CN105059261A - Mobile-based walking control method for replacing power battery of electric passenger vehicle - Google Patents
Mobile-based walking control method for replacing power battery of electric passenger vehicle Download PDFInfo
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- CN105059261A CN105059261A CN201510463357.8A CN201510463357A CN105059261A CN 105059261 A CN105059261 A CN 105059261A CN 201510463357 A CN201510463357 A CN 201510463357A CN 105059261 A CN105059261 A CN 105059261A
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Abstract
A mobile-based walking control method for replacing a power battery of an electric passenger vehicle comprises the following steps that a mobile robot platform is exerted to walk under an electric passenger vehicle chassis from the interior of a carriage through a guide rail and a track driving system and detach a power-lack battery through a lifting system and a positioning device; the mobile robot platform is exerted to convey the power-lack battery to a battery dispatching system through the guide rail and the track driving system and receive a full-power battery; and the mobile robot platform is exerted to walk under the chassis from the interior of the carriage through the guide rail and the track driving system and mount the full-power battery in a battery bin through the lifting system and the positioning device. According to the mobile-based walking control method for replacing the power battery of the electric passenger vehicle, provided by the invention, problems in the new mobile charging technical scheme for replacing the power battery of the electric passenger vehicle that the mobile walking structure for taking the power battery and changing the power battery with the electric passenger vehicle cannot be too big due to the mobile characteristics, the mobile walking structure needs to adapt to the space of mobile characteristics, and the mobile walking structure needs to be convenient for taking and movably replacing the power battery of the electric passenger vehicle are solved.
Description
Technical field
The present invention relates to electric passenger vehicle field, be specifically related to a kind of ambulation control method of the electric passenger vehicle dynamic battery changing based on movable type.
Background technology
In short supply along with global energy, problem of environmental pollution is on the rise, and under the megatrend of environmental protection and clean energy resource concept, because electric passenger vehicle is less relative to orthodox car to environmental concerns, its development prospect is very wide.It is power that electric passenger vehicle refers to vehicle power, drives wheels travel with motor, meets the vehicle of arteries of communication, legislative control on safety requirements.Wherein electrokinetic cell is the core of electric passenger vehicle, but the charging duration caused for power battery technology and charging technique is long, energy recharge point is few, flying power is poor, and battery fill soon to reduce service life with affect power grid operation security problems, be the bottleneck place suffering from electric passenger vehicle business development always.How allowing electric passenger vehicle electric energy supply with conveniently petrol service station is the same as mark, is the important topic of electric passenger vehicle business promotion.
Current appearance does not need to charge to electrokinetic cell, and the operation way adding power station of the electrokinetic cell being full of electric power that only electric passenger vehicle changed the outfit, which reduce the time that user waits for power battery charging, substantially identical with orthodox car refueling time, the custom of automobile is used without the need to changing user.
In such a mode, if user is in the process using electric passenger vehicle, due to vehicle problem (nearest adding power station or vehicle trouble can not travel as battery electric quantity is not enough to supply drive to) cause vehicle not drive to adding power station carry out electrokinetic cell replacing or to not keeping in repair vehicle, so concerning user, the Consumer's Experience of electric passenger vehicle is used to have a greatly reduced quality, bring inconvenience to user, even cause electric passenger vehicle not promoted widely.
In the new technical scheme powered up for the movable type of electric passenger vehicle dynamic battery changing, due to the characteristic of movable type, causing taking electrokinetic cell and carry out changing the structure that is movably walking of electrokinetic cell with electric passenger vehicle can not the excessive space that will be adapted to portable characteristic, and to conveniently take and move the electrokinetic cell changing electric passenger vehicle, just become the current problem needing to solve.
Summary of the invention
Technical matters to be solved by this invention is the ambulation control method providing a kind of electric passenger vehicle dynamic battery changing based on movable type, to solve in the new technical scheme powered up for the movable type of electric passenger vehicle dynamic battery changing, due to the characteristic of movable type, causing taking electrokinetic cell and carry out changing the structure that is movably walking of electrokinetic cell with electric passenger vehicle can not the excessive space that will be adapted to portable characteristic, and will conveniently take and move the problem of the electrokinetic cell changing electric passenger vehicle.
In order to solve the problem, the invention provides a kind of ambulation control method of the electric passenger vehicle dynamic battery changing based on movable type, comprising:
Robot moving platform is by guide rail and orbital drive system, go to the chassis needing the electric passenger vehicle changing electrokinetic cell from compartment expert, by hoisting system and registration device, the power shortage battery of electric passenger vehicle is unloaded, robot moving platform is a space framework, be arranged in compartment, place electrokinetic cell in space framework, wherein orbital drive system and hoisting system are arranged on robot moving platform;
Power shortage battery, by guide rail and orbital drive system, is sent to scheduling batteries system by robot moving platform, and receives the full battery of scheduling batteries system transmission;
Robot moving platform is by guide rail and orbital drive system, go to the chassis of electric passenger vehicle from compartment expert, by hoisting system and registration device, full battery is installed in the battery compartment on the chassis of electric passenger vehicle, completes the travelling control of dynamic battery changing.
Compared with prior art, application the present invention, robot moving platform is by the movement of drive configuration on sky rail and track of head sheave and land wheel, robot moving platform can conveniently inside and outside compartment be walked, conveniently take and move and change electrokinetic cell, the structure that is movably walking of changing electric machine people can be made excessively can not to be adapted to the space of portable characteristic, and can easily to take and move the electrokinetic cell changing electric passenger vehicle.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the top view that the present invention changes electric machine people;
Fig. 2 is the front view that the present invention changes electric machine people;
Fig. 3 is the structural representation that the present invention changes the traveling gear Locking Device of electric machine people;
Fig. 4 is the working state schematic representation that application movable type of changing electric machine people of the present invention adds that electric car carries out changing electric passenger vehicle electrokinetic cell;
Fig. 5 is the diagram of circuit of the ambulation control method that the present invention is based on portable electric passenger vehicle dynamic battery changing.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In the present invention, for change electricity electrokinetic cell be pedigree battery, namely its apparent size be the size of established standards specification (such as: the width of all electrokinetic cells is identical, the size of several length is wherein provided with due to the quantity difference of arranged power brick, thereby produce the electrokinetic cell of several different size, for the electric passenger vehicle of different stage provides power), only in this way just can be applicable to portable electricity applying system of the present invention and quick-replaceable operation is carried out to electrokinetic cell, wherein the upgrading (such as various new chemical technology or atomic fusion technology are applied to electrokinetic cell) of electrokinetic cell core technology does not form impact to the present invention, electrokinetic cell of the present invention just sets the standard specification of outer shape size.
The electric powerplant of the electric pushrod adopted in the present invention to be a kind of by the converting rotary motion of electrical motor the be straight reciprocating motion of push rod.Can be used for using as execution machinery in various simple or complicated technological process; Electric pushrod is made up of drive motor, reducing gear, screw rod, nut, guide pin bushing, push rod, slide, spring, shell and turbine, fine motion master cock etc.Electric pushrod is a kind of novel electrically-powered actuator, and electric pushrod, primarily of a kind of novel linear actuating unit of mechanism's compositions such as motor, push rod and control setup, can realize distance control, centralized control.Electric pushrod makes back and forth movement in certain limit stroke.Adopt electric pushrod actuating unit, when changing control aperture, need power supply, just can no longer power when reaching required aperture, therefore from energy-conservation, electric pushrod actuating unit has obvious power saving advantages than air-actuator, electric pushrod modern design is exquisite, volume is little, precision is high, Complete Synchronization, self-locking property are good, health, motor direct-drive, does not need the source of the gas of pipeline, oil circuit, easy to use.
The leading screw mode adopted in the present invention, electrical motor, after gear reduction, drives a pair feed screw nut.The rotation motion of motor is in line motion, utilizes motor forward/backward rotation to complete push rod action.As the compound actions such as rotation, shake can be completed by mechanisms such as various lever, rocking bar or connecting rods.By changing lever arm of force length, can increase or reduce stroke.The Worm Wheel System form adopted in the present invention: the worm screw on motor gear drives worm gear wheel, little leading screw in worm gear is moved axially, driven by connecting panel that position-limited lever is corresponding moves axially, during to required stroke, by regulating limiting stopper depression stroke switch circuit breaking, electrical motor shuts down (positive revertive control is identical).The gear-driven form adopted in the present invention: motor is by driving the little leading screw being installed on interior pipe after reducing gear, drive be attached thereto together do axial running nut, limit switch power cut-off is pushed down, motor stop motion (oppositely identical with it) to nut feeler during set stroke.The chain wheel mode adopted in the present invention, is namely with the wheel of cog type whelp, in order to pitch on pitch chain ring or cable accurately block be meshed, engage with (roller) chain and move to transmit.
Of the present inventionly change electric machine people and be arranged on the inside that movable type adds electric car, by the electrokinetic cell on scheduling batteries system call electrokinetic cell commodity shelf system, move to bottom electric passenger vehicle by the drive configuration of head sheave and land wheel on sky rail and track, power shortage battery is unloaded and by mobile, power shortage battery is sent to scheduling batteries system, and by the electrokinetic cell of the full electricity on the electrokinetic cell commodity shelf system of the scheduling batteries system call of reception, move to bottom electric passenger vehicle by the drive configuration of head sheave and land wheel on sky rail and track, and the electrokinetic cell of this full electricity is installed to the bottom of electric passenger vehicle, complete the flow process changing electrokinetic cell.
As depicted in figs. 1 and 2, describedly change electric machine people 104 and can comprise robot moving platform 1041, head sheave 1042 and sky wheel drive system 1043, land wheel 1044 and ground wheel drive system 1045, multiple running roller 1046 and running roller drive system 1047, traveling gear Locking Device 1048, electrokinetic cell Locking Device 1049, scissors fork lifting machine 10410 and lifting machine drive system 10411 and registration device 10412 (not shown), wherein robot moving platform does horizontal motion along guide rail direction under the driving of head sheave and sky wheel drive system and land wheel and ground wheel drive system, robot moving platform is in vertical motion by scissors fork lifting machine and lifting machine drive system, guide rail comprises a day rail TG and track DG, it rail TG is the walking track of the robot moving platform installed bottom tailgate of head sheave walking, on it rail TG and tailgate, V-type groove is to the track of a segment distance of tailgate, track DG be land wheel walking compartment in the track of robot moving platform installed of desired location, floor, track DG and tailgate are to the track of a segment distance of scheduling batteries system, head sheave and sky wheel drive system comprise 4 transmission breast wheels 10413,4 head sheave, drive motor and sprocket wheel and chains of being arranged on robot moving platform two middle side part, the drive form of robot moving platform traveling gear is 4 × 4 drivings, land wheel and ground wheel drive system comprise 4 land wheels, drive motor and the sprocket wheels and chain that are arranged on robot moving platform two side lower part, and the drive form of robot moving platform traveling gear is 4 × 4 drivings, multiple running roller and running roller drive system comprise multiple steel pipe, drive motor, sprocket wheel and chain, multiple running roller is arranged on robot moving platform, for the electrokinetic cell on running roller being carried out corresponding movement, (running roller drive system is for by the bottom of described robot moving platform, the electrokinetic cell be positioned on running roller carries out corresponding movement, described running roller drive system comprises drive motor, sprocket wheel and chain, described running roller drive system is rotated by motor-driven drive sprockets, two running rollers that chain wheel drive is adjacent between two, drive a set of sprocket wheel thus running roller is rotated, the electrokinetic cell be positioned on running roller is carried out corresponding movement, running roller is steel pipe, and running roller is set to left-hand revolution or clickwise, wherein, change described the framework that electrokinetic cell that electric machine people receives shifts out robot moving platform by the left-hand revolution of running roller, or the described electrokinetic cell changing electric machine people and need to receive is moved into the framework of robot moving platform by the clickwise of running roller), traveling gear Locking Device comprises push-pull electromagnet and promotes push rod and U-shaped bar spreading friction pair, electrokinetic cell Locking Device comprises multiple magnetic chuck, is fixed on robot moving platform by magnetic chuck by electrokinetic cell, scissors fork lifting machine and lifting machine drive system comprise double shear knife and fork and add an electric pushrod drive configuration, registration device can comprise the locating dowel pin (locating dowel pin is elastic construction, and can guarantee accurate location when inserting electrokinetic cell, locating dowel pin matches with the dowel hole of the bottom of electrokinetic cell) that optical sensor and robot moving platform are arranged.
The electrokinetic cell changing electric machine people and electric passenger vehicle carries out the workflow of precise positioning, comprise: described in change electric machine people and receive after pre-off-position puts information tailgate needing the electric passenger vehicle electrokinetic cell centre distance of changing electricity in car, unblock is changed electric machine people and to be walked mechanism lock locking apparatus, and start head sheave and sky wheel drive system and land wheel and ground wheel drive system, after robot moving platform being moved to the electrokinetic cell near center location of electric passenger vehicle bottom, accurately located by optical sensor and electrokinetic cell, and by scissors fork lifting machine and lifting machine drive system, the locating dowel pin on robot moving platform is inserted pin-and-hole bottom electrokinetic cell, complete the positioning flow of the electrokinetic cell changing electric machine people and electric passenger vehicle.
Change electric machine people to be made up of robot moving platform, head sheave and drive system thereof, land wheel and drive system, running roller and drive system thereof, traveling gear Locking Device, power brick lockable mechanism, scissors fork lifting and drive system, registration device etc.
Change the sky rail of electric machine people and track respectively: attachment rail (tailgate is to scheduling batteries system one segment distance) on desired location, floor in compartment---track, mounting robot walking track (V-type groove is to tailgate one segment distance) bottom tailgate---sky rail;
Rail profile: high by 90 × wide by 50 ~ 60 × to expect thick 5, improves the intensity of track;
The frame of robot moving platform can be carried out bending, cutting, is welded by panel beating 15Mn, thickness 5mm, improves the intensity of frame;
Head sheave and drive system thereof are made up of 4 transmission breast wheels of robot 2 middle side part, 4 head sheaves, drive motor, sprocket wheel and chains, robot running gear drive form 4 × 4;
Land wheel and drive system thereof are made up of 4 land wheels, drive motor, sprocket wheel and chains of robot 2 side lower part, robot running gear drive form 4 × 4;
Wherein, 4 land wheels of space framework two side lower part of robot moving platform, be that non-perpendicular line is arranged to 4 corresponding head sheaves of the both sides, space framework top of robot moving platform, namely the center-point that forms than 4 land wheels of the integral central point that forms of 4 head sheaves is near compartment afterbody.Arranging of this spline structure can make robot moving platform be transitioned in the motion process of day rail from track, 4 head sheaves enter into day rail when driving completely, two land wheels rearward also drive in track, make transient process more steady, large vibrations can not be produced, improve stability and the reliability of robot moving platform on the go, safety simultaneously increases greatly; Anyway (make robot moving platform be transitioned in the motion process of track from sky rail, when 4 land wheels enter into track driving completely, two head sheaves rearward also drive on sky rail) as the same; Particularly, change head sheave in electric machine people and differ 180mm with corresponding land wheel fore-and-aft direction, make to change electric machine people when stop place predetermined in compartment drives to compartment afterbody, head sheave has entered a day rail, and now land wheel also in track, form 6 wheel drive in short-term, make to change electric machine people from very steady, reliable to tailgate walking compartment in compartment.
Change electric machine people by rack-and-gear battery Y-direction centering structure, application has elastomeric locating dowel pin and is fixed by electrokinetic cell.
Running roller and drive system thereof are made up of 5 diameter 60mm solid drawn pipes, drive motor, sprocket wheel and chains;
As shown in Figure 3, traveling gear Locking Device 1048 promotes push rod 10481 by push-pull electromagnet, U-shaped bar spreading friction pair 10482 is formed, push-pull electromagnet promotes push rod and U-shaped bar spreading friction pair is arranged on day rail, promotes push rod promote the locking that U-shaped bar spreading friction pair controls the position of the robot moving platform of walking on sky rail by push-pull electromagnet.
Power brick lockable mechanism can be made up of the magnetic chuck of 4 diameter 200mm; The fork lifting of robot scissors and drive configuration thereof add an electric pushrod drive configuration by double shear knife and fork and form, and lift height is at 100 to 300mm;
Optical sensor can adopt infrared emission sensor or non-visible light opposite type sensor etc. (to adopt the positioning precision of infrared emission sensor high, decrease the error of changing when electric machine people is docked with the electrokinetic cell of electric passenger vehicle vehicle chassis), as long as can realize positioning instant can, the present invention does not limit this.
As shown in Figure 4, apply movable type of changing electric machine people of the present invention and add the working state schematic representation that electric car carries out changing electric passenger vehicle electrokinetic cell, illustrated therein is the state needing the electric passenger vehicle carrying out changing electrokinetic cell to reach the platform of tailgate.
Mobile add after electric car receives control center's dispatch command, drive to the electric passenger vehicle position needing to carry out changing electricity, wherein, the mobile electric car that adds adopts the electrokinetic cell of new forms of energy as power;
The mobile electric pushrod adding the envelope lateral tail of electric car launches tailgate and is set level by tailgate, and automatic telescopic ramp is opened to predeterminated position simultaneously;
Described electric passenger vehicle reaches the platform of tailgate by automatic telescopic ramp, and after tailgate completes the operation of location to the electric passenger vehicle that platform carries, the electric passenger vehicle that lifting machine lifting tailgate carries reaches predeterminated position, and completes the Levelling operation to chassis of electric passenger vehicle;
Change the power shortage battery that the chassis of electric passenger vehicle unloads by electric machine people to be transplanted on after in scheduling batteries system, the power shortage battery changed on electric machine people is transplanted on electrokinetic cell shelf by scheduling batteries system, and battery full on electrokinetic cell commodity shelf system is transplanted on changes on electric machine people, electrokinetic cell shelf are by power shortage battery lock;
Change electric machine people the full battery of scheduling batteries system movement is sent to the bottom, chassis of electric passenger vehicle and is arranged on vehicle bottom, complete the control of dynamic battery changing.
As shown in Figure 5, a kind of ambulation control method of the electric passenger vehicle dynamic battery changing based on movable type, comprising:
Step 510, robot moving platform are by guide rail and orbital drive system, go to the chassis needing the electric passenger vehicle changing electrokinetic cell from compartment expert, by hoisting system and registration device, the power shortage battery of electric passenger vehicle is unloaded, robot moving platform is a space framework, be arranged in compartment, place electrokinetic cell in space framework, wherein orbital drive system and hoisting system are arranged on robot moving platform;
Power shortage battery, by guide rail and orbital drive system, is sent to scheduling batteries system by step 520, robot moving platform, and receives the full battery of scheduling batteries system transmission;
Step 530, robot moving platform are by guide rail and orbital drive system, go to the chassis of electric passenger vehicle from compartment expert, by hoisting system and registration device, full battery is installed in the battery compartment on the chassis of electric passenger vehicle, completes the travelling control of dynamic battery changing.
Described robot moving platform also comprises multiple running roller and running roller drive system, running roller drive system is for by the bottom of described robot moving platform, the electrokinetic cell be positioned on running roller carries out corresponding movement, and described running roller drive system comprises drive motor, sprocket wheel and chain;
Power shortage battery is sent to the step of scheduling batteries system by described robot moving platform, comprising:
Described robot moving platform is rotated by motor-driven drive sprockets, and two running rollers that chain wheel drive is adjacent between two, drive a set of sprocket wheel thus running roller is rotated, and the electrokinetic cell be positioned on running roller is carried out corresponding movement.
Described running roller is steel pipe, and described running roller is set to left-hand revolution or clickwise; Wherein, by the left-hand revolution of running roller, the electrokinetic cell that described robot moving platform receives is shifted out the framework of robot moving platform, or need the electrokinetic cell received to move into the framework of robot moving platform described robot moving platform by the clickwise of running roller.
Described robot moving platform comprises electrokinetic cell Locking Device further, electrokinetic cell Locking Device is arranged on the bottom of described robot moving platform, electrokinetic cell Locking Device comprises multiple magnetic chuck, is fixed on described robot moving platform by electrokinetic cell by magnetic chuck mode.
Described guide rail comprises day rail and track, described orbital drive system comprises land wheel and ground wheel drive system and head sheave and sky wheel drive system, wherein, described track be land wheel walking compartment in the track of robot moving platform installed of desired location, floor, described sky rail is the walking track of the robot moving platform installed bottom the tailgate of compartment afterbody of head sheave walking; Land wheel and ground wheel drive system comprise 4 land wheels, drive motor and sprocket wheels and the chain of space framework two side lower part being arranged on robot moving platform, and wherein the drive form of wheel drive system is 4 × 4 drivings; Described head sheave and sky wheel drive system comprise 4 transmission breast wheels of space framework two middle side part being arranged on robot moving platform, 4 head sheaves, drive motor and sprocket wheels of both sides, space framework top and chain, and wherein the drive form of sky wheel drive system is 4 × 4 drivings.
4 land wheels of space framework two side lower part of described robot moving platform, be that non-perpendicular line is arranged to 4 corresponding head sheaves of the both sides, space framework top of described robot moving platform, namely the center-point that forms than 4 land wheels of the integral central point that forms of 4 head sheaves is near compartment afterbody.
Also comprise: described robot moving platform promotes push rod by push-pull electromagnet and promotes the locking that U-shaped bar spreading friction pair controls the position of the robot moving platform of walking on sky rail, wherein, traveling gear Locking Device comprises push-pull electromagnet and promotes push rod and U-shaped bar spreading friction pair, and push-pull electromagnet promotes push rod and U-shaped bar spreading friction pair is arranged on day rail.
Described hoisting system comprises scissors fork lifting machine and lifting machine drive system, scissors fork lifting machine and lifting machine drive system are arranged on bottom the space framework of described robot moving platform, and lifting moving is carried out in the bottom of robot moving platform by drive configuration in vertical direction that wherein added an electric pushrod by double shear knife and fork.
Described registration device comprises the locating dowel pin that optical sensor and robot moving platform are arranged, and locating dowel pin matches with the dowel hole of the bottom of electrokinetic cell.
Described optical sensor is infrared emission sensor or non-visible light opposite type sensor.
In specification sheets provided herein, describe a large amount of detail.But can understand, embodiments of the invention can be put into practice when not having these details.In some instances, be not shown specifically known method, structure and technology, so that not fuzzy understanding of this description.
Similarly, be to be understood that, in order to simplify the disclosure and to help to understand in each inventive aspect one or more, in the description above to exemplary embodiment of the present invention, each feature of the present invention is grouped together in single embodiment, figure or the description to it sometimes.But, the method for the disclosure should be construed to the following intention of reflection: namely the present invention for required protection requires feature more more than the feature clearly recorded in each claim.Or rather, as claims below reflect, all features of disclosed single embodiment before inventive aspect is to be less than.Therefore, the claims following detailed description of the invention are incorporated to this detailed description of the invention thus clearly, and wherein each claim itself is as independent embodiment of the present invention.
Those skilled in the art are appreciated that and adaptively can change the module in the equipment in embodiment and they are arranged in one or more equipment different from this embodiment.Module in embodiment or unit or assembly can be combined into a module or unit or assembly, and multiple submodule or subelement or sub-component can be put them in addition.Except at least some in such feature and/or process or unit be mutually repel except, any combination can be adopted to combine all processes of all features disclosed in this specification sheets (comprising adjoint claim, summary and accompanying drawing) and so disclosed any method or equipment or unit.Unless expressly stated otherwise, each feature disclosed in this specification sheets (comprising adjoint claim, summary and accompanying drawing) can by providing identical, alternative features that is equivalent or similar object replaces.
In addition, those skilled in the art can understand, although embodiments more described herein to comprise in other embodiment some included feature instead of further feature, the combination of the feature of different embodiment means and to be within scope of the present invention and to form different embodiments.Such as, in the following claims, the one of any of embodiment required for protection can use with arbitrary array mode.
The present invention will be described instead of limit the invention to it should be noted above-described embodiment, and those skilled in the art can design alternative embodiment when not departing from the scope of claims.In the claims, any reference symbol between bracket should be configured to limitations on claims.Word " comprises " not to be got rid of existence and does not arrange element in the claims or step.Word "a" or "an" before being positioned at element is not got rid of and be there is multiple such element.The present invention can by means of including the hardware of some different elements and realizing by means of the computing machine of suitably programming.In the unit claim listing some devices, several in these devices can be carry out imbody by same hardware branch.Word first, second and third-class use do not represent any order.Can be title by these word explanations.
Claims (10)
1., based on an ambulation control method for the electric passenger vehicle dynamic battery changing of movable type, it is characterized in that, comprising:
Robot moving platform is by guide rail and orbital drive system, go to the chassis needing the electric passenger vehicle changing electrokinetic cell from compartment expert, by hoisting system and registration device, the power shortage battery of electric passenger vehicle is unloaded, robot moving platform is a space framework, be arranged in compartment, place electrokinetic cell in space framework, wherein orbital drive system and hoisting system are arranged on robot moving platform;
Power shortage battery, by guide rail and orbital drive system, is sent to scheduling batteries system by robot moving platform, and receives the full battery of scheduling batteries system transmission;
Robot moving platform is by guide rail and orbital drive system, go to the chassis of electric passenger vehicle from compartment expert, by hoisting system and registration device, full battery is installed in the battery compartment on the chassis of electric passenger vehicle, completes the travelling control of dynamic battery changing.
2. ambulation control method as claimed in claim 1, is characterized in that,
Described robot moving platform also comprises multiple running roller and running roller drive system, running roller drive system is for by the bottom of described robot moving platform, the electrokinetic cell be positioned on running roller carries out corresponding movement, and described running roller drive system comprises drive motor, sprocket wheel and chain;
Power shortage battery is sent to the step of scheduling batteries system by described robot moving platform, comprising:
Described robot moving platform is rotated by motor-driven drive sprockets, and two running rollers that chain wheel drive is adjacent between two, drive a set of sprocket wheel thus running roller is rotated, and the electrokinetic cell be positioned on running roller is carried out corresponding movement.
3. ambulation control method as claimed in claim 2, is characterized in that,
Described running roller is steel pipe, and described running roller is set to left-hand revolution or clickwise; Wherein, by the left-hand revolution of running roller, the electrokinetic cell that described robot moving platform receives is shifted out the framework of robot moving platform, or need the electrokinetic cell received to move into the framework of robot moving platform described robot moving platform by the clickwise of running roller.
4. ambulation control method as claimed in claim 3, is characterized in that,
Described robot moving platform comprises electrokinetic cell Locking Device further, electrokinetic cell Locking Device is arranged on the bottom of described robot moving platform, electrokinetic cell Locking Device comprises multiple magnetic chuck, is fixed on described robot moving platform by electrokinetic cell by magnetic chuck mode.
5. ambulation control method as claimed in claim 4, is characterized in that,
Described guide rail comprises day rail and track, described orbital drive system comprises land wheel and ground wheel drive system and head sheave and sky wheel drive system, wherein, described track be land wheel walking compartment in the track of robot moving platform installed of desired location, floor, described sky rail is the walking track of the robot moving platform installed bottom the tailgate of compartment afterbody of head sheave walking; Land wheel and ground wheel drive system comprise 4 land wheels, drive motor and sprocket wheels and the chain of space framework two side lower part being arranged on robot moving platform, and wherein the drive form of wheel drive system is 4 × 4 drivings; Described head sheave and sky wheel drive system comprise 4 transmission breast wheels of space framework two middle side part being arranged on robot moving platform, 4 head sheaves, drive motor and sprocket wheels of both sides, space framework top and chain, and wherein the drive form of sky wheel drive system is 4 × 4 drivings.
6. ambulation control method as claimed in claim 5, is characterized in that,
4 land wheels of space framework two side lower part of described robot moving platform, be that non-perpendicular line is arranged to 4 corresponding head sheaves of the both sides, space framework top of described robot moving platform, namely the center-point that forms than 4 land wheels of the integral central point that forms of 4 head sheaves is near compartment afterbody.
7. ambulation control method as claimed in claim 6, is characterized in that,
Also comprise: described robot moving platform promotes push rod by push-pull electromagnet and promotes the locking that U-shaped bar spreading friction pair controls the position of the robot moving platform of walking on sky rail, wherein, traveling gear Locking Device comprises push-pull electromagnet and promotes push rod and U-shaped bar spreading friction pair, and push-pull electromagnet promotes push rod and U-shaped bar spreading friction pair is arranged on day rail.
8. ambulation control method as claimed in claim 7, is characterized in that,
Described hoisting system comprises scissors fork lifting machine and lifting machine drive system, scissors fork lifting machine and lifting machine drive system are arranged on bottom the space framework of described robot moving platform, and lifting moving is carried out in the bottom of robot moving platform by drive configuration in vertical direction that wherein added an electric pushrod by double shear knife and fork.
9. ambulation control method as claimed in claim 8, is characterized in that,
Described registration device comprises the locating dowel pin that optical sensor and robot moving platform are arranged, and locating dowel pin matches with the dowel hole of the bottom of electrokinetic cell.
10. ambulation control method as claimed in claim 9, is characterized in that,
Described optical sensor is infrared emission sensor or non-visible light opposite type sensor.
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| CN105059261B (en) | 2017-08-29 |
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