicle level correction of the present invention;
Fig. 5 is the disc structure figure of electric passenger vehicle free lifting of the present invention;
Fig. 6 is the control system functional block diagram;
Fig. 7 is for changing electricity work diagram of circuit.
Among the figure: 1, change the level platform, 2, Quick change robot, 3, charging rack, 4, the disk of free lifting, 5, the rotating ring of level correction, 6, the front and back guide wire, 7, left and right sides guide wire, 8, wheel guide groove, 9, miniature gears, 10, fan-shaped big gear wheel, 11, worm screw, 12, worm gear, 13, upper computer, 14, PLC controller, 15, the rotating ring actuator, 16, the lifting disc drive, 17, laser range sensor, 18, the rotating ring servomotor, 19, lifting disk servomotor.
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing and embodiment.
Can realize that attitude is adjusted automatically and the manned vehicle of vehicle location changes level platform 1, be formed by machine assembly and two parts of control system.But described machine assembly comprises Quick change robot 2 and changes level platform 1, the guiding structural of auxiliary car body location, the rotating ring 5 that can realize the correction of car body level and the disk 4 of easy on and off lifting.
The described level platform 1 that changes is the trapezoidal high platform structure of hollow out, car body can be risen to certain altitude.But change the disc structure 4 that level platform 1 adopts lateral opening and centre easy on and off lifting, can realize insertion and the vertical lifting operation of Quick change robot 2 battery tray.Change guiding structural that auxiliary car body location is arranged on the level platform 1 and the rotating ring structure 5 of car body level correction, cooperates six laser range sensors 17, the accurate location of realization car body.
The guiding structural of described auxiliary car body location comprises wheel guide groove 8, front and back guide wire 6 and left and right sides guide wire 7.Wheel guide groove 8 on the slope can be realized the coarse positioning of car body, and two guide wires can be realized the direction all around of car body and accurately locate.
The rotating ring structure 5 of described realization car body level correction, the lower end is furnished with rotating ring servomotor 18 and fan-shaped big gear wheel 10 and linked set.Adopt rotating ring servomotor 18 to drive the theory of machines of fan-shaped big gear wheel 10 rotations, can realize the angle correction and fine setting of car body, four laser range sensors 17 arranging in opposite directions about changing on the level platform 1 are transfer car body position information in real time, guarantees car body and to change level platform 1 outside parallel.
But the disk 4 of described easy on and off lifting, the inside of rotating ring 5 structures that the level that is positioned at is rectified a deviation, the lower end is furnished with lifting disk servomotor 19 and worm gear 12, worm screw 11 and linked set.Adopt lifting disk servomotor 19 to drive the theory of machines that worm screw 11 rotates to realize the lifting of disk easy on and off.When electric passenger vehicle sails into when changing level platform 1, the disk 4 of easy on and off lifting is consistent with rotating ring 5 level heights of level correction.After finishing the accurate location of car body level and front and back position, the disk 4 of free lifting drops to desired location, and Quick change robot 2 is realized the dipping and heaving of the flexible and Z axis of Y-axis, and then finishes the loading or unloading operation of battery pack.
The rotating ring 5 of level correction and the disk 4 of free lifting connect with the rotating ring servomotor 18 that cooperates with it, lifting disk servomotor 19 respectively, and each servomotor is connected with corresponding coder, each coder and corresponding actuator connection.
Described control system comprises control module, electric system and the car body position detecting module that upper computer 13 and upper computer connect.
Described control module adopts Siemens S7-300-315PLC controller.PLC controller 14 is connected with corresponding coder by actuator; PLC controller 14 is communicated by letter with upper computer 13 by the CAN bus.
Described actuator can be divided into:
Rotating ring actuator 15, it is connected with rotating ring servomotor 18;
Described electric system comprises expansion module, power module, electric power system.
Described car body position detecting module comprises six laser range sensors 17, determining the position all around of car body, and communicates by letter with upper computer via the CAN bus.Wherein change level platform 1 front end two laser range sensors 17 are set, left and rightly arrange in opposite directions two pairs of laser range sensors 17.
Using method of the present invention:
With reference to explanation accompanying drawing 1, electric passenger vehicle battery replacing overall procedure of the present invention mainly comprises and changes level platform 1, Quick replacing robot for chassis battery 2, charging rack 3.
Under the cooperation of the machine assembly that changes level platform 1 and control system, realized the accurate location of electric passenger vehicle, its location information is delivered to upper computer 13.Operating personal starts Quick change robot 2 by the action button of touch-screen, and control system drives Quick change robot 2 and arrives preposition, and then finishes unloading of whole battery pack.Then, Quick change robot 2 is put into the used batteries that take off the fixed cell of charging rack 3.The fetching process of whole used batteries finishes.
With reference to explanation accompanying drawing 2,3,4,5,6,7, electric passenger vehicle of the present invention changes the birds-eye view of level platform, normal axomometric drawing, the rotating ring constructional drawing of electric passenger vehicle level correction, the disc structure figure of electric passenger vehicle free lifting, control system functional block diagram and change electricity work diagram of circuit.
Workflow of the present invention comprises following key step:
1, electric passenger vehicle reaches along the wheel guide groove 8 of realizing the car body coarse positioning and changes level platform 1.
2, cooperate front and back guide wire 6 and left and right sides guide wire 7, further realize the location, position all around of car body.Change two laser range sensors of level platform 1 front end 17 and transmit in real time car body front and back position information to control system, cooperate the indication green light signals of changing level platform 1 side, guarantee that car body arrives accurate location.
3, the car body real-time position information of transmitting according to four laser range sensors 17 of relatively arranging about changing on the level platform 1, rotating ring servomotor 18 drives fan-shaped big gear wheel 10 rotations, fan-shaped big gear wheel 10 is by cooperating the annulus rotation of miniature gears 9 drive levels correction, finally realizes car body and to change level platform 1 outer parallel.
4, lifting disk servomotor 19 drives worm screw 11 rotations, and the fixing worm gear 12 of cooperation position descends with the disk 4 of realizing free lifting and arrives desired location.
5, the car body location information of Quick change robot 2 receiving control systems transmission is finished the flexible and Z axis dipping and heaving of its Y-axis.Under Quick change robot 2 arrival electric passenger vehicles, the car body mechanical lock is opened, and battery pack falls on the battery tray, and the process that whole pond to be charged group is taken off finishes.
Adopting this to change 1 of level platform needs the cooperation of machine assembly and control system can finish the adjustment of electric passenger vehicle attitude and the accurate location of position.Compare with previous car body artificial lifting way, this design is more ingenious, and system's reliability of operation and accuracy are higher.
Above exemplary illustration is not done concrete the restriction to protection scope of the present invention, and the equivalents of its technical characterictic and/or obvious mode of texturing should drop within protection scope of the present invention.
Claims (7)
1. can realize that attitude is adjusted automatically and the manned vehicle of vehicle location changes level platform system for one kind, it comprise change the level platform and with the Quick change robot and the charging rack that change the level platform and match, changing the level platform is connected with control system with Quick change robot and is connected, it is characterized in that, describedly change the trapezoidal stage body that the level platform is a hollow out, be provided with the rotating ring that level is rectified a deviation at the horizontal position that changes the level platform, the disk of setting-in free lifting on the rotating ring of level correction; Also be provided with auxiliary device for positioning body of vehicle at this horizontal position; The rotating ring of level correction is connected disk and is connected with separately actuating device respectively with free lifting, actuating device is connected with control system.
2. the manned vehicle of the automatic adjustment of attitude and vehicle location of realizing as claimed in claim 1 changes level platform system, it is characterized in that the left and right sides guide wire that described auxiliary device for positioning body of vehicle is X-direction and the front and back guide wire of Y-direction and wheel guide groove.
3. the manned vehicle of the automatic adjustment of attitude and vehicle location of realizing as claimed in claim 1 changes level platform system, it is characterized in that the rotating ring lower end of described level correction is furnished with rotating ring servomotor and fan-shaped big gear wheel and linked set; The wherein fan-shaped big gear wheel rotation of rotating ring driven by servomotor, the annulus rotation that described fan-shaped big gear wheel is rectified a deviation by the miniature gears drive level that cooperates with it; Control system is connected with the rotating ring servomotor.
4. the manned vehicle of the automatic adjustment of attitude and vehicle location of realizing as claimed in claim 1 changes level platform system, it is characterized in that, the disk of described free lifting is positioned at the inside of the rotating ring of level correction, and the lower end is furnished with lifting disk servomotor and worm gear, worm screw and linked set; Wherein lifting disk servomotor drives the worm screw rotation, with the lifting of the disk of realizing free lifting.
5. the manned vehicle of the automatic adjustment of attitude and vehicle location of realizing as claimed in claim 1 changes level platform system, it is characterized in that, the described level platform that changes also is provided with the car body position detecting module, it comprises and is arranged on two laser range sensors that change level platform front end, about two pairs of laser range sensors relatively arranging, each laser range sensor is connected with control system.
6. the manned vehicle of the automatic adjustment of attitude and vehicle location of realizing as claimed in claim 3 changes level platform system, it is characterized in that, described rotating ring servomotor and lifting disk servomotor are AC servo motor, they are connected with separately coder, each coder connects with corresponding actuator, and each actuator is connected with control system.
7. the manned vehicle of the automatic adjustment of attitude and vehicle location of realizing as claimed in claim 1 changes level platform system, it is characterized in that, described control system comprises the PLC controller that upper computer and upper computer connect, and it is connected with each laser range sensor by the CAN bus; Each actuator, coder and Quick change robot also are connected with the PLC controller.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110196057 CN102328636B (en) | 2011-07-13 | 2011-07-13 | Passenger vehicle electricity-changing platform system capable of realizing automatic attitude adjustment and vehicle positioning |
| PCT/CN2011/001682 WO2013006998A1 (en) | 2011-07-13 | 2011-10-08 | Passenger vehicle battery changing platform system achieving automatic attitude adjustment and vehicle positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110196057 CN102328636B (en) | 2011-07-13 | 2011-07-13 | Passenger vehicle electricity-changing platform system capable of realizing automatic attitude adjustment and vehicle positioning |
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| CN102328636A CN102328636A (en) | 2012-01-25 |
| CN102328636B true CN102328636B (en) | 2013-03-20 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102407832A (en) * | 2011-09-28 | 2012-04-11 | 山东电力集团公司临沂供电公司 | Battery replacing platform system for positioning electric passenger vehicle |
| CN102709993A (en) * | 2012-05-16 | 2012-10-03 | 中国海洋大学 | Laser alignment device and method for underwater wireless charging system |
| CN206812968U (en) * | 2017-05-15 | 2017-12-29 | 上海蔚来汽车有限公司 | Homing guidance type electricity changing robot and electric charging station |
| CN207481873U (en) * | 2017-10-31 | 2018-06-12 | 蔚来汽车有限公司 | It changes level platform and the electric charging station of level platform is changed including this |
| EP4212382A4 (en) * | 2021-08-27 | 2024-01-24 | Contemporary Amperex Technology Co., Limited | Battery swapping platform and a battery swapping station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2308531Y (en) * | 1997-09-03 | 1999-02-24 | 财团法人工业技术研究院 | Battery replacing table of electric locomotive |
| CN1204029C (en) * | 1999-10-15 | 2005-06-01 | 财团法人工业技术研究院 | Exchange station for charging battery of electric vehicle |
| GB0323436D0 (en) * | 2003-10-07 | 2003-11-05 | Mccann Martin | Battery arrangement |
| FR2948618B1 (en) * | 2009-07-31 | 2012-01-13 | Renault Sa | DEVICE AND METHOD FOR PLACING DIFFERENT VEHICLES, ESPECIALLY FOR CHANGING BATTERY PACKS |
| CN101870284B (en) * | 2010-06-18 | 2012-11-28 | 崔丽娜 | Automatic battery replacing system of electric automobile and method for automatically replacing battery of electric automobile |
| CN202186365U (en) * | 2011-07-13 | 2012-04-11 | 山东电力研究院 | Passenger car electricity-exchanging platform system capable of realizing automatic posture adjusting and car positioning |
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Effective date of registration: 20220124 Address after: 250003 No. 2000, Wang Yue Road, Shizhong District, Ji'nan, Shandong Patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee after: State Grid Co., Ltd. Address before: 250003 No. 2000, Wang Yue Road, Shizhong District, Ji'nan, Shandong Patentee before: SHANDONG ELECTRIC POWER Research Institute Patentee before: State Grid Co., Ltd. |
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