WO2018137600A1 - 伸出机构、双伸出机构、码垛机及快换*** - Google Patents

伸出机构、双伸出机构、码垛机及快换*** Download PDF

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Publication number
WO2018137600A1
WO2018137600A1 PCT/CN2018/073750 CN2018073750W WO2018137600A1 WO 2018137600 A1 WO2018137600 A1 WO 2018137600A1 CN 2018073750 W CN2018073750 W CN 2018073750W WO 2018137600 A1 WO2018137600 A1 WO 2018137600A1
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WO
WIPO (PCT)
Prior art keywords
double
rail
extension
sprocket
disposed
Prior art date
Application number
PCT/CN2018/073750
Other languages
English (en)
French (fr)
Inventor
***
黄春华
周军桥
李小冬
Original Assignee
上海电巴新能源科技有限公司
奥动新能源汽车科技有限公司
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
Priority claimed from CN201710052425.0A external-priority patent/CN108058684B/zh
Priority claimed from CN201710052600.6A external-priority patent/CN108058685B/zh
Priority claimed from CN201710052579.XA external-priority patent/CN108058945A/zh
Priority claimed from CN201710052421.2A external-priority patent/CN108058683B/zh
Priority claimed from CN201710052408.7A external-priority patent/CN108058944A/zh
Application filed by 上海电巴新能源科技有限公司, 奥动新能源汽车科技有限公司 filed Critical 上海电巴新能源科技有限公司
Publication of WO2018137600A1 publication Critical patent/WO2018137600A1/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
    • B60L53/80—Exchanging energy storage elements, e.g. removable 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
    • Y02T10/70—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

Definitions

  • the invention relates to the field of vehicle power battery replacement, in particular to an extension mechanism, a double extension mechanism, a palletizer and a quick change system.
  • the extension mechanism of the battery was usually made by a German-made push-out mechanism, mainly using a gear transmission mechanism.
  • the mechanism is very expensive on the one hand, and the mechanism is complicated on the other hand. Single-sided mechanism.
  • the technical problem to be solved by the present invention is to overcome the defects that the extension mechanism of the pick-and-place battery of the prior art adopts a gear transmission mechanism, which causes the mechanism to be complicated and expensive, and provides an automatic detection of the extension state and the extension function.
  • the invention provides a protrusion mechanism, comprising: a mounting seat for providing a mounted base; a transmission mechanism mounted on the mounting seat; and a rail connecting mechanism movably mounted on the mounting seat,
  • the transmission mechanism is connected; the driving mechanism is connected to the transmission mechanism for driving the transmission mechanism to operate, and the transmission mechanism drives the rail connection mechanism to move along the surface of the mounting seat.
  • the transmission mechanism comprises: a timing belt driving wheel and a driven wheel, which are oppositely disposed on a path in which the rail connecting mechanism moves, the timing belt driving wheel meshes with the driving mechanism, and the driven wheel is disposed in the mounting a double-sided timing belt, both sides of which are provided with a rack or a tooth groove, and the double-sided timing belt surrounds the timing belt driving wheel and the driven wheel periphery and is active with the timing belt
  • the driving mechanism drives the timing belt driving wheel to rotate
  • the timing belt driving wheel drives the double-sided timing belt to rotate.
  • the transmission mechanism further includes a tensioning end connected to the driven wheel for adjusting the double-sided timing belt slack; and/or the transmission mechanism further includes an upper top plate, and the upper top plate is disposed Between the upper and lower layers of the double-sided timing belt.
  • the rail connecting mechanism comprises: an outer rail mounted on the mounting seat by a rail mounting seat; a first protruding member movably disposed in the outer rail, the first protruding member and the seat
  • the transmission mechanism is engaged, and the driving mechanism drives the transmission mechanism to operate, and drives the first-stage projecting member engaged with the horizontal guide rail to extend along the outer guide rail.
  • the rail connecting mechanism further comprises: an inner rail installed in the first protruding member; a secondary protruding member movably disposed in the inner rail; and a traction mechanism mounted on the first stage And mechanically coupled to the secondary projecting member for driving the secondary projecting member to move in a direction in which the primary projecting member extends.
  • the traction mechanism comprises: a chain and a sprocket rotatably mounted on an extended front end of the primary projecting member, one end of the chain being fixed to the secondary projecting member On the extended end, the other end bypasses the sprocket and is fixed to a mounting seat below the protruding end of the primary projecting member; or the traction mechanism includes: a rack and a gear, the gear It is rotatably mounted on the primary projecting member, and the rack is fixed to the secondary projecting member.
  • the extension mechanism further includes detection means including a detecting portion and a to-be-detected portion, the detecting portion is on a mounting seat below the rail connecting mechanism, and the to-be-detected portion is disposed on the rail connecting mechanism .
  • the detecting portion includes at least one of an origin detecting switch, an in-position detecting switch, and a limit detecting switch, and the detecting switch is a photoelectric switch.
  • the distance between the in-position detecting switch and the origin detecting switch is half of the total length of the rail connecting mechanism; the distance detecting switch and the origin detecting switch are greater than half of the total protruding length of the rail connecting mechanism. And less than half of the total length of the rail connecting mechanism theoretically extended.
  • the to-be-detected portion is an iron block disposed at a bottom of the rail connecting mechanism.
  • the driving mechanism comprises: a motor; a dual output shaft reducer, which is connected to the motor for controlling an output energy of the motor; and a drive shaft connected to the dual output shaft reducer,
  • the dual output shaft reducer drives the transmission shaft to rotate, and the transmission shaft is rotatably coupled with the transmission mechanism to drive the transmission mechanism to operate.
  • the transmission mechanism and the rail connecting mechanism comprise two sets of mechanisms arranged in parallel with each other, respectively disposed on the mounting seat, the driving mechanism simultaneously driving the transmission shaft and driving the two sets of transmission mechanisms to operate synchronously.
  • the present invention also provides a double extension mechanism comprising: a mounting seat for providing a mounted base; a transmission mechanism disposed on the mounting seat; and a double extension rail connecting mechanism movably disposed in the mounting a seat connected to the transmission mechanism and moving in the opposite direction on the mounting seat; a driving mechanism connected to the transmission mechanism for driving the transmission mechanism to operate, the transmission mechanism is operated
  • the double protruding rail connecting mechanism is driven to move along the surface of the mounting seat.
  • the transmission mechanism comprises: a timing belt driving wheel and a driven wheel, which are oppositely disposed on a path in which the double protruding rail connecting mechanism moves, the timing belt driving wheel is engaged with the driving mechanism, and the driven wheel is disposed at a double-sided timing belt having a rack or a tooth groove on both sides of the double-sided timing belt, the double-sided timing belt surrounding the timing belt driving wheel and the driven wheel periphery and
  • the timing belt is engaged with the driving wheel and the driven wheel, and the driving mechanism drives the timing belt driving wheel to rotate, and the timing belt driving wheel drives the double-sided timing belt to rotate.
  • the transmission mechanism further includes a tensioning end connected to the driven wheel for adjusting the double-sided timing belt slack; and/or the transmission mechanism further includes an upper top plate, and the upper top plate is disposed Between the upper and lower layers of the double-sided timing belt.
  • the double-extension rail connecting mechanism comprises: an outer rail mounted on the mounting seat by a rail mounting seat; a first protruding member movably disposed in the outer rail, the first-stage extension a gear plate is mounted on the bottom of the output member, the transmission mechanism is engaged with the tooth plate, and the driving mechanism drives the transmission mechanism to operate, and drives the first-stage protruding member engaged with the horizontal guide rail to protrude along the outer guide rail.
  • the double-extension rail connecting mechanism further comprises: an inner rail installed in the first-stage projecting member; a second-stage projecting member movably disposed in the inner rail; and a traction mechanism mounted on the one And extending from the secondary projecting member for driving the secondary projecting member to move in a direction in which the primary projecting member extends.
  • the traction mechanism comprises: two sets of chains and a sprocket, the sprocket being rotatably mounted on both ends of the primary projecting member, one end of the set of chains being fixed at the second level a projecting front end of the projecting member, the other end bypassing the sprocket of the projecting end of the first-stage projecting member and fixed to the mounting seat below the front end of the first-stage projecting member, and another set of chains One end is fixed on the protruding end of the secondary projecting member, and the other end is passed around the sprocket extending from the front end of the first-stage projecting member and fixed under the protruding end of the first-stage projecting member
  • the mounting mechanism includes: a rack and a gear, the gear being rotatably mounted on the primary projecting member, the rack being fixed to the secondary projecting member.
  • the double-extension mechanism further includes detecting means including a detecting portion and a to-be-detected portion, the detecting portion is on a mounting seat below the double-exposed rail connecting mechanism, and the to-be-detected portion is disposed at the Double extension rail attachment mechanism.
  • the detecting portion includes: an origin detecting switch, an in-position detecting switch, and a limit detecting switch, wherein the detecting switch is a photoelectric switch.
  • the distance between the in-position detecting switch and the origin detecting switch is half of the total length of the rail connecting mechanism; the distance detecting switch and the origin detecting switch are greater than half of the total protruding length of the rail connecting mechanism. And less than half of the total length of the rail connecting mechanism theoretically extended.
  • the to-be-detected portion is an iron block disposed at a bottom of the double-extension rail connecting mechanism.
  • the driving mechanism comprises: a motor; a dual output shaft reducer, which is connected to the motor for controlling an output energy of the motor; and a drive shaft connected to the dual output shaft reducer, A dual output shaft reducer drives the drive shaft to rotate.
  • the transmission mechanism and the double-extension rail connecting mechanism are respectively two sets of mechanisms arranged in parallel with each other, and are respectively disposed on the mounting seat, the driving mechanism simultaneously drives the transmission shaft and drives the two sets of transmission mechanisms to drive the double extension.
  • the rail attachment mechanism extends in both directions on the mount.
  • the present invention also provides a palletizing machine, comprising: a bracket; a traveling mechanism disposed at a bottom of the bracket to drive the bracket to reciprocate horizontally; a frame body movably disposed on the bracket in a height direction; and a lifting mechanism Disposed on the bracket to drive the height direction of the frame; the frame body is further provided with an extension mechanism as described above or a double protrusion mechanism as described above.
  • the palletizer further includes a car, the car is slidably mounted on the sliding rail by a sliding portion, and the lifting mechanism is connected to the car through a lifting device to drive the car to move up and down along the track. .
  • the car comprises: a side panel comprising a first side panel and a second side panel disposed oppositely; a bottom panel mounted between the first side panel and the second side panel; a sliding portion disposed at the The first side panel and/or the second side panel are configured to guide the car to move along the sliding track.
  • the sliding portion includes a roller that is vertically mounted on the first side panel and/or the second side panel by a roller shaft.
  • the roller comprises a sheave and a light wheel, at least one of the first side panel and the second side panel is provided with a sheave, and the surface of the sheave has an annular groove.
  • first side plate and the second side plate are respectively provided with two sets of sheaves and two sets of optical wheels which are parallel to each other, and each set of the sheaves and the light wheels are distributed along the sliding direction of the car.
  • At least one of the sheave and the light wheel is an adjustment roller, and one side of the adjustment roller is mounted with a roller adjustment assembly for finely adjusting the position of the roller on the side panel.
  • the first side panel and/or the second side panel is a mounting board having a mounting slot extending in a vertical direction, and the locking slot is fixedly mounted in the mounting slot.
  • the locking portion includes a fixing block for fixedly connecting the car to the lifting device.
  • the locking portion further includes a rectangular tube
  • the fixing block is installed in the rectangular tube
  • the rectangular tube is installed in the mounting groove
  • the fixing block includes a vertical distribution along a rectangular tube A fixed block and a second fixed block.
  • At least one cross beam is further connected between the first side plate and the second side plate.
  • a positioning sensor is also mounted on the car.
  • the lifting mechanism comprises: a first upper sprocket, a first lower sprocket, a first chain belt, a sprocket driving mechanism, wherein the first upper sprocket and the first lower sprocket are respectively disposed on the first side
  • the upper and lower ends of the beam, one end of the first chain belt is fixedly connected with the first fixing block on the first side plate, and the other end bypasses the first upper sprocket, the first lower sprocket and is located on the first side
  • the second fixing block on the board is fixedly connected, and the first chain belt is respectively engaged with the first upper sprocket and the first lower sprocket, and the sprocket driving mechanism drives the first upper sprocket to rotate by a driving shaft.
  • the lifting mechanism further includes: a second upper sprocket, a second lower sprocket, a second chain belt, and a transmission shaft, wherein the second upper sprocket and the second lower sprocket are respectively disposed on the second side sill
  • One end of the second chain belt is fixedly connected to the first fixing block on the second side plate, and the other end is bypassed by the second upper sprocket, the second lower sprocket and the second side plate
  • the second fixing block is fixedly connected, and the second chain belt is respectively engaged with the second upper sprocket and the second lower sprocket, and the first upper sprocket and the second upper sprocket are connected by a transmission shaft.
  • the running mechanism includes an upper running mechanism disposed at a top of the bracket and a lower running mechanism disposed at a bottom of the bracket.
  • the lower running mechanism comprises: a driving wheel, a driven wheel, a driving mechanism, the driving wheel and the driven wheel are oppositely mounted at a bottom of the bracket, the driving mechanism is connected with the driving wheel, and drives the driving wheel The carriage is moved in a horizontal direction.
  • At least one of the driving wheel and the driven wheel is a sheave, and a horizontal rail for rolling the driving wheel and the passive wheel is disposed under the bracket.
  • the upper running mechanism comprises a clamping wheel assembly mounted on the top of the bracket and a horizontal rail above the bracket, the clamping wheel assembly comprising at least one pair of light wheels respectively disposed on an upper surface of the top of the bracket, and Distributed on both sides of the horizontal track at the top of the bracket.
  • the bracket is a frame structure, including first and second side sills disposed relatively vertically, and top and bottom beams for connecting the first side sill, the second side sill top and bottom .
  • the present invention also provides a quick change system comprising: a palletizer as described above; a battery rack for replacing a battery for use in an electric vehicle, and a battery to be charged replaced by the electric vehicle; a platform for removing and transporting the battery to be charged on the electric vehicle to the palletizer while receiving a replacement battery from the palletizer and mounting it on the electric vehicle.
  • the extension mechanism of the invention provides a power source to the transmission shaft by the motor, and the power is finally realized by the transmission shaft-synchronous pulley-double-sided synchronous-tooth plate-chain device to realize one-stage or two-stage action, and two sets of synchronous equidistant extension can be realized.
  • the function of out and retract is characterized by simple mechanism, simple control, stable operation, etc., and the entire extension can be automatically detected.
  • the double extension mechanism of the invention provides a power source to the transmission shaft by the motor, and the power is finally realized by the transmission shaft-synchronous pulley-double-sided synchronous-tooth-chain device to realize two-stage double-extension action, realize two-stage, synchronization, etc. It has the functions of double extension and retraction, and has the characteristics of simple mechanism, simple control and stable operation.
  • the palletizing machine of the invention can move left and right to facilitate the pick-and-place battery; the chain belt is fixedly connected to the chain belt through the fixed block in the rectangular tube in the car, and the car has a chain structure on both sides thereof. Therefore, the chain belt lifts the car more smoothly, and the car structure is more compact; the car is provided with a sensor capable of accurately positioning the charging position on the battery rack to facilitate the pick-and-place battery; the extension mechanism of the palletizing machine moves up and down to achieve different The purpose of picking and placing the battery on the battery rack is at the same time, and the extension mechanism can extend the battery for further access; the palletizer is compact in design and convenient to use.
  • FIG. 1 is a schematic structural view of a quick change system according to a preferred embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural view of a palletizer according to a preferred embodiment 1 of the present invention.
  • FIG. 3 is a schematic structural view of a protruding mechanism according to a preferred embodiment 1 of the present invention.
  • Figure 4 is a side elevational view of the extension mechanism of the preferred embodiment 1 of the present invention.
  • Figure 5 is a schematic structural view of a transmission mechanism in a preferred embodiment 1 of the present invention.
  • FIG. 6 is a schematic structural view of a rail connecting mechanism according to an embodiment of the preferred embodiment 1 of the present invention.
  • FIG. 7 is a schematic structural view of a rail connecting mechanism according to another embodiment of the preferred embodiment 1 of the present invention.
  • FIG. 8 is a schematic structural view of a traction mechanism according to another embodiment of the preferred embodiment 1 of the present invention.
  • FIG. 9 is a schematic structural view showing a state in which a rail connecting mechanism is extended according to another embodiment of the preferred embodiment 1 of the present invention.
  • Figure 10 is a schematic structural view of a driving mechanism according to a preferred embodiment 1 of the present invention.
  • FIG. 11 is a schematic structural view of a driving mechanism according to still another embodiment of the preferred embodiment 1 of the present invention.
  • Figure 12 is a schematic view showing the structure of a mounting portion of a detecting portion with a detecting device according to still another embodiment of the preferred embodiment 1 of the present invention.
  • FIG. 13 is a schematic structural diagram of a palletizer according to a second embodiment of the present invention.
  • Figure 14 is a schematic structural view of a double extension mechanism according to a preferred embodiment 2 of the present invention.
  • Figure 15 is a side elevational view of the double extension mechanism of the preferred embodiment 2 of the present invention.
  • Figure 16 is a schematic structural view of a transmission mechanism in a preferred embodiment 2 of the present invention.
  • Figure 17 is a schematic structural view of a double extension rail connecting mechanism in a preferred embodiment 2 of the present invention.
  • Figure 18 is a schematic structural view of a traction mechanism in a preferred embodiment 2 of the present invention.
  • Figure 19 is a schematic structural view showing the state in which the double extension rail connecting mechanism is extended in the preferred embodiment 2 of the present invention.
  • Figure 20 is a schematic structural view of a driving mechanism in a preferred embodiment 2 of the present invention.
  • Figure 21 is a schematic view showing the structure of a mounting portion of a detecting portion with a detecting device in an embodiment of a preferred embodiment of the present invention
  • Figure 22 is a schematic structural view of a palletizer according to a third embodiment of the present invention.
  • Figure 23 is a schematic structural view of a car according to a preferred embodiment 3 of the present invention.
  • Figure 24 is a schematic structural view of a locking portion of a car according to a third embodiment of the present invention.
  • Figure 25 is a cross-sectional view showing the intermediate position of the palletizer in accordance with a third embodiment of the present invention.
  • Figure 26 is a schematic structural view of a palletizer according to a fourth embodiment of the present invention.
  • Figure 27 is a schematic view showing the structure of Figure 26;
  • Figure 29 is a schematic structural view of a locking portion of a car according to a fourth embodiment of the present invention.
  • Figure 30 is a cross-sectional view showing the intermediate position of the palletizer of the preferred embodiment 4 of the present invention.
  • Figure 31 is a schematic structural view of a palletizer according to a preferred embodiment 5 of the present invention.
  • Figure 32 is a schematic structural view of a car according to a preferred embodiment 5 of the present invention.
  • Figure 33 is a schematic structural view of a locking portion of a car according to a preferred embodiment 5 of the present invention.
  • Figure 34 is a cross-sectional view showing the intermediate position of the palletizer of the preferred embodiment 5 of the present invention.
  • Figure 35 is a schematic structural view of a protruding mechanism according to a preferred embodiment 5 of the present invention.
  • Figure 36 is a side view of Figure 35;
  • FIG. 37 is a schematic structural view of a transmission mechanism in a preferred embodiment 5 of the present invention.
  • FIG. 38 is a schematic structural view of a rail connecting mechanism in an embodiment of a preferred embodiment of the present invention.
  • 39 is a schematic structural view of a rail connecting mechanism according to another embodiment of a preferred embodiment 5 of the present invention.
  • FIG. 40 is a schematic structural view of a traction mechanism according to another embodiment of a preferred embodiment 5 of the present invention.
  • 41 is a schematic structural view showing a state in which a rail connecting mechanism is extended in another embodiment of a preferred embodiment 5 of the present invention.
  • Figure 42 is a schematic structural view of a driving mechanism in a preferred embodiment 5 of the present invention.
  • Figure 43 is a schematic structural view of a driving mechanism in still another embodiment of a preferred embodiment 5 of the present invention.
  • Figure 44 is a block diagram showing the structure of a mounting portion of a detecting portion with a detecting device in still another embodiment of the preferred embodiment 5 of the present invention.
  • the quick change system 100 of one embodiment of the present embodiment generally includes a battery rack 101, a palletizer 102, and a power-changing mobile platform 103.
  • the battery holder 101 is used for placing a replacement battery for the electric vehicle 105, and a battery to be charged that is replaced by the electric vehicle 105; and includes a plurality of placement layers composed of a frame.
  • the power-changing mobile platform 103 is configured to remove and transport the battery to be charged on the electric vehicle 105 to the palletizer 102 while receiving the replacement battery 104 from the palletizer 102 and mounting it on the electric vehicle 105;
  • a lifting device capable of lifting the battery 104 up and down, and a battery mounted on the lifting device for automatically removing the battery to be charged on the electric vehicle 105 or automatically mounting the replacement battery to the battery mounting portion of the electric vehicle 105.
  • the palletizer 102 is configured to put the battery to be charged replaced by the power-changing mobile platform 103 into the battery rack 101, and at the same time, the replacement battery is removed from the battery rack 101 and placed on the power-changing mobile platform 103; the palletizer 102 passes The track effects movement in the horizontal and vertical directions relative to the battery rack 101, which includes an extendable telescoping frame for picking up and dropping the battery 104.
  • the battery rack, palletizing machine and power-changing mobile platform form a complete electric vehicle automatic battery quick change system, which can realize the assembly line quick change operation for multiple electric vehicles.
  • the battery can be automatically replaced within five to ten minutes. The entire replacement process does not require manual intervention, which reduces labor intensity and greatly improves replacement efficiency.
  • the palletizer 102 includes a bracket 1021A, a running mechanism 1022A, a frame body 1023A, a lifting mechanism 1024A, and a protruding mechanism 1025A.
  • the bracket 1021A is mounted on the ground and has a vertical sliding track.
  • the traveling mechanism 1022A is disposed at At the bottom of the bracket 1021A, the driving bracket 1021A horizontally reciprocates on the ground; the frame body 1023A is movably disposed on the sliding rail of the bracket 1021A; the lifting mechanism 1024A is disposed on the bracket 1021A, and the lifting mechanism 1024A includes a driving motor and a transmission chain, and the transmission chain Connected to the frame body 1023A, the driving motor drives the transmission chain to move in the vertical direction, thereby driving the frame body to slide along the track of the bracket, and the extending mechanism 1025A is disposed in the frame body 1024A, and can extend out to the battery frame 101 to take out and place the battery.
  • a protrusion mechanism 1025A of the present embodiment includes: a mounting seat 1A, a transmission mechanism 2A, a rail connecting mechanism 3A, and a driving mechanism 4A; the transmission mechanism 2A is disposed on the mounting seat 1A; The mechanism 3 is movably disposed on the mounting seat 1A, connected to the transmission mechanism 2A, and extends in the conveying direction of the transmission mechanism 2A; the driving mechanism 4A is connected to the transmission mechanism 2A through the transmission shaft 42A, and the transmission mechanism 2A is operated to drive the rail connecting mechanism 3A along The surface of the mount 1A moves.
  • a detecting device 5A including a detecting portion 51A and a to-be-detected portion 52A is provided, and the detecting portion 51A is disposed on a mount below the rail connecting mechanism, and the to-be-detected portion 52A is disposed on the rail connecting mechanism.
  • the transmission mechanism 2A includes: a timing belt driving wheel 21A, a driven wheel 22A and a double-sided timing belt 23A; a timing belt driving wheel 21A and a driven wheel 22A, which are oppositely disposed on the path of the rail connecting mechanism 3, and are synchronized.
  • the belt drive wheel 21A is meshed with the drive mechanism 4A, and the driven wheel 22A is disposed on the mount 1A; both sides of the double-sided timing belt 23A are provided with racks or slots, and the double-sided timing belt 23A surrounds the timing belt drive wheels 21A and The periphery of the moving wheel 22A is engaged with the timing belt driving wheel 21A and the driven wheel 22A, the driving mechanism 4A drives the timing belt driving wheel 21A to rotate, and the timing belt driving wheel 21A drives the double-side timing belt 21A to rotate.
  • the transmission mechanism 2A further includes a tensioning end 25A connected to the driven wheel 21A for adjusting the slack of the double-sided timing belt 23A; and the upper top plate 24A is disposed between the upper and lower layers of the double-sided timing belt 23A, effectively making The timing belt driving belt 21A and the double-sided timing belt 23A on both sides of the driven wheel 22A are separated while supporting the double-sided timing belt 23A to prevent sagging due to gravity; the transmission mechanism 2A may further include a wear plate 26A, which is disposed on On the top plate 24A, it is used to protect the double-sided timing belt to reduce wear.
  • the drive mechanism 4A includes a motor 41A, a drive shaft 42A, and a dual output shaft reducer 43A.
  • the dual output shaft reducer 43A is connected to the motor 41A for controlling the output energy of the motor 41A; the drive shaft 42A and The dual output shaft reducer 43A is connected and mounted, and the dual output shaft reducer 43A drives the drive shaft 42A to rotate.
  • the motor 41A of the drive mechanism 4A drives the dual output shaft reducer 43A, and the dual output shaft reducer 43A is mounted on the mount 1A via the motor reducer mounting plate 11A, and one end of the drive shaft 42A passes through the connection flange 44A and the dual output shaft reducer The 43A is connected, and the other end of the drive shaft 42A is connected to the timing belt drive wheel 21A via the elastic coupling 45A.
  • the rail connecting mechanism 3A includes: an outer rail 31A, a first protruding member 32A and a tooth plate 35A; and the outer rail 31A is a pair of opposite rails and passes through The oppositely disposed rail mounts are mounted on the mount, the outer rails 31A having opposite chutes; the first projecting member 32A is movably disposed in the outer rail 31A, and the first projecting portion has a slideable manner in the chute
  • the slider 37A has a tooth plate 35A at the bottom of the first projecting portion 32A. The tooth plate 35A is engaged with the double-sided timing belt, and the first projecting member 32A is moved along the sliding groove of the outer rail 31A by the transmission mechanism 2A.
  • the outer rail 31A is fixed to the rail mounting seat by bolts, and the tooth plate 35A and the primary projecting member 32A are also fixedly connected by bolts.
  • the slider 37A between the outer rail 31A and the primary projecting member 32A can reduce the resistance of the primary projecting member 32A when sliding in the outer rail 31A and reduce the wear at the time of sliding.
  • the rail connecting mechanism 3A includes: an outer rail 31A, a first protruding member 32A and a tooth plate 35A, and further includes: an inner rail 33A and a secondary extension a member 34A; the inner rail is disposed on opposite sides of the first projecting member, and has a chute for sliding the second projecting member 34A, and the second projecting member 34A slides in the chute through a slider of the surface thereof.
  • the secondary projecting member 34A continues to extend along the sliding groove of the inner rail 33A in the extending direction of the primary projecting member 32A by the traction mechanism 36A; the inner rail 33A is fixed in the first projecting member 32A by bolts, and the inner rail
  • the slider 37A between the 33A and the secondary projecting member 34A can reduce the resistance of the secondary projecting member 34A when sliding in the inner rail 33A and reduce the wear at the time of sliding.
  • the traction mechanism 36A in the rail connecting mechanism 3A includes a chain 361A and a sprocket 362A, and the sprocket 362A is attached to the projecting front end of the primary projecting member 32A, and the chain 361A One end is fixed to the extended end of the secondary projecting member 34A by a fixing seat, and the other end is fixed around the sprocket 362A to the mounting seat 1A located below the extended end of the primary projecting member 32A, when the driving mechanism drives a When the step-out member 32A is extended, the first-stage projecting member 32A drives the sprocket 362A to rotate in the extending direction of the first-stage projecting member 32.
  • the sprocket 362A includes an outer wheel, a spacer sleeve, a circlip and a sprocket shaft.
  • the spacer sleeve and the circlip are respectively disposed between the outer wheel and the sprocket shaft, so that when the outer wheel rotates, the outer wheel and the sprocket shaft are cushioned and prevent the outer wheel and the chain. Friction between the axles.
  • the traction mechanism 36A may also be a combination of a rack and a gear, the rack replaces the chain, the gear replaces the sprocket, the gear is rotatably mounted on the primary projecting member 32A, and the rack is fixed to the secondary projecting member 34A.
  • the gear pushes the rack to drive the secondary projecting member 34A to project in synchronization.
  • Fig. 9 is a schematic view showing the state in which the rail extension mechanism secondary projecting member 34A is extended.
  • two sets of transmission mechanisms 2A and a rail connecting mechanism 3A may be simultaneously disposed on the mounting seat, and the two sets of rail connecting mechanisms are arranged in parallel with each other.
  • the drive mechanism drives the rail connection mechanism through two sets of transmission mechanisms.
  • the dual output shaft reducer 43A of the drive mechanism 4A drives the two transmission shafts 42A to drive the two sets of transmission mechanisms to rotate.
  • the motor 41A of the drive mechanism 4A drives the dual output shaft reducer 43A, and the dual output shaft reducer 43A is mounted on the mount 1A via the motor reducer mounting plate 11A, and one end of the drive shaft 42A passes through the connection flange 44A and the dual output shaft reducer
  • the 43A is connected, and the other end of the drive shaft 42A is connected to the timing belt drive wheel 21A via the elastic coupling 45A.
  • the two sets of drive shaft 42A, connecting flange 44A and elastic coupling 45A are symmetrically disposed on both sides of the dual output shaft reducer 43A.
  • the use of the dual output shaft reducer 43A makes the output power energy of the motor 41A acting on the two transmission shafts 42A uniform, thereby ensuring the consistency of the movement of the transmission mechanism 2A and the rail connection mechanism 3A of the A end and the B end, and finally ensuring the synchronization of the mechanism. Extend and smoothly remove the battery pack.
  • the two-stage process is specifically implemented: the motor 41A regulates the transmission energy through the dual output shaft reducer 43A to stably drive the drive shaft 42A to rotate, and the drive shaft 42A rotates to drive the A end and the B end synchronous belt drive wheel.
  • 21A simultaneously rotates, and the double-sided timing belt 23A engaged with the A-end and B-end timing belt driving wheels 21A follows the rotation, and drives the tooth plate meshing on the double-sided timing belt 23A to move, so that the primary projecting member 32A is extended.
  • the first protruding member 32A is extended while the pulling mechanism 36A drives the secondary protruding member 34A to protrude in the same direction, so that both ends of the A and B simultaneously realize the secondary synchronous extension.
  • the detecting unit 51A includes an origin detecting switch 511A, an in-position detecting switch 512A, and a limit detecting switch 513A, both of which are photoelectric switches; the origin detecting switch 511A is mounted on the mount 1A; and the in-position detecting switch 512A is mounted on the mounting.
  • the distance from the origin detecting switch 511A is half of the total length of the rail connecting mechanism 3A; the limit detecting switch 513A is mounted on the mounting seat 1A, and the distance from the origin detecting switch 511A is greater than the total length of the rail connecting mechanism 3A.
  • Half of the length is less than half of the theoretically extended total length of the rail connecting mechanism 3A to prevent the rail connecting mechanism 3A from excessively extending.
  • the total length of the rail connecting mechanism 3A is the physical length of the rail connecting mechanism 3A, which can be directly measured; and the total length of the rail connecting mechanism 3A is theoretically calculated according to the number of revolutions of the motor 41.
  • the connecting mechanism 3A theoretically extends the total length.
  • the portion to be detected 52A is a member which can be sensed by the above-described detecting switch, such as an iron block, and is provided at the bottom of the primary projecting member 32A.
  • the quick change system of the embodiment of the present embodiment is the same as the quick change system 100 of FIG. 1 in the first embodiment, and includes the battery rack 101, the palletizer 102, and the power-changing mobile platform 103, and therefore will not be described again. The difference is that, as shown in FIG.
  • the palletizer 102 of the present embodiment includes: a bracket 1021B, a running mechanism 1022B, a frame body 1023B, a lifting mechanism 1024B, and a double extension mechanism 1025B;
  • the bracket 1021B is mounted on the ground, In the vertical sliding track, the traveling mechanism 1022B is disposed at the bottom of the bracket 1021B, and the driving bracket 1021B is horizontally reciprocated on the ground;
  • the frame 1023B is movably disposed on the sliding track of the bracket 1021B in the height direction; and the lifting mechanism 1024B is disposed on the bracket 1021B.
  • the lifting mechanism 1024B includes a driving motor and a transmission chain, and the transmission chain is connected with the frame body 1023B.
  • the driving motor drives the transmission chain to move in a vertical direction, thereby driving the frame body to slide along the track of the bracket, and the double extension mechanism 1025B is disposed on the frame body 1024B. Inside, the battery holder 101 can be extended and the battery can be placed.
  • a double extension mechanism 1025B of the present embodiment includes: a mounting seat 1B, a transmission mechanism 2B, a double extension rail connecting mechanism 3B, and a driving mechanism 4B; the transmission mechanism 2B is disposed at the mounting seat 1B.
  • the double extension rail connecting mechanism 3B is movably disposed on the mounting seat 1B, is connected to the transmission mechanism 2B, and moves on the mounting seat 1B in two opposite directions; the driving mechanism 4B passes through the transmission shaft 42B and the transmission mechanism 2B.
  • the connection arrangement is for driving the transmission mechanism 2B to operate, and the transmission mechanism 2B is operated to drive the double extension rail connection mechanism 2B to move along the surface of the mounting seat 1B.
  • the detecting device 5B includes a detecting portion 51B and a to-be-detected portion 52B.
  • the detecting portion 5B is on the mounting seat 1B below the double-extension rail connecting mechanism 3B, and the to-be-detected portion 52B is disposed on the double-extended rail connecting mechanism 3B.
  • the transmission mechanism 2B includes: a timing belt driving wheel 21B, a driven wheel 22B, and a double-sided timing belt 23B; a timing belt driving wheel 21B and a driven wheel 22B, which are oppositely disposed on a path in which the rail connecting mechanism 3B moves,
  • the timing belt driving wheel 21B is engaged with the driving mechanism 4B, the driven wheel 22B is disposed on the mounting seat 1B;
  • the double-sided timing belt 23B is provided with racks or coggings on both sides, and the double-sided timing belt 23B surrounds the timing belt driving wheel 21B and
  • the periphery of the driven wheel 22B is engaged with the timing belt driving wheel 21B and the driven wheel 22B, the driving mechanism 4B drives the timing belt driving wheel 21B to rotate, and the timing belt driving wheel 21B drives the double-side timing belt 21B to rotate.
  • the transmission mechanism 2B further includes a tensioning end 25B connected to the driven wheel 21B for adjusting the slack of the double-sided timing belt 23B; and the upper top plate 24B is disposed between the upper and lower belts of the double-sided timing belt 23B, effectively
  • the timing belt drive belt 21B and the double-sided timing belt 23B on both sides of the driven wheel 22B are separated and support the double-sided timing belt 23B to prevent sagging due to gravity.
  • the transmission mechanism 2B may further include a wear plate 26B disposed on the upper top plate 24B for protecting the double-sided timing belt from wear.
  • the double-extension rail connecting mechanism 3B includes an outer rail 31B, a first projecting member 32B, an inner rail 33B, a secondary projecting member 34B, and a tooth plate 35B.
  • the outer rail 31B is oppositely disposed.
  • a guide rail mounted on the mount by an oppositely disposed rail mount, the outer rail 31B having opposite chutes;
  • the first projecting member 32B is movably disposed in the outer rail 31B, and the first projecting portion has a slide
  • the slider 37B sliding in the slot is provided with a tooth plate 35B at the bottom of the first projecting portion 32B.
  • the tooth plate 35B is engaged with the double-sided timing belt, and the first projecting member 32B is slid along the outer rail 31B by the transmission mechanism 2B.
  • the groove is moved; the outer rail 31B is fixed to the mount by bolts, the tooth plate 35B is connected to the primary projecting member 32B, and the tooth plate 35 and the primary projecting member 32B are also fixedly connected by bolts.
  • the double extension rail connecting mechanism 3B further includes: an inner rail 33B and a secondary projecting member 34B; the inner rail 33B is disposed on opposite sides of the first projecting member 32B; and has a chute for sliding the second projecting member 34B.
  • the secondary projecting member 34B slides in the chute through the slider of its surface, and the secondary projecting member 34B is extended by the traction mechanism 36B to extend along the sliding groove of the inner rail 33B in the extending direction of the primary projecting member 32B.
  • the inner guide rail 33B is fixed in the primary projecting member 32B by bolts.
  • the slider 37B between the inner rail 33B and the secondary projecting member 34B can reduce the primary projecting member 32B and the secondary projecting member 34B on the outer rail 31B and The resistance when sliding inside the inner rail 33B reduces the wear at the time of sliding.
  • the traction mechanism 36B in the double extension rail connecting mechanism 3B includes: two sets of chains 361B and sprocket wheels 362B, wherein the two sprocket wheels 362B are rotatably mounted on both ends of the primary projecting member 32B.
  • One end of the set of chains 361B is fixed to the projecting front end of the secondary projecting member 34B, and the other end is passed around the sprocket of the projecting end of the first projecting member 32B and fixed to the lower end of the first projecting member 32B.
  • one end of the other chain is fixed on the projecting end of the secondary projecting member 34B, and the other end bypasses the sprocket extending from the front end of the first projecting member 32B and is fixed to the first projecting member.
  • 32B extends over the mount below the end.
  • the sprocket 362B drives a chain motion fixed to the extended end of the secondary projecting member, the direction of movement being the same as the extending direction of the primary projecting member 32B, such that the secondary projecting member 34B extends horizontally along the inner rail under the pulling of the chain .
  • the drive mechanism drives the primary projecting member 32B to project in the opposite direction
  • the other set of sprocket and chain drive the secondary projecting member 32B to extend in the opposite direction, when the primary projecting member 32B is extended or retracted.
  • the sprocket 362B includes an outer wheel, a spacer sleeve, a circlip and a sprocket shaft.
  • the spacer sleeve and the circlip are respectively disposed between the outer wheel and the sprocket shaft.
  • the traction mechanism 36B may also be a combination of a rack and a gear, the rack replaces the chain, the gear replaces the sprocket, the gear is rotatably mounted on the primary projecting member 32B, and the rack is fixed to the secondary projecting member 34B.
  • the gear pushes the rack to drive the secondary projecting member 34B to project in synchronization.
  • FIG. 19 a schematic diagram of a state in which the double projecting rail connecting mechanism secondary projecting member 34B is extended.
  • the drive mechanism 4B includes a motor 41B, a drive shaft 42B, and a dual output shaft reducer 43B.
  • the dual output shaft reducer 43B is connected to the motor 41B for controlling the output energy of the motor 41B; the drive shaft 42B and The dual output shaft reducer 43B is connected and mounted, and the dual output shaft reducer 43B drives the drive shaft 42B to rotate.
  • two sets of transmission mechanisms 2B and a double extension rail connection mechanism 3B may be simultaneously disposed on the mount, and the two sets of rail connection mechanisms are arranged in parallel with each other, and the drive mechanism passes The two sets of transmission mechanisms respectively drive the rail connection mechanism.
  • the motor 41B of the drive mechanism 4B drives the dual output shaft reducer 43B
  • the double output shaft reducer 43B is mounted on the mount 1B through the motor reducer mounting plate 11B, and one end of the drive shaft 42B passes through the connection flange 44B and the double The output shaft reducer 43B is connected, and the other end of the drive shaft 42B is connected to the timing belt drive wheel 21B via the elastic coupling 45B.
  • the two sets of drive shafts 42B, connecting flanges 44B and elastic couplings 45B are symmetrically disposed on both sides of the dual output shaft reducer 43B.
  • the adoption of the dual output shaft reducer 43B makes the output power energy of the motor 41B acting on the two transmission shafts 42B uniform, thereby ensuring the consistency of the movement of the transmission mechanism 2B of the A end and the B end and the double extension rail connecting mechanism 3B, and finally guaranteeing The double extension mechanism is extended and the battery pack is smoothly taken out.
  • the embodiment of the present invention specifically realizes the two-stage double-extension process: the motor 41B regulates the transmission energy through the dual-output shaft reducer 43B to stably drive the drive shaft 42B to rotate, and the drive shaft 42B rotates to drive the A-end and the B-end synchronous belt drive wheel 21B simultaneously.
  • Rotating, the double-sided timing belt 23B engaged with the A-end and B-end timing belt driving wheels 21B follows the rotation, and drives the tooth plate meshing on the double-sided timing belt 23B, so that the primary projecting member 32B is extended, at the first stage.
  • the extension member 32B is extended while the traction mechanism 36B drives the secondary extension member 34B to protrude in the same direction, thereby realizing the simultaneous extension of the two ends of the A and B sides.
  • the detecting unit 51B includes an origin detecting switch 511B, an in-position detecting switch 512B, and a limit detecting switch 513B, both of which are photoelectric switches; the origin detecting switch 511B is mounted on the mount 1B; and the in-position detecting switch 512B is mounted on the mounting.
  • the distance from the origin detecting switch 511B is half of the total length of the rail connecting mechanism 3B; the limit detecting switch 513B is mounted on the mounting seat 1B, and the distance from the origin detecting switch 511B is larger than the total length of the rail connecting mechanism 3B.
  • Half of the length is less than half of the total length of the rail connecting mechanism 3B theoretically extended to prevent the rail connecting mechanism 3B from over-extending.
  • the total length of the rail connecting mechanism 3B extends to the physical length of the rail connecting mechanism 3B, which can be directly measured; and the total length of the rail connecting mechanism 3B theoretically extends is a theoretically calculated rail according to the number of revolutions of the motor 41B.
  • the connecting mechanism 3B theoretically extends the total length.
  • the portion to be detected 52B is a member that can be sensed by the above-described detection switch, such as an iron block, and is disposed at the bottom of the primary projecting member 32B.
  • the quick change system of the embodiment of the present embodiment is the same as the quick change system 100 of FIG. 1 in the first embodiment, and includes the battery rack 101, the palletizer 102, and the power-changing mobile platform 103, and therefore will not be described again. The difference is that, as shown in FIG.
  • the palletizer 102 of the present embodiment includes: a bracket 1021C, a traveling mechanism 1022C, a car 1023C, a lifting mechanism 1024C, and a protruding mechanism 1025C;
  • the bracket 1021C is mounted on the ground and has a vertical In the direction extending sliding track, the traveling mechanism 1022C is mounted on the bottom of the bracket 1021C for driving the bracket 1021C to reciprocate horizontally;
  • the car 1023C is movably mounted on the sliding track of the bracket 1021C;
  • the lifting mechanism 1024C is mounted on the bracket 1021C, and the lifting mechanism 1024C
  • the driving motor and the transmission chain are included, and the lifting mechanism is connected to the car through the transmission chain to drive the car 1023C to move in the vertical direction;
  • the extension mechanism 1025C is disposed in the car 1024C and can be extended to the battery rack 101 for removal and placement. battery.
  • a car 1023C of the present embodiment includes a side panel 1C, a bottom plate 2C, a sliding portion 3C, and a locking portion 4C.
  • the side panel 1C includes a first side panel 11C and a second side that are oppositely disposed.
  • the plate 12C is the opposite end faces of the car 1023C; the bottom plate 2C is installed between the first side plate 11C and the second side plate 12C, and forms a U-shaped frame with the side plate 1C; the sliding portion 3C is disposed outside the side plate 1C; the locking portion 4C is disposed on the side plate 1C, and the locking portion is fixedly connected with the chain, and the driving motor drives the chain to move up and down in the vertical direction to drive the car fixed with the chain to vertically move up and down.
  • the specific sliding portion 3C is provided on the first side plate 11C and the second side plate 12C for guiding the car 1023C to move along the sliding track.
  • the sliding portion 3C in this embodiment includes a roller having a roller shaft passing through the axis of the roller, and the roller is mounted on the first side plate and the second side plate through the roller shaft.
  • One of the rollers is an adjustment roller, the other is a fixed roller, and one side of the adjustment roller is mounted with a roller adjustment assembly.
  • the roller further includes a groove wheel 31C and a light wheel 32C.
  • the outer surface of the groove wheel 31C has a groove that fits into the edge of the bracket 1021C.
  • the cooperation of the groove and the bracket 1021C enables the car to be stably lifted along the track of the bracket 1021C to avoid lifting.
  • the car slides out of the bracket during the lifting process the sheave 31C is disposed on the first side plate 11C, the light wheel 32C is disposed on the second side plate 12C, and the sheave 31C is two groups, and each set of the sheaves is distributed in the vertical direction.
  • a roller adjusting component 33C is respectively mounted on one side of the adjusting sheave 311C and the adjusting light wheel 321C, and the position of the adjusting sheave 311C and the adjusting light wheel 321C can be finely adjusted by adjusting the roller adjusting component 33C.
  • the sheave 31C travels along the track on the bracket 1021C and the light wheel 32C moves with the sheave 31C.
  • the side plate in this embodiment is a mounting plate and has a mounting groove extending in the vertical direction.
  • the locking portion 4C includes a rectangular tube 41C and a fixing block 42C, and the rectangular tube 41C is installed in the mounting groove.
  • the fixing block 42C is fixedly mounted in the rectangular tube 41C, and the fixing block 42C is fixedly connected with the chain for transmission to fixedly connect the car 1023C to the chain.
  • the driving motor drive chain moves in the vertical direction, the chain drives the car. Moving along the track on the bracket 1021C, thereby achieving the lifting of the car.
  • the fixing block 42C includes a first fixing block 421C and a second fixing block 422C which are respectively disposed in the rectangular tube 41C to respectively correspond to the two chain belts. Both the first side plate 11C and the second side plate 12C are attached with the locking portion 4C to keep the car 1023C in a horizontal state. The use of two chains on each side ensures the stability and safety of the car 1023C.
  • a sensor 5C is attached to a side surface of the car 1023C corresponding to the battery holder 101.
  • a reflector is mounted on the battery holder 101, and the sensor 5C on the car 1023C can detect the reflector mounted on the battery holder 101, which facilitates accurate positioning of the extension mechanism and the charging position on the battery holder.
  • the quick change system of the embodiment of the present embodiment is the same as the quick change system 100 of FIG. 1 in the first embodiment, and includes the battery rack 101, the palletizer 102, and the power-changing mobile platform 103, and therefore will not be described again.
  • the palletizer 102 of the present embodiment includes: a bracket 1021D, a running mechanism 1022D, a car 1023D, a lifting mechanism 1024D, and an extending mechanism 1025D; the running mechanism 1022D is disposed at the bottom of the bracket 1021D.
  • the driving bracket 1021D is horizontally reciprocated; the car 1023D is movably disposed on the bracket 1021D in the height direction; the lifting mechanism 1024D is disposed on the bracket 1021D to drive the car 1023D to move in the vertical direction.
  • the extension mechanism 1025D is disposed in the car 1024D and can be extended to the battery holder 101 to take out and place the battery.
  • the bracket 1021D includes a top beam 11D, a bottom beam 12D, a first side beam 13D, and a second side beam 14D; the first side beam 13D and the second side beam 14D are disposed in parallel with each other, the top beam 11D and the bottom beam 12D connects the top and bottom of the first side sill 13D and the second side sill 14D, respectively; and the first side sill 13D and the second side sill 14D are provided with guide rails 15D for the car to move.
  • the running mechanism 1022D includes: a clamping wheel assembly 21D, a driving sheave 22D and a driven sheave 23D;
  • the clamping wheel assembly 21D includes two pairs of optical wheels respectively disposed on upper surfaces of the top beams 11D, and each pair of optical wheels has a track for wearing The gap is provided;
  • the active sheave 22D and the passive sheave 23D are respectively disposed outside the bottom of the first side beam 13D and the second side beam 14D, and the driving shaft is connected to the axial center of the driving sheave 22D, and the other end of the driving shaft is connected
  • the drive mechanism 24D drives the drive sheave 22D to rotate.
  • the bottom and the top between the battery racks 101 are respectively provided with horizontal rails (not shown) for horizontal movement of the palletizer 102.
  • the active sheaves 22D and the passive sheaves 23D are stuck on the horizontal rails at the bottom, and the driving mechanism drives the active sheaves. 22D rolls along the horizontal track at the bottom, thereby driving the fixed bracket to move horizontally along the horizontal track, while the pinch wheel assembly 21D is disposed on the top horizontal track, and the guide rail of the top horizontal track passes through the middle of each pair of light wheels, the palletizer Movement along the horizontal track 102 ensures that the palletizer 102 does not collapse.
  • a car 1023D of the present embodiment includes a side plate 31D, a bottom plate 32D, a sliding portion 33D, and a locking portion 34D.
  • the side plate 31D is composed of a first side plate 311D and a second portion including opposite sides.
  • the side plate 312D is composed of two opposite end faces of the car 1023D; the bottom plate 32D is mounted on the bottom ends of the first side plate 311D and the second side plate 312D, and forms a U-shaped frame with the side plate 31D; the sliding portion 33D is disposed at the side
  • the outer side of the plate 31D is for providing a support point for sliding the car 1023D along the bracket 1021D;
  • the locking portion 34D is disposed on the side plate 31D, and the locking portion is fixedly connected with the chain, and the driving motor drives the chain to vertically move up and down.
  • the car fixed with the chain causes the car 1023D to be locked up and down vertically on the chain.
  • the specific sliding portion 33D is disposed on the outer side of the first side plate 311DD and the second side plate 312D, and the car is slid for guiding the car 1023D to move along the sliding track.
  • the sliding portion 33D in this embodiment includes a groove wheel 331D and a light wheel 332D.
  • the outer surface of the groove wheel has a groove that fits into the edge of the bracket. The cooperation of the groove and the bracket enables the car to be stably along the bracket track.
  • the groove wheel 331D is disposed on the first side plate 311D
  • the light wheel 332D is disposed on the second side plate 312D
  • each group of the groove wheel is distributed in the vertical direction, two groups
  • the sheaves for the bracket to pass through one of which is the adjusting sheave 3311D
  • the other is the fixed sheave 3312D
  • the light wheel 332D is two groups, each set of light wheels is distributed in the vertical direction, two sets of light wheels
  • a roller adjusting component 333D is mounted under the adjusting sheave 3311D and the adjusting light wheel 3321D, and the position of the adjusting sheave 3311D and the adjusting light wheel 3321D can be finely adjusted by adjusting the roller adjusting component 333D.
  • the sheave 331D travels along the track on the bracket 1021D and the light wheel 332D moves with the sheave 331D.
  • the side plate in this embodiment is a mounting plate and has a mounting groove extending in a vertical direction.
  • the locking portion 34D includes a rectangular tube 341D and a fixing block 342D, and the rectangular tube 341D is installed in the mounting groove.
  • the fixing block 342D is disposed in the rectangular tube 341D, and the fixing block 42D is fixedly connected with the chain for driving to fix the car 1023D to the chain.
  • the driving motor drive chain moves in the vertical direction
  • the chain drives the car along the chain.
  • the track on the bracket 1021D moves to achieve the lifting of the car.
  • the fixing block 342D includes a first fixing block 3421D and a second fixing block 3422D which are respectively disposed in the rectangular tube 341D to respectively correspond to the two chain belts. Both the first side plate 311D and the second side plate 312D are fitted with the locking portions 34D to keep the car 1023D in a horizontal state. The use of two chain belts on each side ensures the stability and safety of the car 1023D.
  • a sensor 35D is attached to a side surface of the car 1023D corresponding to the battery holder 101.
  • a reflector is mounted on the battery holder 101, and the sensor 35D on the car 1023D can detect the reflector mounted on the battery holder 101, which facilitates precise positioning of the extension mechanism and the charging position on the battery holder.
  • the lifting mechanism 4D includes: a sprocket driving mechanism 41D, a first upper sprocket 43D, a first lower sprocket 44D, and a first chain belt 45D; a first upper sprocket 43D and a first lower sprocket 44D.
  • one end of the first chain belt 45D is fixed on the first fixing block 3421D of the car, and the other end is bypassed by the first upper sprocket 43D, the first lower sprocket 44D and fixed at On the second fixing block 3422D of the car, the first chain belt 45D meshes with the first upper sprocket 43D and the first lower sprocket 44D, respectively, and the motor 41D drives the first upper sprocket 43D to rotate by the driving shaft 42D.
  • the sprocket 43D drives the chain belt to drive in the vertical direction, and the car follows the first chain belt vertically up and down by the fixed block fixedly connected with the first chain belt 45D; the first upper sprocket 43D is disposed at the upper end of the first side sill 13D The inner side; the first lower sprocket 44D is disposed inside the lower end of the first side turn 13D; the sprocket drive mechanism 41D drives the first upper sprocket to rotate by the drive shaft 42D.
  • a passive lifting mechanism may be disposed on the second side sill, including: a second upper sprocket 46D, a second lower sprocket 47D and a second chain 48D; a second upper sprocket 46D, The second lower sprocket 47D is respectively disposed at the upper end and the lower end inner side of the second side cymbal 14D; the second chain belt 48D is connected in a similar manner to the first chain belt 45D, and the first upper sprocket 43D and the second upper sprocket 46D are When the motor drives the first upper sprocket 43D to rotate, the second upper sprocket rotates accordingly, thereby forming a matching lifting mechanism at both ends of the car, thereby improving the stability of the car lifting and lowering.
  • the first upper sprocket 43D, the second upper sprocket 46D, the first lower sprocket 44D, and the second lower sprocket 47D are respectively combined by two sprocket wheels, and correspondingly, the first chain belt 45D and the second chain belt 48D is two.
  • the first chain belt 45D and the second chain belt 48D are passed through the rectangular tube 341D on the car 1023D, and the car 1023D is locked on the first chain belt 45D and the second chain belt 48D by the fixing block 342D.
  • the car 1023D is moved up and down.
  • the quick change system of the embodiment of the present embodiment is the same as the quick change system 100 of FIG. 1 in the first embodiment, and includes the battery rack 101, the palletizer 102, and the power-changing mobile platform 103, and therefore will not be described again.
  • the palletizer 102 of the present embodiment includes: a horizontal running mechanism 1022E, a car 1023E, a lifting mechanism 1024E, and a protruding mechanism 1025E.
  • the horizontal traveling mechanism 1022E includes a bracket 1021E and a movable sheave.
  • the movable mechanism 1024E is movably disposed on the bracket 1021E, and the lifting mechanism 1024E is disposed on the bracket 1021E to drive the car 1023E to vertically ascend and descend along the bracket.
  • the extension mechanism 1025E is disposed in the car 1024E and can be extended to the battery holder 101 to take out and place the battery.
  • the detecting device is mounted on the car 1024E for detecting the extended state of the extension mechanism.
  • the bracket 1021E includes a top beam 11E, a bottom beam 12E, a first side rail 13E, and a second side rail 14E; the first side rail 13E and the second side rail 14E are disposed parallel to each other between the top beam 11E and the bottom beam 12E, respectively; A guide rail 15E is disposed on the first side member 13E and the second side member 14E.
  • the horizontal running mechanism 1022E includes: a clamping wheel assembly 21E, a driving sheave 22E and a driven sheave 23E;
  • the pinch wheel assembly 21E includes two pairs of light wheels respectively disposed on upper surfaces of the top beams 11E, and each pair of light wheels has a track for each other. a gap that passes through;
  • the active sheave 22E and the driven sheave 23E are respectively disposed outside the bottom of the first side member 13E and the second side member 14E, and the shaft of the driving sheave 22E is connected with a driving shaft, and the other end of the driving shaft is connected
  • the bottom and the top between the battery racks 101 are respectively provided with horizontal rails (not shown) for horizontal movement of the palletizer 102.
  • the active sheaves 22E and the passive sheaves 23E are stuck on the horizontal rails at the bottom, and the driving mechanism drives the active sheaves. 22E rolls along the horizontal track, thereby driving the fixed bracket to move horizontally along the horizontal track, and the pinch wheel assembly 21E is disposed on the top horizontal track, the guide rail of the top horizontal track passes through the middle of each pair of light wheels, and the palletizer 102 is along The horizontal track movement ensures that the palletizer 102 does not fall sideways.
  • the horizontal track is disposed below the bracket 1021E and above the bracket 1021E for guiding the bracket 1021E to move horizontally.
  • the active sheave and the passive sheave are oppositely mounted on the bottom of the bracket, and are engaged with the horizontal rail, and the driving mechanism is connected with the active sheave. And drive the active sheave to move along the horizontal track.
  • the car 1023E includes a side plate 31E, a bottom plate 32E, a sliding portion 33E, and a locking portion 34E.
  • the side plate 31E is composed of a first side plate 311E and a second side plate 312E that are oppositely disposed.
  • the two top end faces of the car 1023E are opposite to each other; the bottom plate 32E is mounted on the bottom ends of the first side plate 311E and the second side plate 312E, and forms a U-shaped frame with the side plate 31E; the sliding portion 33E is disposed outside the side plate 31E for A support point for sliding the car 1023E along the bracket 1021E is provided; the locking portion 34E is disposed on the side plate 31E, and the locking portion is fixedly connected with the chain, and the driving motor drives the chain to vertically move up and down, and drives the car fixed with the chain.
  • the car 1023E is locked and vertically moved up and down on the chain.
  • the specific sliding portion 33E is disposed on the outer side of the first side plate 311E and the second side plate 312E, and the car is slid for guiding the car 1023E to move along the sliding track.
  • the sliding portion 33E in this embodiment includes a groove wheel 331E and a light wheel 332E.
  • the outer surface of the groove wheel has a groove that fits into the edge of the bracket, and the cooperation of the groove and the bracket enables the car to be stably along the bracket track.
  • the lifting and lowering is performed to prevent the car from sliding out of the bracket during the lifting process
  • the sheave 331E is disposed on the first side plate 311E
  • the light wheel 332E is disposed on the second side plate 312E
  • each set of the sheave is distributed in the vertical direction, two groups
  • There are gaps between the sheaves for the brackets to pass through one set is the adjusting sheave 3311E
  • the other set is the fixed sheave 3312E
  • the light wheel 332E is two groups, each set of light wheels is distributed in the vertical direction, two sets of light wheels
  • There is a gap between the brackets one of which is the adjustment light wheel 3321E, and the other is the fixed light wheel 3322E.
  • a roller adjusting component 333E is mounted under the left sheave 3311E and the left light wheel 3321E.
  • the adjusting roller adjusting component 333E can finely adjust the position of the adjusting sheave 3311E and the adjusting light wheel 3321E.
  • the sheave 331E travels along the track on the bracket 1021E and the light wheel 332E moves as the sheave 331E moves.
  • the side plate in this embodiment is a mounting plate and has a mounting groove extending in a vertical direction.
  • the locking portion 34E includes a rectangular tube 341E and a fixing block 342E, and the rectangular tube 341E is installed in the mounting groove.
  • the fixing block 342E is disposed in the rectangular tube 341E.
  • the fixing block 342E is fixedly connected with the chain for driving to fix the car 1023E to the chain.
  • the driving motor drive chain moves in the vertical direction
  • the chain drives the car along the chain.
  • the track on the bracket 1021E moves to achieve the lifting of the car.
  • the fixing block 342E includes a first fixing block 3421E and a second fixing block 3422E which are respectively disposed in the rectangular tube 341E to respectively correspond to the two chain belts. Both the first side plate 311E and the second side plate 312E are fitted with the locking portions 34E to maintain the car 1023E in a horizontal state.
  • the use of two chain belts on each side ensures the stability and safety of the car 1023E.
  • a sensor 35 is attached to a side surface of the car 1023E corresponding to the battery holder 101.
  • a reflector is mounted on the battery holder 101, and the sensor 35E on the car 1023E can detect the reflector mounted on the battery holder 101, which facilitates precise positioning of the extension mechanism and the charging position on the battery holder.
  • the lifting mechanism 4E includes: a sprocket drive mechanism 41E, a first upper sprocket 43E, a first lower sprocket 44E, and a first chain belt 45E; a first upper sprocket 43E and a first lower sprocket 44E.
  • the first chain belt 45E is fixed at one end to the first fixing block 3421E of the car, and the other end is bypassed by the first upper sprocket 43E, the first lower sprocket 44E and fixed at On the second fixing block 3422E of the car, the first chain belt 45E meshes with the first upper sprocket 43E and the first lower sprocket 44E, respectively, and the motor 41E drives the first upper sprocket 43E to rotate by the driving shaft 42E.
  • the sprocket 43E drives the chain belt to drive in the vertical direction, and the car follows the first chain belt vertically up and down by the fixed block fixedly connected with the first chain belt 45E; the first upper sprocket 43E is disposed at the upper end of the first side sill 13E The inner side; the first lower sprocket 44E is disposed inside the lower end of the first side weir 13E; the sprocket drive mechanism 41E drives the first upper sprocket to rotate by the drive shaft 42E.
  • a passive lifting mechanism may be disposed on the second side sill, including: a second upper sprocket 46E, a second lower sprocket 47E and a second chain 48E; a second upper sprocket 46E, The second lower sprocket 47E is respectively disposed at the upper end and the lower end inner side of the second side cymbal 14E; the second chain belt 48E is connected in a similar manner to the first chain belt 45E, and the first upper sprocket 43E and the second upper sprocket 46E are When the motor drives the first upper sprocket 43E to rotate, the second upper sprocket rotates accordingly, thereby forming a matching lifting mechanism at both ends of the car to improve the stability of the car.
  • the first upper sprocket 43E, the second upper sprocket 46E, the first lower sprocket 44E, and the second lower sprocket 47E are respectively combined by two sprocket wheels, and correspondingly, the first chain belt 45E and the second chain belt 48E are two.
  • first chain belt 45E and the second chain belt 48E pass through the rectangular tube 341E on the car 1023E, and the car 1023E is locked on the first chain belt 45E and the second chain belt 48E by the fixing block 432E.
  • the car 1023E is moved up and down.
  • a protrusion mechanism 1025E of the present embodiment includes: a mounting seat 51E, a transmission mechanism 52E, a rail connecting mechanism 53E, and a driving mechanism 54E; the transmission mechanism 52E is disposed on the mounting seat 51E; The mechanism 53E is disposed on the mounting seat 51E and connected to the transmission mechanism 52E.
  • the driving mechanism 54E is connected to the transmission mechanism 52E for driving the transmission mechanism 52E to operate, and the transmission mechanism 52E is operated to drive the rail connecting mechanism 53E to move along the surface of the mounting seat 51E.
  • a detecting device 55E including a detecting portion 551E and a to-be-detected portion 552E is provided, and the detecting portion 551E is disposed on a mounting seat below the rail connecting mechanism, and the to-be-detected portion 552E is disposed on the rail connecting mechanism.
  • the transmission mechanism 52E includes: a timing belt driving wheel 521E, a driven wheel 522E, and a double-sided timing belt 523E; a timing belt driving wheel 521E and a driven wheel 522E, which are oppositely disposed on a path in which the rail connecting mechanism 53E moves,
  • the timing belt driving wheel 521E is meshed with the driving mechanism 54E, the driven wheel 522E is disposed on the mounting seat 51E;
  • the double-sided timing belt 523E is provided with racks or coggings on both sides, and the double-sided timing belt 523E is surrounded by the timing belt driving wheel 521E and
  • the periphery of the driven wheel 522E is engaged with the timing belt driving wheel 521E and the driven wheel 522E, the driving mechanism 54E drives the timing belt driving wheel 521E to rotate, and the timing belt driving wheel 521E drives the double-side timing belt 521E to rotate.
  • the transmission mechanism 52E further includes a tensioning end 525E connected to the driven wheel 521E for adjusting the slack of the double-sided timing belt 523E; the upper top plate 524E is disposed between the upper and lower layers of the double-sided timing belt 523E, effectively The timing belt driving belt 521E and the double-sided timing belt 523E on both sides of the driven wheel 522E are separated while supporting the double-sided timing belt 523E to prevent sagging due to gravity; the transmission mechanism 52E may further include a wear plate 526E, which is disposed on Top plate 524E for protecting double-sided timing belts to reduce wear
  • the driving mechanism 54E includes a motor 541E, a transmission shaft 542E, and a dual output shaft speed reducer 543E.
  • the dual output shaft speed reducer 543E is connected to the motor 541E for controlling the output energy of the motor 541E; the transmission shaft 542E and The dual output shaft reducer 543E is connected and mounted, and the dual output shaft reducer 543E drives the drive shaft 542E to rotate.
  • the motor 541E drives the dual output shaft reducer 543E
  • the dual output shaft reducer 543E is mounted on the mount 51E via the motor reducer mounting plate 511E.
  • One end of the drive shaft 542E passes through the connecting flange 544E and the dual output shaft reducer.
  • the 543E is connected, and the other end of the drive shaft 542E is connected to the timing belt drive wheel 521E via the elastic coupling 545E.
  • the rail connecting mechanism 53E includes: an outer rail 531E, a first protruding member 532E and a tooth plate 535E; the outer rail 531E is disposed on the mounting seat through the rail mounting seat; The first protruding member 532E is movably disposed in the outer rail 531E, and moves along the outer rail 531E under the driving mechanism 52E; the bottom of the first protruding member 532E is mounted with a tooth plate 535E, and the double-sided timing belt is engaged with the tooth plate.
  • the driving mechanism drives the double-sided timing belt to operate, and drives the first-stage protruding member engaged with the horizontal rail to protrude horizontally;
  • the outer rail 531E is fixed to the mounting seat by bolts, and the tooth plate 535E and the first-stage protruding member 532E also pass Bolted to the connection.
  • a slider 537E is provided between the outer rail 531E and the primary projecting member 532E to reduce the resistance of the primary projecting member 532E when sliding in the outer rail 31E and to reduce the wear during sliding.
  • the rail connecting mechanism 53E includes: an outer rail 531E, a first protruding member 532E, and a tooth plate 535E, and further includes: an inner rail 533E and a secondary extension The member 534E; the inner rail 533E is disposed on the other side of the primary projecting member 532E away from the outer rail; the secondary projecting member 534E is movably disposed in the inner rail 533E, and the secondary projecting member 534E is driven by the traction mechanism 536E.
  • the inner rail 533E Extending along the inner rail 533E; the inner rail 533E is fixed in the first projecting member 532E by bolts, and the slider 537E is also disposed between the inner rail 533E and the second projecting member 534E to reduce the secondary projecting member 534E.
  • the resistance when sliding inside the inner rail 533E reduces the wear during sliding.
  • the traction mechanism 536E in the rail connecting mechanism 53E of the above another embodiment includes: two sets of chains 5361E and a sprocket 5362E, and the two sets of sprockets 5362E are rotatably mounted on the first protruding member 532E.
  • one end of a set of chains 5361E is fixed to the projecting front end of the secondary projecting member 534E through a fixing seat, and the other end is passed around the sprocket 5362E of the projecting end of the first-stage projecting member and fixed at one stage.
  • the component extends beyond the front end of the mounting seat 51E.
  • the sprocket 5362E at the forward end of the primary projecting member 532E is rotated toward the primary projecting member 532E.
  • the engaged chain operates in the extending direction to pull the secondary projecting member 534E to extend in the extending direction.
  • One end of the other chain is fixed on the protruding end of the secondary projecting member, and the other end is passed around the sprocket extending from the front end of the first projecting member and fixed to the mounting seat below the extended end of the primary projecting member.
  • the sprocket 5362E includes an outer wheel, a spacer sleeve, a circlip and a sprocket shaft.
  • the spacer sleeve and the circlip are respectively disposed between the outer wheel and the sprocket shaft.
  • the outer wheel and the sprocket shaft are cushioned and prevent the outer wheel and the chain. Friction between the axles.
  • the traction mechanism 536E may also be a combination of a rack and a gear, the gear being rotatably mounted on the primary projecting member 532E, the rack being fixed to the secondary projecting member 534E, and when the primary projecting member 532E is extended, the gear The pushing rack drives the secondary projecting members 534E to project in synchronization.
  • FIG. 41 a schematic structural view of the rail connecting mechanism secondary projecting member 534E is extended.
  • the transmission mechanism 52E and the rail connecting mechanism 53E may include two sets of mutually parallel mechanisms respectively disposed on the mounting seat 51E.
  • the dual output shaft reducer 543E of the drive mechanism 54E drives the two transmission shafts 542E to drive the two sets of transmission mechanisms to rotate.
  • the motor 541E drives the dual output shaft reducer 543E
  • the dual output shaft reducer 543E is mounted on the mount 51E via the motor reducer mounting plate 511E.
  • One end of the drive shaft 542E passes through the connecting flange 544E and the dual output shaft reducer.
  • the 543E is connected, and the other end of the drive shaft 542E is connected to the timing belt drive wheel 521E via the elastic coupling 545E.
  • the two sets of drive shaft 542E, connecting flange 544E and elastic coupling 545E are symmetrically disposed on both sides of the dual output shaft reducer 543E.
  • the adoption of the dual output shaft reducer 543E makes the output power energy of the motor 541E acting on the two transmission shafts 542E uniform, thereby ensuring the consistency of the movement of the transmission mechanism 52 and the rail connecting mechanism 53E of the A end and the B end, and finally ensuring the synchronization of the mechanism. Extend and smoothly remove the battery pack.
  • the two-stage process is specifically implemented: the motor 541E regulates the transmission energy through the dual output shaft reducer 543E to stably drive the drive shaft 542E to rotate, and the drive shaft 542E rotates to drive the A end and the B end synchronous belt drive wheel.
  • the 521E rotates at the same time, and the double-sided timing belt 523E engaged with the A-end and the B-end timing belt driving wheel 521E follows the rotation, and drives the tooth plate meshing on the double-sided timing belt 523E, so that the first-stage projecting member 532E protrudes.
  • the first protruding member 532E is extended while the pulling mechanism 536E drives the secondary protruding member 534E to protrude in the same direction, thereby realizing the two-stage simultaneous extension of the two sets of mechanisms.
  • the primary projecting member 532E of the rail connecting mechanism 53E can protrude in two directions (for example, from the start end A to the end end B direction, or from the B start end to the A end end direction), as shown in FIG.
  • the portion 551E includes: an origin detecting switch 5511E, an in-position detecting switch 5512E, and a limit detecting switch 5513E, both of which are photoelectric switches; an origin detecting switch 5511E is mounted on the mounting seat 51E; the in-position detecting switch 5512E is mounted on the mounting seat 51E, and is detected from the origin.
  • the distance of the switch 5511E is half of the total length of the rail connecting mechanism 53E; the limit detecting switch 5513E is mounted on the mounting seat 51E, and the distance from the origin detecting switch 5511E is greater than half of the total length of the rail connecting mechanism 53E, which is smaller than the rail connecting.
  • the mechanism 53E theoretically extends half of the total length to prevent the rail attachment mechanism 53E from overextending.
  • the total length of the rail connecting mechanism 3E extends to the physical length of the rail connecting mechanism 3E, which can be directly measured; and the total length of the rail connecting mechanism 53E theoretically extends is a theoretically calculated rail according to the number of revolutions of the motor 541E.
  • the connecting mechanism 53E theoretically extends the total length.
  • the origin detecting switch 5511E is for detecting whether the rail connecting mechanism is in an initial position when it is not extended, the in-position detecting switch 5512E is for detecting whether the rail protruding member protrudes in position, and the limit detecting switch 5513E is for detecting whether the rail connecting mechanism is beyond the extension. Out the range to avoid excessive extension of the rails.
  • one end origin detecting switch 5511E, the in-position detecting switch 5512E, and the in-position detecting switch 5513E, the in-position detecting switch 5512E, and the origin detecting switch 5511E are sequentially set for respectively detecting. Outreach in both directions.
  • the to-be-detected portion 552E is an iron block provided at the bottom of the primary projecting member 532E.

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Abstract

一种伸出机构（1025A）、双伸出机构（1025B）、码垛机（102）及快换***（100）。其中，伸出机构（1025A）包括：安装座（1A），用于提供安装的基座；传动机构（2A），安装在安装座（1A）上；导轨连接机构（3A），可移动地安装在安装座（1A）上，与传动机构（2A）连接；驱动机构（4A），与传动机构（2A）连接，用于驱动传动机构（2A）运转，传动机构（2A）运转带动导轨连接机构（3A）沿安装座（1A）表面移动。该伸出机构，能够自动检测伸出状况，实现伸出功能。

Description

伸出机构、双伸出机构、码垛机及快换***
本申请要求申请日为2017年1月24日的中国专利申请CN201710052421.2、CN201710052425.0、CN201710052579.X、CN201710052600.6和CN201710052408.7的优先权。本申请引用上述中国专利申请的全文。
技术领域
本发明涉及车载动力电池换电领域，尤其涉及一种伸出机构、双伸出机构、码垛机及快换***。
背景技术
电动车电池快速换电过程中，需要将待充电的电池取下放到电池架上，同时再将已充好电的电池换到电动汽车上。此时，需要用到码垛机将换电移动平台更换下来的待充电池放入电池架，同时由电池架上取下替换电池放在换电移动平台上；随着电动汽车换电***的发展，需要更换充电的电池越来越多，电池架设计的层数越来越多，并且宽度也越来越宽，需要码垛机的伸出机构能够上下左右移动以达到电池架上取放电池的目的，也需要尽可能地伸展出去以取放电池。
以往取放电池的伸出机构通常采用的是德国制造的推出机构，主要采用齿轮变速箱机构，然而该机构一方面价格非常昂贵，另一方面机构很复杂，此前设计的双推出摆放机构为单侧机构。随着电动汽车换电***的发展，进行更换的电池越来越多，需要新的机构来提高好的效率。
发明内容
本发明要解决的技术问题是为了克服现有技术种取放电池的伸出机构采用齿轮变速箱机构而导致机构复杂且价格昂贵的缺陷，提供一种能够自动检测伸出状况、实现伸出功能的伸出机构、双伸出机构、码垛机及快换***。
本发明是通过以下技术方案解决上述技术问题的：
本发明提供一种伸出机构，包括：安装座，用于提供安装的基座；传动机构，安装在所述安装座上；导轨连接机构，可移动地安装在所述安装座上，与所述传动机构连接；驱动机构，与所述传动机构连接，用于驱动所述传动机构运转，所述传动机构运转带动所 述导轨连接机构沿所述安装座表面移动。
优选地，所述传动机构包括：同步带主动轮和从动轮，相对设置在导轨连接机构移动的路径上，所述同步带主动轮与所述驱动机构啮合，所述从动轮设置在所述安装座上；双面同步带，所述双面同步带的两面均设有齿条或齿槽，所述双面同步带围绕在所述同步带主动轮和从动轮***并与所述同步带主动轮和从动轮啮合，所述驱动机构驱动同步带主动轮转动，所述同步带主动轮带动所述双面同步带转动。
优选地，所述传动机构还包括张紧端，与所述从动轮连接，用于调节所述双面同步带松弛度；和/或，所述传动机构还包括上顶板，所述上顶板设置在所述双面同步带的上下两层带之间。
优选地，所述导轨连接机构包括：外导轨，通过导轨安装座安装在所述安装座上；一级伸出部件，可移动设置在所述外导轨内，所述一级伸出部件与所述传动机构啮合，所述驱动机构驱动所述传动机构运转，并带动与之啮合的一级伸出部件沿所述外导轨水平伸出。
优选地，所述导轨连接机构还包括：内导轨，安装在所述一级伸出部件内；二级伸出部件，可移动置在内导轨内；牵引机构，安装在所述一级伸出机构上，并与所述二级伸出部件连接，用于驱动所述二级伸出部件沿所述一级伸出部件的伸出方向移动。
进一步优选地，所述牵引机构包括：链条和链轮，所述链轮可转动安装在所述一级伸出部件的伸出前端上，所述链条的一端固定在所述二级伸出部件的伸出末端上，另一端绕过所述链轮并固定在所述一级伸出部件的伸出末端下方的安装座上；或，所述牵引机构包括：齿条和齿轮，所述齿轮可转动安装在所述一级伸出部件上，所述齿条固定在所述二级伸出部件上。
优选地，所述伸出机构还包括检测装置，包括检测部和待检测部，所述检测部在所述导轨连接机构下方的安装座上，所述待检测部设置在所述导轨连接机构上。
优选地，所述检测部包括：原点检测开关、到位检测开关、限位检测开关中的至少一个，所述检测开关为光电开关。
优选地，所述到位检测开关与所述原点检测开关的距离为导轨连接机构伸出总长度的一半；所述限位检测开关与原点检测开关的距离大于导轨连接机构实际伸出总长度的一半并小于导轨连接机构理论上伸出总长度的一半。
优选地，所述待检测部为铁块，设置在所述导轨连接机构的底部。
优选地，所述驱动机构包括：电机；双输出轴减速机，与所述电机连接设置，用于控制所述电机的输出能源；传动轴，与所述双输出轴减速机连接安装，所述双输出轴减速 机驱动所述传动轴转动，所述传动轴与所述传动机构转动连接带动所述传动机构运转。
优选地，所述传动机构和导轨连接机构包括相互平行设置的两组机构，分别设置所述安装座上，所述驱动机构同时驱动传动轴并带动所述两组传动机构同步运转。
本发明还提供一种双伸出机构，包括：安装座，用于提供安装的基座；传动机构，设置在所述安装座上；双伸出导轨连接机构，可移动地设置在所述安装座上，与所述传动机构连接，并沿两个相反的方向在所述安装座上移动；驱动机构，与所述传动机构连接设置，用于驱动所述传动机构运转，所述传动机构运转带动所述双伸出导轨连接机构沿所述安装座表面移动。
优选地，所述传动机构包括：同步带主动轮和从动轮，相对设置在双伸出导轨连接机构移动的路径上，所述同步带主动轮与所述驱动机构啮合，所述从动轮设置在所述安装座上；双面同步带，所述双面同步带的两面均设有齿条或齿槽，所述双面同步带围绕在所述同步带主动轮和从动轮***并与所述同步带主动轮和从动轮啮合，所述驱动机构驱动同步带主动轮转动，所述同步带主动轮带动所述双面同步带转动。
优选地，所述传动机构还包括张紧端，与所述从动轮连接，用于调节所述双面同步带松弛度；和/或，所述传动机构还包括上顶板，所述上顶板设置在所述双面同步带的上下两层带之间。
优选地，所述双伸出导轨连接机构包括：外导轨，通过导轨安装座安装设置在所述安装座上；一级伸出部件，可移动设置在所述外导轨内，所述一级伸出部件的底部安装有齿板，所述传动机构与所述齿板啮合，所述驱动机构驱动所述传动机构运转，并带动与之啮合的一级伸出部件沿所述外导轨水平伸出。
优选地，所述双伸出导轨连接机构还包括：内导轨，安装在所述一级伸出部件内；二级伸出部件，可移动置在内导轨内；牵引机构，安装在所述一级伸出机构上，并与所述二级伸出部件连接，用于驱动所述二级伸出部件沿所述一级伸出部件的伸出方向移动。
进一步优选地，所述牵引机构包括：两组链条和链轮，所述链轮可转动安装在所述一级伸出部件的两端上，所述一组链条的一端固定在所述二级伸出部件的伸出前端上，另一端绕过所述一级伸出部件的伸出末端的链轮并固定在所述一级伸出部件伸出前端下方的安装座上，另一组链条的一端固定在所述二级伸出部件的伸出末端上，另一端绕过所述一级伸出部件的伸出前端的链轮并固定在所述一级伸出部件伸出末端下方的安装座上；或，所述牵引机构包括：齿条和齿轮，所述齿轮可转动安装在所述一级伸出部件上，所述齿条固定在所述二级伸出部件上。
优选地，所述双伸出机构还包括检测装置，包括检测部和待检测部，所述检测部在 所述双伸出导轨连接机构下方的安装座上，所述待检测部设置在所述双伸出导轨连接机构上。
优选地，所述检测部包括：原点检测开关、到位检测开关、限位检测开关，所述检测开关为光电开关。
优选地，所述到位检测开关与所述原点检测开关的距离为导轨连接机构伸出总长度的一半；所述限位检测开关与原点检测开关的距离大于导轨连接机构实际伸出总长度的一半并小于导轨连接机构理论上伸出总长度的一半。
优选地，所述待检测部为铁块，设置在所述双伸出导轨连接机构的底部。
优选地，所述驱动机构包括：电机；双输出轴减速机，与所述电机连接设置，用于控制所述电机的输出能源；传动轴，与所述双输出轴减速机连接安装，所述双输出轴减速机驱动所述传动轴转动。
优选地，所述传动机构和双伸出导轨连接机构分别为相互平行设置的两组机构，分别设置所述安装座上，所述驱动机构同时驱动传动轴并带动两组传动机构驱动双伸出导轨连接机构在安装座上双向伸出。
本发明还提供一种码垛机，包括：支架；行走机构，设置在所述支架底部，驱动所述支架水平往复移动；架体，在高度方向可移动设置在所述支架上；提升机构，设置在所述支架上，驱动所述架体高度方向移动；所述架体上还设置有如上所述的伸出机构或如上所述的双伸出机构。
优选地，所述码垛机还包括的轿厢，所述轿厢通过滑动部滑动安装在滑动轨道上，所述提升机构通过升降装置与所述轿厢连接，驱动所述轿厢沿轨道升降。
优选地，所述轿厢包括：侧板，包括相对设置的第一侧板和第二侧板；底板，安装在所述第一侧板、第二侧板之间；滑动部，设置在所述第一侧板和/或第二侧板上，用于引导轿厢沿所述滑动轨道移动。
优选地，所述滑动部包括滚轮，所述滚轮通过滚轮轴垂直安装在所述第一侧板和/或第二侧板上。
优选地，所述滚轮包括槽轮和光轮，所述第一侧板、第二侧板至少一个设置有槽轮，所述槽轮的表面具有环形凹槽。
进一步优选地，所述第一侧板、第二侧板上分别设有相互平行的两组槽轮和两组光轮，每组槽轮和光轮沿轿厢滑动方向分布。
更进一步优选地，所述槽轮、光轮中的至少一组为调节滚轮，所述调节滚轮的一侧安装有滚轮调节组件，所述滚轮调节组件用于微调滚轮在侧板上的位置。
优选地，所述第一侧板和/或第二侧板为安装板，具有沿竖直方向延伸的安装槽，所述安装槽内固定安装有卡止部。
优选地，所述卡止部包括固定块，用于将轿厢固定连接在升降装置上。
进一步优选地，所述卡止部还包括矩形管，所述固定块安装在所述矩形管内，所述矩形管安装在所述安装槽内，所述固定块包括沿矩形管垂直方向分布的第一固定块和第二固定块。
优选地，所述第一侧板、第二侧板之间还连接有至少一根横梁。
优选地，所述轿厢上还安装有定位传感器。
优选地，所述提升机构包括：第一上链轮、第一下链轮、第一链带、链轮驱动机构，所述第一上链轮、第一下链轮分别设置在第一侧梁的上下两端，所述第一链带的一端与位于第一侧板上的第一固定块连接固定，另一端绕过第一上链轮、第一下链轮并与位于第一侧板上的第二固定块连接固定，所述第一链带分别与第一上链轮、第一下链轮啮合，所述链轮驱动机构通过驱动轴驱动所述第一上链轮转动。
优选地，所述提升机构还包括：第二上链轮、第二下链轮、第二链带、传动轴，所述第二上链轮、第二下链轮分别设置在第二侧梁的上下两端，所述第二链带的一端与第二侧板上的第一固定块连接固定，另一端绕过第二上链轮、第二下链轮并与第二侧板上的第二固定块连接固定，所述第二链带分别与第二上链轮、第二下链轮啮合，所述第一上链轮、第二上链轮通过传动轴连接。
优选地，所述行走机构包括设置在支架顶部的上行走机构和设置在支架底部的下行走机构。
优选地，所述下行走机构包括：主动轮、被动轮、驱动机构，所述主动轮和被动轮相对安装在所述支架的底部，所述驱动机构与主动轮连接，并驱动所述主动轮带动所述支架沿水平方向移动。
优选地，所述主动轮、被动轮中至少一个为槽轮，所述支架的下方设有供所述主动轮、被动轮滚动的水平轨道。
优选地，所述上行走机构包括安装在所述支架顶部的夹轮组件以及支架上方的水平轨道，所述夹轮组件包括至少一对光轮，分别设置在所述支架顶部的上表面，并分布在所述支架顶部水平轨道的两侧。
优选地，所述支架为框架结构，包括相对竖直设置的第一侧梁和第二侧梁，以及用于连接所述第一侧梁、第二侧梁顶部和底部的顶梁和底梁。
本发明还提供一种快换***，包括：如上所述的码垛机；电池架，用于摆放为电动汽 车使用的替换电池，和由电动汽车上更换下来的待充电池；换电移动平台，用于将电动汽车上的待充电池取下并运送给所述码垛机，同时可由所述码垛机处接收替换电池并安装到电动汽车上。
本发明的积极进步效果在于：
本发明的伸出机构由电机提供动力源至传动轴，动力由传动轴-同步带轮-双面同步-齿板-链条装置最终实现一级或两级动作，能实现两组同步等距伸出、缩回功能，并且具有机构、控制简单，运行平稳等特点，并且整个伸出情况都可进行自动检测。
本发明的双伸出机构，由电机提供动力源至传动轴，动力由传动轴-同步带轮-双面同步-齿板-链条装置最终实现两级双伸出动作，实现两级、同步等距双伸出、缩回功能，并且具有机构、控制简单，运行平稳等特点。
本发明的码垛机，能够左右移动，方便取放电池；链带穿过轿厢内的矩形管内通过固定块将轿厢固定连接在链带上，并且轿厢两侧都具有链带结构，因此链带提升轿厢更平稳，此轿厢结构更紧凑；轿厢上设置有传感器能够精确的定位电池架上的充电仓位便于取放电池；码垛机的伸出机构上下移动以达到在不同层电池架上取放电池的目的，同时伸出机构可以伸出更远取放电池；此码垛机设计紧凑，方便使用。
附图说明
图1为本发明较佳实施例1的快换***结构示意图；
图2为本发明较佳实施例1的码垛机结构示意图
图3为本发明较佳实施例1的伸出机构结构示意图；
图4为本发明较佳实施例1的伸出机构的侧视图；
图5为本发明较佳实施例1中传动机构结构示意图；
图6为本发明较佳实施例1的一种实施方式中导轨连接机构结构示意图；
图7为本发明较佳实施例1的另一种实施方式中导轨连接机构结构示意图；
图8为本发明较佳实施例1的另一种实施方式中牵引机构结构示意图；
图9为本发明较佳实施例1的另一种实施方式中导轨连接机构伸出的状态结构示意图；
图10为本发明较佳实施例1的驱动机构结构示意图；
图11为本发明较佳实施例1的再一种实施方式中驱动机构结构示意图；
图12为本发明较佳实施例1的再一种实施方式中带有检测装置的检测部的安装座结构示意图；
图13为本发明较佳实施例2的码垛机结构示意图
图14为本发明较佳实施例2的双伸出机构结构示意图；
图15为本发明较佳实施例2双伸出机构的侧视图；
图16为本发明较佳实施例2中传动机构结构示意图；
图17为本发明较佳实施例2中双伸出导轨连接机构结构示意图；
图18为本发明较佳实施例2中牵引机构结构示意图；
图19为本发明较佳实施例2中双伸出导轨连接机构伸出的状态结构示意图；
图20为本发明较佳实施例2中驱动机构结构示意图；
图21为本发明较佳实施例2的一种实施方式中带有检测装置的检测部的安装座结构示意图；
图22为本发明较佳实施例3的码垛机结构示意图；
图23为本发明较佳实施例3的轿厢结构示意图；
图24为本发明较佳实施例3的轿厢的卡止部结构示意图；
图25为本发明较佳实施例3的码垛机中间位置剖面图；
图26为本发明较佳实施例4的码垛机结构示意图；
图27为图26具体结构示意图；
图28为本发明较佳实施例4的轿厢结构示意图；
图29为本发明较佳实施例4的轿厢的卡止部结构示意图；
图30为本发明较佳实施例4的码垛机中间位置剖面图；
图31为本发明较佳实施例5的码垛机结构示意图；
图32为本发明较佳实施例5的轿厢结构示意图；
图33为本发明较佳实施例5的轿厢的卡止部结构示意图；
图34为本发明较佳实施例5的码垛机中间位置剖面图；
图35为本发明较佳实施例5的伸出机构结构示意图；
图36为图35侧视图；
图37为本发明较佳实施例5中传动机构结构示意图；
图38为本发明较佳实施例5的一种实施方式中导轨连接机构结构示意图；
图39为本发明较佳实施例5的另一种实施方式中导轨连接机构结构示意图；
图40为本发明较佳实施例5的另一种实施方式中牵引机构结构示意图；
图41为本发明较佳实施例5的另一种实施方式中导轨连接机构伸出的状态结构示意图；
图42为本发明较佳实施例5中驱动机构结构示意图；
图43为本发明较佳实施例5的再一种实施方式中驱动机构结构示意图；
图44为本发明较佳实施例5的再一种实施方式中带有检测装置的检测部的安装座结构示意图。
具体实施方式
下面通过实施例的方式进一步说明本发明，但并不因此将本发明限制在所述的实施例范围之中。
实施例1
如图1所示，本实施例一个实施方式的快换***100一般性地包括电池架101、码垛机102和换电移动平台103。
该电池架101用于摆放为电动汽车105使用替换电池，和由电动汽车105上更换下来的待充电池；包括由框架构成的多个摆放层。
该换电移动平台103用于将电动汽车105上的待充电池取下并运送给码垛机102，同时可由码垛机102处接收替换电池104并安装到电动汽车105上；包括可行走且能够托举电池104升降的举升装置，以及安装在举升装置上用于自动取下电动汽车105上的待充电池，或自动将替换电池安装至电动汽车105上的电池安装部。
该码垛机102用于将换电移动平台103更换下来的待充电池放入电池架101，同时由电池架101上取下替换电池放在换电移动平台103上；该码垛机102通过轨道实现相对电池架101水平方向和垂直方向上的移动，其包括可伸出的用于取放电池104的伸缩架。
工作时，电池架、码垛机和换电移动平台构成一个完整的电动汽车自动电池快换***，可以为多辆电动汽车实现流水线电池快换作业。更换时，只要电动汽车停在指定位置处，即可在五至十分钟内完成电池自动更换，整个更换过程完全不需要人工干预，可减少劳动强度，并大大提高了更换效率。
如图2所示，码垛机102包括：支架1021A、行走机构1022A、架体1023A、提升机构1024A和伸出机构1025A；支架1021A安装在地面上，具有垂直方向的滑动轨道，行走机构1022A设置在支架1021A底部，驱动支架1021A在地面上水平往复移动；架体1023A在可移动设置在支架1021A的滑动轨道上；提升机构1024A设置在支架1021A上，提升机构1024A包括驱动电机以及传动链条，传动链条与架体1023A连接，驱动电机驱动传动链条在垂直方向上运动，从而带动架体沿支架的轨道滑动，伸出机构1025A 设置在架体1024A内，可伸向电池架101取出和摆放电池。
如图3和4所示，本实施例的一种伸出机构1025A，包括：安装座1A、传动机构2A、导轨连接机构3A、驱动机构4A；传动机构2A设置在安装座1A上；导轨连接机构3可移动设置在安装座1A上，与传动机构2A连接，并沿传动机构2A传送方向延伸；驱动机构4A通过传动轴42A与传动机构2A连接设置，传动机构2A运转带动导轨连接机构3A沿安装座1A表面移动。另外，还包括检测装置5A，包括检测部51A和待检测部52A，检测部51A设置在导轨连接机构下方的安装座上，待检测部52A设置在导轨连接机构上。
如图5所示，传动机构2A包括：同步带主动轮21A、从动轮22A和双面同步带23A；同步带主动轮21A和从动轮22A，相对设置在导轨连接机构3移动的路径上，同步带主动轮21A与驱动机构4A啮合，从动轮22A设置在安装座1A上；双面同步带23A的两面均设有齿条或齿槽，双面同步带23A围绕在同步带主动轮21A和从动轮22A***并与同步带主动轮21A和从动轮22A啮合，驱动机构4A驱动同步带主动轮21A转动，同步带主动轮21A带动双面同步带21A转动。此外，传动机构2A还包括张紧端25A，与从动轮21A连接，用于调节双面同步带23A松弛度；上顶板24A设置在双面同步带23A的上下两层带之间，有效的使同步带主动轮21A和从动轮22A两侧的双面同步带23A分离同时对支撑双面同步带23A起到支撑作用防止因重力作用下垂；传动机构2A还可以包括耐磨板26A，设置在上顶板24A上，用于保护双面同步带减少磨损。
如图10所示，驱动机构4A包括：电机41A、传动轴42A、双输出轴减速机43A；双输出轴减速机43A与电机41A连接设置，用于控制电机41A的输出能源；传动轴42A与双输出轴减速机43A连接安装，双输出轴减速机43A驱动传动轴42A转动。驱动机构4A中电机41A驱动双输出轴减速机43A，双输出轴减速机43A通过电机减速机安装板11A安装在安装座1A上，传动轴42A的一端通过连接法兰44A与双输出轴减速机43A连接，传动轴42A另一端通过弹性联轴器45A连接同步带主动轮21A。
本实施例的一种实施方式中，如图6所示，导轨连接机构3A包括：外导轨31A、一级伸出部件32A和齿板35A；外导轨31A为相对设置的两个导轨，并通过相对设置的导轨安装座安装在安装座上，该外导轨31A具有相对的滑槽；一级伸出部件32A可移动设置在外导轨31A内，一级伸出部具有可在该滑槽内滑动的滑块37A，一级伸出部32A底部设有齿板35A，该齿板35A与双面同步带啮合，一级伸出部件32A在传动机构2A带动下沿外导轨31A的滑槽运动。外导轨31A通过螺栓固定在导轨安装座上，齿板35A与一级伸出部件32A也通过螺栓固定连接。外导轨31A和一级伸出部件32A之间的滑块 37A可以减小一级伸出部件32A在外导轨31A内滑动时的阻力并降低滑动时的磨损。
本实施例的另一种实施方式中，如图7所示，导轨连接机构3A除了包括：外导轨31A、一级伸出部件32A和齿板35A，还包括：内导轨33A和二级伸出部件34A；内导轨设置在一级伸出部件内相对的两面，并具有供二级伸出部件34A滑动的滑槽，二级伸出部件34A通过其表面的滑块在该滑槽内滑动，二级伸出部件34A在牵引机构36A驱动下沿一级伸出部件32A伸出方向继续沿内导轨33A的滑槽伸出；内导轨33A通过螺栓固定在一级伸出部件32A内，内导轨33A和二级伸出部件34A之间的滑块37A可以减小二级伸出部件34A在内导轨33A内滑动时的阻力并降低滑动时的磨损。
如图8所示，上述的另一种实施方式中导轨连接机构3A中的牵引机构36A包括：链条361A和链轮362A，链轮362A安装在一级伸出部件32A的伸出前端，链条361A的一端通过固定座固定在二级伸出部件34A的伸出末端上，另一端绕过链轮362A固定在位于一级伸出部件32A伸出末端下方的安装座1A上，当驱动机构驱动一级伸出部件32A伸出时，一级伸出部件32A带动链轮362A朝一级伸出部件32伸出方向转动，由于链条361A的一端固定在安装座上，链轮362A带动固定在二级伸出部件伸出末端上的链条运动，该运动方向与一级伸出部件32A的伸出方向相同，这样，二级伸出部件34A在链条的拉动下沿内导轨水平伸出。链轮362A包括有外轮、隔套、卡簧和链轮轴，隔套、卡簧分别设置在外轮和链轮轴之间，使外轮转动时，外轮和链轮轴之间具有缓冲性并防止外轮和链轮轴之间摩擦。
牵引机构36A也可以为齿条和齿轮的组合，齿条代替链条，齿轮代替链轮，齿轮可转动安装在一级伸出部件32A上，齿条固定在二级伸出部件34A上，当一级伸出部件32A伸出时，齿轮推动齿条带动二级伸出部件34A同步伸出。
图9所示，导轨连接机构二级伸出部件34A伸出的状态结构示意图。
本实施例的再一种实施方式中，为了承载面积较大或重量较大的部件，可以在安装座上同时设置两组传动机构2A和导轨连接机构3A，两组导轨连接机构相互平行设置，驱动机构通过两组传动机构分别驱动该导轨连接机构。
如图11所示，上述的再一种实施方式中驱动机构4A的双输出轴减速机43A驱动两个传动轴42A带动从而带动两组传动机构转动。驱动机构4A中电机41A驱动双输出轴减速机43A，双输出轴减速机43A通过电机减速机安装板11A安装在安装座1A上，传动轴42A的一端通过连接法兰44A与双输出轴减速机43A连接，传动轴42A另一端通过弹性联轴器45A连接同步带主动轮21A。两组传动轴42A、连接法兰44A和弹性联轴器45A对称设置在双输出轴减速机43A两侧。双输出轴减速机43A的采用使电机41A 作用在两个传动轴42A上的输出动力能源一致，从而确保A端和B端的传动机构2A和导轨连接机构3A运动的一致性，最终保证了机构同步伸出、平稳取出电池包。
上述的再一种实施方式中具体实现两级的过程为：电机41A通过双输出轴减速机43A调控输送能量以稳定驱动传动轴42A转动，传动轴42A转动带动A端和B端同步带主动轮21A同时转动，与A端和B端同步带主动轮21A啮合的双面同步带23A跟随转动，带动啮合在双面同步带23A上的齿板移动，从而一级伸出部件32A伸出，在一级伸出部件32A伸出同时牵引机构36A带动二级伸出部件34A同步同向伸出，从而实现A、B两端同时实现二级同步伸出。
如图12所示，检测部51A包括：原点检测开关511A、到位检测开关512A、限位检测开关513A，都为光电开关；原点检测开关511A安装在安装座1A上；到位检测开关512A安装在安装座1A上，距离原点检测开关511A的距离为导轨连接机构3A伸出总长度的一半；限位检测开关513A安装在安装座1A上，距离原点检测开关511A的距离大于导轨连接机构3A伸出总长度的一半，小于导轨连接机构3A理论上伸出总长度的一半，避免导轨连接机构3A过度伸出。这里导轨连接机构3A伸出总长度为导轨连接机构3A实际伸出的物理长度，可直接测量得到；而导轨连接机构3A理论上伸出总长度是根据电机41的转数通过理论计算求的导轨连接机构3A理论上伸出总长度。
如图6和7所示，待检测部52A为可被上述检测开关感应到的部件，如铁块，设置在一级伸出部件32A的底部。
实施例2
本实施例一个实施方式的快换***与实施例1中图1所示的快换***100相同，同样包括电池架101、码垛机102和换电移动平台103，故不再赘述。不同之处在于，如图13所示，本实施例的码垛机102包括：支架1021B、行走机构1022B、架体1023B、提升机构1024B和双伸出机构1025B；支架1021B安装在地面上，具有垂直方向的滑动轨道，行走机构1022B设置在支架1021B底部，驱动支架1021B在地面上水平往复移动；架体1023B在高度方向可移动设置在支架1021B的滑动轨道上；提升机构1024B设置在支架1021B上，提升机构1024B包括驱动电机以及传动链条，传动链条与架体1023B连接，驱动电机驱动传动链条在垂直方向上运动，从而带动架体沿支架的轨道滑动，双伸出机构1025B设置在架体1024B内，可伸向电池架101取出和摆放电池。
如图14和15所示，本实施例的一种双伸出机构1025B，包括：安装座1B、传动机构2B、双伸出导轨连接机构3B、驱动机构4B；传动机构2B设置在安装座1B上；双伸出导轨连接机构3B可移动地设置在安装座1B上，与传动机构2B连接，并沿两个相反 的方向在安装座1B上移动；驱动机构4B通过传动轴42B与传动机构2B连接设置，用于驱动传动机构2B运转，传动机构2B运转带动双伸出导轨连接机构2B沿安装座1B表面移动。还包括检测装置5B包括检测部51B和待检测部52B，检测部5B在双伸出导轨连接机构3B下方的安装座1B上，待检测部52B设置在双伸出导轨连接机构3B上。
如图16所示，传动机构2B包括：同步带主动轮21B、从动轮22B、和双面同步带23B；同步带主动轮21B和从动轮22B，相对设置在导轨连接机构3B移动的路径上，同步带主动轮21B与驱动机构4B啮合，从动轮22B设置在安装座1B上；双面同步带23B的两面均设有齿条或齿槽，双面同步带23B围绕在同步带主动轮21B和从动轮22B***并与同步带主动轮21B和从动轮22B啮合，驱动机构4B驱动同步带主动轮21B转动，同步带主动轮21B带动双面同步带21B转动。此外，传动机构2B还包括张紧端25B，与从动轮21B连接，用于调节双面同步带23B松弛度；上顶板24B设置在双面同步带23B的上下两层带之间，有效的使同步带主动轮21B和从动轮22B两侧的双面同步带23B分离同时对支撑双面同步带23B起到支撑作用防止因重力作用下垂。传动机构2B还可以包括耐磨板26B，设置在上顶板24B上，用于保护双面同步带减少磨损。
如图17所示，双伸出导轨连接机构3B包括：外导轨31B、一级伸出部件32B、内导轨33B、二级伸出部件34B和齿板35B；外导轨31B为相对设置的两个导轨，并通过相对设置的导轨安装座安装在安装座上，该外导轨31B具有相对的滑槽；一级伸出部件32B可移动设置在外导轨31B内，一级伸出部具有可在该滑槽内滑动的滑块37B，一级伸出部32B底部设有齿板35B，该齿板35B与双面同步带啮合，一级伸出部件32B在传动机构2B带动下沿外导轨31B的滑槽运动；外导轨31B通过螺栓固定在安装座上，齿板35B与一级伸出部件32B连接设置，并且齿板35与一级伸出部件32B也通过螺栓固定连接。
双伸出导轨连接机构3B还包括：内导轨33B和二级伸出部件34B；内导轨33B设置在一级伸出部件32B相对的两面；并具有供二级伸出部件34B滑动的滑槽，二级伸出部件34B通过其表面的滑块在该滑槽内滑动，二级伸出部件34B在牵引机构36B驱动下沿一级伸出部件32B伸出方向沿内导轨33B的滑槽伸出；内导轨33B通过螺栓固定在一级伸出部件32B内。外导轨31B和一级伸出部件32B之间，内导轨33B和二级伸出部件34B之间的滑块37B可以减小一级伸出部件32B和二级伸出部件34B分别在外导轨31B和内导轨33B内滑动时的阻力并降低滑动时的磨损。
如图18所示，双伸出导轨连接机构3B中的牵引机构36B包括：两组链条361B和链轮362B，其中两个链轮362B可转动安装在一级伸出部件32B的两端上，一组链条 361B的一端固定在二级伸出部件34B的伸出前端上，另一端绕过一级伸出部件32B的伸出末端的链轮并固定在一级伸出部件32B伸出前端下方的安装座上，另一组链条的一端固定在二级伸出部件34B的伸出末端上，另一端绕过一级伸出部件32B的伸出前端的链轮并固定在一级伸出部件32B伸出末端下方的安装座上。当驱动机构驱动一级伸出部件32B伸出时，一级伸出部件32B带动链轮362B朝一级伸出部件32B伸出方向转动，由于链条361B的一端固定在安装座上，链轮362B带动固定在二级伸出部件伸出末端上的链条运动，该运动方向与一级伸出部件32B的伸出方向相同，这样，二级伸出部件34B在链条的拉动下沿内导轨水平伸出。当驱动机构驱动一级伸出部件32B向相反方向伸出时，另一组链轮、链条带动二级伸出部件32B沿该相反方向伸出，当一级伸出部件32B伸出或缩回时两个链轮沿一级伸出部件32B伸出或缩回方向转动，驱动链条361B转动使二级伸出部件34B实现伸出或缩回。链轮362B包括有外轮、隔套、卡簧和链轮轴，隔套、卡簧分别设置在外轮和链轮轴之间，使外轮转动时，外轮和链轮轴之间具有缓冲性并防止外轮和链轮轴之间摩擦。
牵引机构36B也可以为齿条和齿轮的组合，齿条代替链条，齿轮代替链轮，齿轮可转动安装在一级伸出部件32B上，齿条固定在二级伸出部件34B上，当一级伸出部件32B伸出时，齿轮推动齿条带动二级伸出部件34B同步伸出。
如图19所示，双伸出导轨连接机构二级伸出部件34B伸出的状态结构示意图。
如图20所示，驱动机构4B包括：电机41B、传动轴42B、双输出轴减速机43B；双输出轴减速机43B与电机41B连接设置，用于控制电机41B的输出能源；传动轴42B与双输出轴减速机43B连接安装，双输出轴减速机43B驱动传动轴42B转动。
本实施例中，为了承载面积较大或重量较大的部件，可以在安装座上同时设置两组传动机构2B和双伸出导轨连接机构3B，两组导轨连接机构相互平行设置，驱动机构通过两组传动机构分别驱动该导轨连接机构。本实施例中驱动机构4B中电机41B驱动双输出轴减速机43B，双输出轴减速机43B通过电机减速机安装板11B安装在安装座1B上，传动轴42B的一端通过连接法兰44B与双输出轴减速机43B连接，传动轴42B另一端通过弹性联轴器45B连接同步带主动轮21B。两组传动轴42B、连接法兰44B和弹性联轴器45B对称设置在双输出轴减速机43B两侧。双输出轴减速机43B的采用使电机41B作用在两个传动轴42B上的输出动力能源一致，从而确保A端和B端的传动机构2B和双伸出导轨连接机构3B运动的一致性，最终保证了双伸出机构同步伸出、平稳取出电池包。
本实施例具体实现两级双伸出的过程为：电机41B通过双输出轴减速机43B调控输 送能量以稳定驱动传动轴42B转动，传动轴42B转动带动A端和B端同步带主动轮21B同时转动，与A端和B端同步带主动轮21B啮合的双面同步带23B跟随转动，带动啮合在双面同步带23B上的齿板移动，从而一级伸出部件32B伸出，在一级伸出部件32B伸出同时牵引机构36B带动二级伸出部件34B同步同向伸出，从而实现A、B两端同时实现二级同步伸出。
如图21所示，检测部51B包括：原点检测开关511B、到位检测开关512B、限位检测开关513B，都为光电开关；原点检测开关511B安装在安装座1B上；到位检测开关512B安装在安装座1B上，距离原点检测开关511B的距离为导轨连接机构3B伸出总长度的一半；限位检测开关513B安装在安装座1B上，距离原点检测开关511B的距离大于导轨连接机构3B伸出总长度的一半，小于导轨连接机构3B理论上伸出总长度的一半，避免导轨连接机构3B过度伸出。这里导轨连接机构3B伸出总长度为导轨连接机构3B实际伸出的物理长度，可直接测量得到；而导轨连接机构3B理论上伸出总长度是根据电机41B的转数通过理论计算求的导轨连接机构3B理论上伸出总长度。
如图17所示，待检测部52B为可被上述检测开关感应到的部件，如铁块，设置在一级伸出部件32B的底部。
实施例3
本实施例一个实施方式的快换***与实施例1中图1所示的快换***100相同，同样包括电池架101、码垛机102和换电移动平台103，故不再赘述。不同之处在于，如图22所示，本实施例的码垛机102包括：支架1021C、行走机构1022C、轿厢1023C、提升机构1024C和伸出机构1025C；支架1021C安装在地面上，具有沿垂直方向延伸的滑动轨道，行走机构1022C安装在支架1021C底部，用于驱动支架1021C水平往复移动；轿厢1023C可移动安装在支架1021C的滑动轨道上；提升机构1024C安装在支架1021C上，提升机构1024C包括驱动电机以及传动链条，该提升机构通过传动链条与轿厢连接以驱动轿厢1023C沿竖直方向移动；伸出机构1025C设置在轿厢1024C内，可伸向电池架101以取出和摆放电池。
如图23所示，本实施例的一种轿厢1023C，包括：侧板1C、底板2C、滑动部3C和卡止部4C；侧板1C包括相对设置的第一侧板11C和第二侧板12C，为轿厢1023C相对的两个端面；底板2C安装在第一侧板11C、第二侧板12C的之间，与侧板1C形成U型框架；滑动部3C设置在侧板1C外侧；卡止部4C设置在侧板1C上，卡止部与链条固定连接，驱动电机驱动链条竖直方向上升降运动，带动与链条固定的轿厢竖直升降移动。具体滑动部3C设置在第一侧板11C及第二侧板12C上，用于引导轿厢1023C沿滑动轨 道移动。
本实施例中还具有两根横梁，并且两两相互平行地设置在第一侧板11C和第二侧板12C之间。一根也可以组成轿厢结构，但很不稳定，采用两根横梁稳定平衡性增加很多，当侧板1C很长的时候可以增加多对横梁，使得横梁与侧板1C组成的轿厢更稳固。
本实施例中的滑动部3C包括滚轮，滚轮具有穿过滚轮轴心的滚轮轴，滚轮通过滚轮轴安装在第一侧板、第二侧板上。滚轮中的一组为调节滚轮，另一组为固定滚轮，所述调节滚轮的一侧安装有滚轮调节组件。
滚轮又包括槽轮31C和光轮32C，槽轮31C外表面具有与支架1021C边缘配合卡入的凹槽，通过凹槽与支架1021C的配合，使轿厢稳固的沿着支架1021C轨道进行升降，避免了轿厢在升降过程中滑出支架，槽轮31C设置在第一侧板11C上，光轮32C设置在第二侧板12C上，槽轮31C为两组，每组槽轮沿垂直方向分布，两组槽轮之间有供支架穿过的间隙，其中一组为调节槽轮311C，另一组为固定槽轮312C，光轮32C为两组，每组光轮沿垂直方向分布，两组光轮之间有供支架穿过的间隙，其中一组为调节光轮321C，另一组为固定光轮322C。并且调节槽轮311C与调节光轮321C一侧分别安装有滚轮调节组件33C，通过调节滚轮调节组件33C可以微调调节槽轮311C与调节光轮321C的位置。槽轮31C沿支架1021C上的轨道行驶而光轮32C随槽轮31C移动而移动。
如图24所示，本实施例中的侧板为安装板，并具有沿竖直方向延伸的安装槽，卡止部4C包括矩形管41C和固定块42C，矩形管41C安装在该安装槽内，固定块42C固定安装在矩形管41C内，固定块42C与用于传动的链条固定连接，以将轿厢1023C固定连接在链条上，驱动电机驱动链条沿竖直方向移动时，链条带动轿厢沿支架1021C上的轨道移动，从而实现轿厢的升降。如图25所示，固定块42C包括第一固定块421C和第二固定块422C分别设置在矩形管41C内，以分别对应两条链带。第一侧板11C和第二侧板12C都安装有卡止部4C能够使轿厢1023C保持水平状态。而每侧采用两个链条，更保证了提升轿厢1023C时的稳定性和安全性。
此外，轿厢1023C与电池架101对应的侧面上安装有传感器5C。电池架101上安装有反光板，轿厢1023C上的传感器5C可检测到电池架101上安装的反光板，有利于伸出机构与电池架上充电仓位的精确定位。
实施例4
本实施例一个实施方式的快换***与实施例1中图1所示的快换***100相同，同样包括电池架101、码垛机102和换电移动平台103，故不再赘述。不同之处在于，如图26所示，本实施例的码垛机102包括：支架1021D、行走机构1022D、轿厢1023D、提 升机构1024D及伸出机构1025D；行走机构1022D设置在支架1021D底部，驱动支架1021D水平往复移动；轿厢1023D在高度方向可移动设置在支架1021D上；提升机构1024D设置在支架1021D上，驱动轿厢1023D沿竖直方向移动。伸出机构1025D设置在轿厢1024D内，可伸向电池架101取出和摆放电池。
如图27所示，支架1021D包括顶梁11D、底梁12D、第一侧梁13D和第二侧梁14D；第一侧梁13D和第二侧梁14D相互平行设置，顶梁11D和底梁12D分别连接第一侧梁13D和第二侧梁14D的顶部和底部；并且所述第一侧梁13D和第二侧梁14D上设置有供轿厢移动的导轨15D。
行走机构1022D包括：夹轮组件21D、主动槽轮22D和被动槽轮23D；夹轮组件21D包括两对光轮分别设置在顶梁11D两端的上表面，每对光轮之间具有供轨道穿过的间隙；主动槽轮22D和被动槽轮23D分别设置在第一侧梁13D和第二侧梁14D的底部外侧，主动槽轮22D的轴心连接有驱动轴，驱动轴的另一端连接有驱动机构24D，驱动机构24D驱动主动槽轮22D转动。电池架101之间的底部和顶部分别设置有供码垛机102水平移动的水平轨道(未显示)，主动槽轮22D和被动槽轮23D卡在底部的水平轨道上，驱动机构驱动主动槽轮22D沿底部的水平轨道滚动，从而带动与之固定的支架沿水平轨道水平移动，而夹轮组件21D设置在顶部水平轨道上，顶部水平轨道的导轨穿过每对光轮的中间，码垛机102沿水平轨道移动保证了码垛机102不会侧倒。
如图28所示，本实施例的一种轿厢1023D，包括：侧板31D、底板32D、滑动部33D和卡止部34D；侧板31D由包括相对设置的第一侧板311D和第二侧板312D组成，为轿厢1023D相对的两个顶端面；底板32D安装在第一侧板311D、第二侧板312D的底端，与侧板31D形成U型框架；滑动部33D设置在侧板31D外侧，用于提供使轿厢1023D沿支架1021D滑动的支撑点；卡止部34D设置在侧板31D上，卡止部与链条固定连接，驱动电机驱动链条竖直方向上升降运动，带动与链条固定的轿厢使轿厢1023D卡止在链条上竖直升降移动。具体滑动部33D设置在第一侧板311DD及第二侧板312D上外侧，使所述轿厢滑动用于引导轿厢1023D沿滑动轨道移动。
本实施例中还具有两根横梁，横梁，设置在所述第一侧板和第二侧板之间，对所述侧板起到支撑作用，并且两两相互平行地设置在第一侧板11D和第二侧板12D之间。一根也可以组成轿厢结构，但很不稳定，采用两根横梁稳定平衡性增加很多，当侧板1D很长的时候可以增加多对横梁，使得横梁与侧板1D组成的轿厢更稳固。
本实施例中的滑动部33D为滚轮包括槽轮331D和光轮332D，槽轮外表面具有与支架边缘配合卡入的凹槽，通过凹槽与支架的配合，使轿厢稳固的沿着支架轨道进行升降， 避免了轿厢在升降过程中滑出支架，槽轮331D设置在第一侧板311D上，光轮332D设置在第二侧板312D上，每组槽轮沿垂直方向分布，两组槽轮之间有供支架穿过的间隙，其中一组为调节槽轮3311D，另一组为固定槽轮3312D，光轮332D为两组，每组光轮沿垂直方向分布，两组光轮之间有供支架穿过的间隙，其中一组为调节光轮3321D，另一组为固定光轮3322D。并且调节槽轮3311D和调节光轮3321D下方安装有滚轮调节组件333D，通过调节滚轮调节组件333D可以微调调节槽轮3311D与调节光轮3321D的位置。槽轮331D沿支架1021D上的轨道行驶而光轮332D随槽轮331D移动而移动。
如图29所示，本实施例中的侧板为安装板，并具有沿竖直方向延伸的安装槽，卡止部34D包括矩形管341D和固定块342D，矩形管341D安装在该安装槽内，固定块342D设置在矩形管341D内，固定块42D与用于传动的链条固定连接，以将轿厢1023D固定连接在链条上，驱动电机驱动链条沿竖直方向移动时，链条带动轿厢沿支架1021D上的轨道移动，从而实现轿厢的升降。如图30所示，固定块342D包括第一固定块3421D和第二固定块3422D分别设置在矩形管341D内，以分别对应两条链带。第一侧板311D和第二侧板312D都安装有卡止部34D能够使轿厢1023D保持水平状态。而每侧采用两个链带，更保证了提升轿厢1023D时的稳定性和安全性。
此外，轿厢1023D与电池架101对应的侧面上安装有传感器35D。电池架101上安装有反光板，轿厢1023D上的传感器35D可检测到电池架101上安装的反光板，有利于伸出机构与电池架上充电仓位的精确定位。
如图30所示，提升机构4D包括：链轮驱动机构41D、第一上链轮43D、第一下链轮44D和第一链带45D；第一上链轮43D、第一下链轮44D分别安装在第一侧梁的上端和下端，第一链带45D一端固定在轿厢的第一固定块3421D上，另一端绕过第一上链轮43D、第一下链轮44D并固定在轿厢的第二固定块3422D上，第一链带45D分别与第一上链轮43D、第一下链轮44D啮合，电机41D通过驱动轴42D驱动第一上链轮43D转动，第一上链轮43D带动链带沿竖直方向上传动，轿厢通过与第一链带45D连接固定的固定块跟随第一链带竖直升降；第一上链轮43D设置在第一侧粱13D上端内侧；第一下链轮44D设置在第一侧粱13D下端内侧；链轮驱动机构41D通过驱动轴42D驱动所述第一上链轮转动。
为了提高轿厢升降的稳定性，可以在第二侧梁上设置被动提升机构，包括：第二上链轮46D、第二下链轮47D和第二链带48D；第二上链轮46D、第二下链轮47D分别设置在第二侧粱14D上端和下端内侧；第二链带48D采用与第一链带45D相似的连接方式，第一上链轮43D和第二上链轮46D之间通过传动轴49D连接，电机驱动第一上链轮 43D转动时，带动第二上链轮随之转动，从而在轿厢的两端形成相配合的提升机构，提高轿厢升降的稳定性。第一上链轮43D、第二上链轮46D、第一下链轮44D、第二下链轮47D分别由两个链轮组合而成，相应地，第一链带45D和第二链带48D分别为两条。
本实施例中，第一链带45D和第二链带48D穿过轿厢1023D上的矩形管341D由固定块342D将轿厢1023D卡止在第一链带45D和第二链带48D上，如此当第一链带45D和第二链带48D转动时带动轿厢1023D上下移动。
实施例5
本实施例一个实施方式的快换***与实施例1中图1所示的快换***100相同，同样包括电池架101、码垛机102和换电移动平台103，故不再赘述。不同之处在于，如图31所示，本实施例的码垛机102包括：水平行走机构1022E、轿厢1023E、提升机构1024E及伸出机构1025E；水平行走机构1022E包括支架1021E、主动槽轮22E、被动槽轮23E、行走驱动装置以及水平轨道，主动槽轮、被动槽轮设置在支架1021E底部，行走驱动装置驱动主动槽轮转动带动支架1021E沿水平轨道往复移动；轿厢1023E在高度方向可移动设置在支架1021E上；提升机构1024E设置在支架1021E上，驱动轿厢1023E沿支架竖直升降。伸出机构1025E设置在轿厢1024E内，可伸向电池架101取出和摆放电池。检测装置，安装在轿厢1024E上，用于检测伸出机构的伸出状态。
支架1021E包括顶梁11E、底梁12E、第一侧梁13E和第二侧梁14E；第一侧梁13E和第二侧梁14E相互平行分别设置在顶梁11E和底梁12E之间；并且所述第一侧梁13E和第二侧梁14E上设置有导轨15E。
水平行走机构1022E包括：夹轮组件21E、主动槽轮22E和被动槽轮23E；夹轮组件21E包括两对光轮分别设置在顶梁11E两端的上表面，每对光轮之间具有供轨道穿过的间隙；主动槽轮22E和被动槽轮23E分别设置在第一侧梁13E和第二侧梁14E的底部外侧，主动槽轮22E的轴心连接有驱动轴，驱动轴的另一端连接有驱动机构24E，驱动机构24E驱动主动槽轮22E转动。电池架101之间的底部和顶部分别设置有供码垛机102水平移动的水平轨道(未显示)，主动槽轮22E和被动槽轮23E卡在底部的水平轨道上，驱动机构驱动主动槽轮22E沿水平轨道滚动，从而带动与之固定的支架沿水平轨道水平移动，而夹轮组件21E设置在顶部水平轨道上，顶部水平轨道的导轨穿过每对光轮的中间，码垛机102沿水平轨道移动保证了码垛机102不会侧倒。
水平轨道设置在支架1021E的下方及支架1021E的上方，用于引导支架1021E水平移动，主动槽轮和被动槽轮相对安装在支架的底部，并与水平轨道卡合，驱动机构与主动槽轮连接，并驱动主动槽轮沿水平轨道移动。
如图32所示，轿厢1023E，包括：侧板31E、底板32E、滑动部33E和卡止部34E；侧板31E由包括相对设置的第一侧板311E和第二侧板312E组成，为轿厢1023E相对的两个顶端面；底板32E安装在第一侧板311E、第二侧板312E的底端，与侧板31E形成U型框架；滑动部33E设置在侧板31E外侧，用于提供使轿厢1023E沿支架1021E滑动的支撑点；卡止部34E设置在侧板31E上，卡止部与链条固定连接，驱动电机驱动链条竖直方向上升降运动，带动与链条固定的轿厢使轿厢1023E卡止在链条上竖直升降移动。具体滑动部33E设置在第一侧板311E及第二侧板312E上外侧，使所述轿厢滑动用于引导轿厢1023E沿滑动轨道移动。
本实施例中还具有两根横梁，横梁，设置在所述第一侧板和第二侧板之间，对所述侧板起到支撑作用，并且两两相互平行地设置在第一侧板11E和第二侧板12E之间。一根也可以组成轿厢结构，但很不稳定，采用两根横梁稳定平衡性增加很多，当侧板1E很长的时候可以增加多对横梁，使得横梁与侧板1E组成的轿厢更稳固。
本实施例中的滑动部33E为滚轮包括槽轮331E和光轮332E，槽轮外表面具有与支架边缘配合卡入的凹槽，通过凹槽与支架的配合，使轿厢稳固的沿着支架轨道进行升降，避免了轿厢在升降过程中滑出支架，槽轮331E设置在第一侧板311E上，光轮332E设置在第二侧板312E上，每组槽轮沿垂直方向分布，两组槽轮之间有供支架穿过的间隙，其中一组为调节槽轮3311E，另一组为固定槽轮3312E，光轮332E为两组，每组光轮沿垂直方向分布，两组光轮之间有供支架穿过的间隙，其中一组为调节光轮3321E，另一组为固定光轮3322E。并且左槽轮3311E与左光轮3321E下方安装有滚轮调节组件333E，通过调节滚轮调节组件333E可以微调调节槽轮3311E与调节光轮3321E的位置。槽轮331E沿支架1021E上的轨道行驶而光轮332E随槽轮331E移动而移动。
如图33所示，本实施例中的侧板为安装板，并具有沿竖直方向延伸的安装槽，卡止部34E包括矩形管341E和固定块342E，矩形管341E安装在该安装槽内，固定块342E设置在矩形管341E内，固定块342E与用于传动的链条固定连接，以将轿厢1023E固定连接在链条上，驱动电机驱动链条沿竖直方向移动时，链条带动轿厢沿支架1021E上的轨道移动，从而实现轿厢的升降。如图34所示，固定块342E包括第一固定块3421E和第二固定块3422E分别设置在矩形管341E内，以分别对应两条链带。第一侧板311E和第二侧板312E都安装有卡止部34E能够使轿厢1023E保持水平状态。而每侧采用两个链带，更保证了提升轿厢1023E时的稳定性和安全性。
此外，轿厢1023E与电池架101对应的侧面上安装有传感器35。电池架101上安装有反光板，轿厢1023E上的传感器35E可检测到电池架101上安装的反光板，有利于伸 出机构与电池架上充电仓位的精确定位。
如图34所示，提升机构4E包括：链轮驱动机构41E、第一上链轮43E、第一下链轮44E和第一链带45E；第一上链轮43E、第一下链轮44E分别安装在第一侧梁的上端和下端，第一链带45E一端固定在轿厢的第一固定块3421E上，另一端绕过第一上链轮43E、第一下链轮44E并固定在轿厢的第二固定块3422E上，第一链带45E分别与第一上链轮43E、第一下链轮44E啮合，电机41E通过驱动轴42E驱动第一上链轮43E转动，第一上链轮43E带动链带沿竖直方向上传动，轿厢通过与第一链带45E连接固定的固定块跟随第一链带竖直升降；第一上链轮43E设置在第一侧粱13E上端内侧；第一下链轮44E设置在第一侧粱13E下端内侧；链轮驱动机构41E通过驱动轴42E驱动所述第一上链轮转动。
为了提高轿厢升降的稳定性，可以在第二侧梁上设置被动提升机构，包括：第二上链轮46E、第二下链轮47E和第二链带48E；第二上链轮46E、第二下链轮47E分别设置在第二侧粱14E上端和下端内侧；第二链带48E采用与第一链带45E相似的连接方式，第一上链轮43E和第二上链轮46E之间通过传动轴49E连接，电机驱动第一上链轮43E转动时，带动第二上链轮随之转动，从而在轿厢的两端形成相配合的提升机构，提高轿厢升降的稳定性。第一上链轮43E、第二上链轮46E、第一下链轮44E、第二下链轮47E分别由两个链轮组合而成，相应地，第一链带45E和第二链带48E分别为两条。
本实施例中，第一链带45E和第二链带48E穿过轿厢1023E上的矩形管341E由固定块432E将轿厢1023E卡止在第一链带45E和第二链带48E上，如此当第一链带45E和第二链带48E转动时带动轿厢1023E上下移动。
如图35和36所示,本实施例的一种伸出机构1025E，包括：安装座51E、传动机构52E、导轨连接机构53E、驱动机构54E；传动机构52E设置在安装座51E上；导轨连接机构53E设置在安装座51E上，与传动机构52E连接；驱动机构54E与传动机构52E连接设置，用于驱动传动机构52E运转，传动机构52E运转带动导轨连接机构53E沿安装座51E表面移动。另外，还包括检测装置55E，包括检测部551E和待检测部552E，检测部551E设置在导轨连接机构下方的安装座上，待检测部552E设置在导轨连接机构上。
如图37所示，传动机构52E包括：同步带主动轮521E、从动轮522E、和双面同步带523E；同步带主动轮521E和从动轮522E，相对设置在导轨连接机构53E移动的路径上，同步带主动轮521E与驱动机构54E啮合，从动轮522E设置在安装座51E上；双面同步带523E的两面均设有齿条或齿槽，双面同步带523E围绕在同步带主动轮521E和从动轮522E***并与同步带主动轮521E和从动轮522E啮合，驱动机构54E驱动同步 带主动轮521E转动，同步带主动轮521E带动双面同步带521E转动。此外，传动机构52E还包括张紧端525E，与从动轮521E连接，用于调节双面同步带523E松弛度；上顶板524E设置在双面同步带523E的上下两层带之间，有效的使同步带主动轮521E和从动轮522E两侧的双面同步带523E分离同时对支撑双面同步带523E起到支撑作用防止因重力作用下垂；传动机构52E还可以包括耐磨板526E，设置在上顶板524E上，用于保护双面同步带减少磨损
如图42所示，驱动机构54E包括：电机541E、传动轴542E、双输出轴减速机543E；双输出轴减速机543E与电机541E连接设置，用于控制电机541E的输出能源；传动轴542E与双输出轴减速机543E连接安装，双输出轴减速机543E驱动传动轴542E转动。驱动机构54E中电机541E驱动双输出轴减速机543E，双输出轴减速机543E通过电机减速机安装板511E安装在安装座51E上，传动轴542E的一端通过连接法兰544E与双输出轴减速机543E连接，传动轴542E另一端通过弹性联轴器545E连接同步带主动轮521E。
本实施例的一种实施方式中，如图38所示，导轨连接机构53E包括：外导轨531E、一级伸出部件532E和齿板535E；外导轨531E通过导轨安装座设置在安装座上；一级伸出部件532E可移动设置在外导轨531E内，在传动机构52E带动下沿外导轨531E运动；一级伸出部件532E的底部安装有齿板535E，双面同步带与该齿板啮合，驱动机构驱动双面同步带运转，并带动与之啮合的一级伸出部件沿外导轨水平伸出；外导轨531E通过螺栓固定在安装座上，齿板535E与一级伸出部件532E也通过螺栓固定连接。外导轨531E和一级伸出部件532E之间设置有滑块537E，减小一级伸出部件532E在外导轨31E内滑动时的阻力并降低滑动时的磨损。
本实施例的另一种实施方式中，如图39所示，导轨连接机构53E除了包括：外导轨531E、一级伸出部件532E和齿板535E，还包括：内导轨533E和二级伸出部件534E；内导轨533E设置在一级伸出部件532E远离外导轨的另一侧；二级伸出部件534E可移动置在内导轨533E内，二级伸出部件534E在牵引机构536E驱动下沿沿内导轨533E伸出；内导轨533E通过螺栓固定在一级伸出部件532E内，内导轨533E和二级伸出部件534E之间也设置有滑块537E，减小二级伸出部件534E在内导轨533E内滑动时的阻力并降低滑动时的磨损。
如图40所示，上述的另一种实施方式中导轨连接机构53E中的牵引机构536E包括：两组链条5361E和链轮5362E，两组链轮5362E可转动安装在一级伸出部件532E的两端，一组链条5361E的一端通过固定座固定在二级伸出部件534E的伸出前端上，另一端 绕过一级伸出部件的伸出末端的链轮5362E并固定在一级伸出部件伸出前端下方的安装座51E上，当一级伸出部件532E伸出时，位于一级伸出部件532E伸出前端的链轮5362E朝一级伸出部件532E伸出方向转动，带动与之啮合的链条沿伸出方向运转，从而拉动二级伸出部件534E沿伸出方向伸出。另一组链条的一端固定在二级伸出部件的伸出末端上，另一端绕过一级伸出部件的伸出前端的链轮并固定在一级伸出部件伸出末端下方的安装座上，当同步带带动一级伸出部件532E沿反方向伸出时，另一组链条、链轮则带动二级伸出部件532E沿反方向伸出。即当一级伸出部件532E伸出或缩回时两个链轮沿一级伸出部件532E伸出或缩回方向转动，驱动链条5361E转动使二级伸出部件534E实现伸出或缩回。链轮5362E包括有外轮、隔套、卡簧和链轮轴，隔套、卡簧分别设置在外轮和链轮轴之间，使外轮转动时，外轮和链轮轴之间具有缓冲性并防止外轮和链轮轴之间摩擦。
牵引机构536E也可以为齿条和齿轮的组合，齿轮可转动安装在一级伸出部件532E上，齿条固定在二级伸出部件534E上，当一级伸出部件532E伸出时，齿轮推动齿条带动二级伸出部件534E同步伸出。
如图41所示，导轨连接机构二级伸出部件534E伸出的状态结构示意图。
本实施例的再一种实施方式中，传动机构52E和导轨连接机构53E可以包括两组相互平行的机构，分别设置安装座51E上。如图43所示，本实施方式中驱动机构54E的双输出轴减速机543E驱动两个传动轴542E带动从而带动两组传动机构转动。驱动机构54E中电机541E驱动双输出轴减速机543E，双输出轴减速机543E通过电机减速机安装板511E安装在安装座51E上，传动轴542E的一端通过连接法兰544E与双输出轴减速机543E连接，传动轴542E另一端通过弹性联轴器545E连接同步带主动轮521E。两组传动轴542E、连接法兰544E和弹性联轴器545E对称设置在双输出轴减速机543E两侧。双输出轴减速机543E的采用使电机541E作用在两个传动轴542E上的输出动力能源一致，从而确保A端和B端的传动机构52和导轨连接机构53E运动的一致性，最终保证了机构同步伸出、平稳取出电池包。
上述的再一种实施方式中具体实现两级的过程为：电机541E通过双输出轴减速机543E调控输送能量以稳定驱动传动轴542E转动，传动轴542E转动带动A端和B端同步带主动轮521E同时转动，与A端和B端同步带主动轮521E啮合的双面同步带523E跟随转动，带动啮合在双面同步带523E上的齿板移动，从而一级伸出部件532E伸出，在一级伸出部件532E伸出同时牵引机构536E带动二级伸出部件534E同步同向伸出，从而实现两组机构同时实现二级同步伸出。
导轨连接机构53E的一级伸出部件532E可向两个方向伸出(如可从起始端A到终止端B方向，也可以B起始端到A终止端方向)，如图44所示，检测部551E包括：原点检测开关5511E、到位检测开关5512E、限位检测开关5513E，都为光电开关；原点检测开关5511E安装在安装座51E上；到位检测开关5512E安装在安装座51E上，距离原点检测开关5511E的距离为导轨连接机构53E伸出总长度的一半；限位检测开关5513E安装在安装座51E上，距离原点检测开关5511E的距离大于导轨连接机构53E伸出总长度的一半，小于导轨连接机构53E理论上伸出总长度的一半，避免导轨连接机构53E过度伸出。这里导轨连接机构3E伸出总长度为导轨连接机构3E实际伸出的物理长度，可直接测量得到；而导轨连接机构53E理论上伸出总长度是根据电机541E的转数通过理论计算求的导轨连接机构53E理论上伸出总长度。
原点检测开关5511E用于检测导轨连接机构是否处于未伸出时的初始位置，到位检测开关5512E用于检测导轨伸出部件是否伸出到位，限位检测开关5513E用于检测导轨连接机构是否超出伸出范围，避免导轨过度伸出。A端和B端同时设置导轨连接机构时，一端原点检测开关5511E、到位检测开关5512E、依次设置，另一端限位检测开关5513E、到位检测开关5512E、原点检测开关5511E依次设置，用于分别检测两个方向的伸出状况。
如图38和39所示，待检测部552E为铁块，设置在一级伸出部件532E的底部。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (31)

  1. 一种伸出机构，其特征在于，包括：
    安装座，用于提供安装的基座；
    传动机构，安装在所述安装座上；
    导轨连接机构，可移动地安装在所述安装座上，与所述传动机构连接；
    驱动机构，与所述传动机构连接，用于驱动所述传动机构运转，所述传动机构运转带动所述导轨连接机构沿所述安装座表面移动。
  2. 如权利要求1所述的伸出机构，其特征在于，所述传动机构包括：
    同步带主动轮和从动轮，相对设置在导轨连接机构移动的路径上，所述同步带主动轮与所述驱动机构啮合，所述从动轮设置在所述安装座上；
    双面同步带，所述双面同步带的两面均设有齿条或齿槽，所述双面同步带围绕在所述同步带主动轮和从动轮***并与所述同步带主动轮和从动轮啮合，所述驱动机构驱动同步带主动轮转动，所述同步带主动轮带动所述双面同步带转动。
  3. 如权利要求2所述的伸出机构，其特征在于，所述传动机构还包括张紧端，与所述从动轮连接，用于调节所述双面同步带松弛度；
    和/或，所述传动机构还包括上顶板，所述上顶板设置在所述双面同步带的上下两层带之间。
  4. 如权利要求1-3中至少一项所述的伸出机构，其特征在于，所述导轨连接机构包括：
    外导轨，通过导轨安装座安装在所述安装座上；
    一级伸出部件，可移动设置在所述外导轨内，所述一级伸出部件与所述传动机构啮合，所述驱动机构驱动所述传动机构运转，并带动与之啮合的一级伸出部件沿所述外导轨水平伸出；
    优选地，所述导轨连接机构还包括：
    内导轨，安装在所述一级伸出部件内；
    二级伸出部件，可移动置在内导轨内；
    牵引机构，安装在所述一级伸出机构上，并与所述二级伸出部件连接，用于驱动所述二级伸出部件沿所述一级伸出部件的伸出方向移动；
    进一步优选地，所述牵引机构包括：链条和链轮，所述链轮可转动安装在所述一级伸出部件的伸出前端上，所述链条的一端固定在所述二级伸出部件的伸出末端上，另一 端绕过所述链轮并固定在所述一级伸出部件的伸出末端下方的安装座上；或，所述牵引机构包括：齿条和齿轮，所述齿轮可转动安装在所述一级伸出部件上，所述齿条固定在所述二级伸出部件上。
  5. 如权利要求1-4中至少一项所述的伸出机构，其特征在于，所述伸出机构还包括检测装置，包括检测部和待检测部，所述检测部在所述导轨连接机构下方的安装座上，所述待检测部设置在所述导轨连接机构上。
  6. 如权利要求5所述的伸出机构，其特征在于，所述检测部包括：原点检测开关、到位检测开关、限位检测开关中的至少一个，所述检测开关为光电开关；
    优选地，所述到位检测开关与所述原点检测开关的距离为导轨连接机构伸出总长度的一半；所述限位检测开关与原点检测开关的距离大于导轨连接机构实际伸出总长度的一半并小于导轨连接机构理论上伸出总长度的一半。
  7. 如权利要求5-6中至少一项所述的伸出机构，其特征在于，所述待检测部为铁块，设置在所述导轨连接机构的底部。
  8. 如权利要求1-7中至少一项所述的伸出机构，其特征在于，所述驱动机构包括：
    电机；
    双输出轴减速机，与所述电机连接设置，用于控制所述电机的输出能源；
    传动轴，与所述双输出轴减速机连接安装，所述双输出轴减速机驱动所述传动轴转动，所述传动轴与所述传动机构转动连接带动所述传动机构运转。
  9. 如权利要求1-8中至少一项所述的伸出机构，其特征在于，所述传动机构和导轨连接机构包括相互平行设置的两组机构，分别设置所述安装座上，所述驱动机构同时驱动传动轴并带动所述两组传动机构同步运转。
  10. 一种双伸出机构，其特征在于，包括：
    安装座，用于提供安装的基座；
    传动机构，设置在所述安装座上；
    双伸出导轨连接机构，可移动地设置在所述安装座上，与所述传动机构连接，并沿两个相反的方向在所述安装座上移动；
    驱动机构，与所述传动机构连接设置，用于驱动所述传动机构运转，所述传动机构运转带动所述双伸出导轨连接机构沿所述安装座表面移动。
  11. 如权利要求10所述的双伸出机构，其特征在于，所述传动机构包括：
    同步带主动轮和从动轮，相对设置在双伸出导轨连接机构移动的路径上，所述同步带主动轮与所述驱动机构啮合，所述从动轮设置在所述安装座上；
    双面同步带，所述双面同步带的两面均设有齿条或齿槽，所述双面同步带围绕在所述同步带主动轮和从动轮***并与所述同步带主动轮和从动轮啮合，所述驱动机构驱动同步带主动轮转动，所述同步带主动轮带动所述双面同步带转动。
  12. 如权利要求11所述的双伸出机构，其特征在于，所述传动机构还包括张紧端，与所述从动轮连接，用于调节所述双面同步带松弛度；
    和/或，所述传动机构还包括上顶板，所述上顶板设置在所述双面同步带的上下两层带之间。
  13. 如权利要求10-12中至少一项所述的双伸出机构，其特征在于，所述双伸出导轨连接机构包括：
    外导轨，通过导轨安装座安装设置在所述安装座上；
    一级伸出部件，可移动设置在所述外导轨内，所述一级伸出部件的底部安装有齿板，所述传动机构与所述齿板啮合，所述驱动机构驱动所述传动机构运转，并带动与之啮合的一级伸出部件沿所述外导轨水平伸出；
    优选地，所述双伸出导轨连接机构还包括：
    内导轨，安装在所述一级伸出部件内；
    二级伸出部件，可移动置在内导轨内；
    牵引机构，安装在所述一级伸出机构上，并与所述二级伸出部件连接，用于驱动所述二级伸出部件沿所述一级伸出部件的伸出方向移动；
    进一步优选地，所述牵引机构包括：两组链条和链轮，所述链轮可转动安装在所述一级伸出部件的两端上，所述一组链条的一端固定在所述二级伸出部件的伸出前端上，另一端绕过所述一级伸出部件的伸出末端的链轮并固定在所述一级伸出部件伸出前端下方的安装座上，另一组链条的一端固定在所述二级伸出部件的伸出末端上，另一端绕过所述一级伸出部件的伸出前端的链轮并固定在所述一级伸出部件伸出末端下方的安装座上；或，所述牵引机构包括：齿条和齿轮，所述齿轮可转动安装在所述一级伸出部件上，所述齿条固定在所述二级伸出部件上。
  14. 如权利要求10-13中至少一项所述的双伸出机构，其特征在于，所述双伸出机构还包括检测装置，包括检测部和待检测部，所述检测部在所述双伸出导轨连接机构下方的安装座上，所述待检测部设置在所述双伸出导轨连接机构上。
  15. 如权利要求14所述的伸出机构，其特征在于，所述检测部包括：原点检测开关、到位检测开关、限位检测开关，所述检测开关为光电开关；
    优选地，所述到位检测开关与所述原点检测开关的距离为导轨连接机构伸出总长度 的一半；所述限位检测开关与原点检测开关的距离大于导轨连接机构实际伸出总长度的一半并小于导轨连接机构理论上伸出总长度的一半。
  16. 如权利要求14-15中至少一项所述的双伸出机构，其特征在于，所述待检测部为铁块，设置在所述双伸出导轨连接机构的底部。
  17. 如权利要求10-16中至少一项所述的双伸出机构，其特征在于，所述驱动机构包括：
    电机；
    双输出轴减速机，与所述电机连接设置，用于控制所述电机的输出能源；
    传动轴，与所述双输出轴减速机连接安装，所述双输出轴减速机驱动所述传动轴转动。
  18. 如权利要求10-17中至少一项所述的双伸出机构，其特征在于，所述传动机构和双伸出导轨连接机构分别为相互平行设置的两组机构，分别设置所述安装座上，所述驱动机构同时驱动传动轴并带动两组传动机构驱动双伸出导轨连接机构在安装座上双向伸出。
  19. 一种码垛机，其特征在于，包括：
    支架；
    行走机构，设置在所述支架底部，驱动所述支架水平往复移动；
    架体，在高度方向可移动设置在所述支架上；
    提升机构，设置在所述支架上，驱动所述架体高度方向移动；
    所述架体上还设置有如权利要求1-9中至少一项所述的伸出机构或如权利要求10-18中至少一项所述的双伸出机构。
  20. 如权利要求19所述的码垛机，其特征在于，所述码垛机还包括的轿厢，所述轿厢通过滑动部滑动安装在滑动轨道上，所述提升机构通过升降装置与所述轿厢连接，驱动所述轿厢沿轨道升降。
  21. 如权利要求20所述的码垛机，其特征在于，所述轿厢包括：
    侧板，包括相对设置的第一侧板和第二侧板；
    底板，安装在所述第一侧板、第二侧板之间；
    滑动部，设置在所述第一侧板和/或第二侧板上，用于引导轿厢沿所述滑动轨道移动。
  22. 如权利要求21所述的码垛机，其特征在于，所述滑动部包括滚轮，所述滚轮通过滚轮轴垂直安装在所述第一侧板和/或第二侧板上；
    优选地，所述滚轮包括槽轮和光轮，所述第一侧板、第二侧板至少一个设置有槽轮， 所述槽轮的表面具有环形凹槽；
    进一步优选地，所述第一侧板、第二侧板上分别设有相互平行的两组槽轮和两组光轮，每组槽轮和光轮沿轿厢滑动方向分布；
    更进一步优选地，所述槽轮、光轮中的至少一组为调节滚轮，所述调节滚轮的一侧安装有滚轮调节组件，所述滚轮调节组件用于微调滚轮在侧板上的位置。
  23. 如权利要求21-22中至少一项所述的码垛机，其特征在于，所述第一侧板和/或第二侧板为安装板，具有沿竖直方向延伸的安装槽，所述安装槽内固定安装有卡止部；
    优选地，所述卡止部包括固定块，用于将轿厢固定连接在升降装置上；
    进一步优选地，所述卡止部还包括矩形管，所述固定块安装在所述矩形管内，所述矩形管安装在所述安装槽内，所述固定块包括沿矩形管垂直方向分布的第一固定块和第二固定块。
  24. 如权利要求21-23中至少一项所述的码垛机，其特征在于，所述第一侧板、第二侧板之间还连接有至少一根横梁。
  25. 如权利要求21-24中至少一项所述的码垛机，其特征在于，所述轿厢上还安装有定位传感器。
  26. 如权利要求21-25中至少一项所述的码垛机，其特征在于，所述提升机构包括：第一上链轮、第一下链轮、第一链带、链轮驱动机构，所述第一上链轮、第一下链轮分别设置在第一侧梁的上下两端，所述第一链带的一端与位于第一侧板上的第一固定块连接固定，另一端绕过第一上链轮、第一下链轮并与位于第一侧板上的第二固定块连接固定，所述第一链带分别与第一上链轮、第一下链轮啮合，所述链轮驱动机构通过驱动轴驱动所述第一上链轮转动；
    优选地，所述提升机构还包括：第二上链轮、第二下链轮、第二链带、传动轴，所述第二上链轮、第二下链轮分别设置在第二侧梁的上下两端，所述第二链带的一端与第二侧板上的第一固定块连接固定，另一端绕过第二上链轮、第二下链轮并与第二侧板上的第二固定块连接固定，所述第二链带分别与第二上链轮、第二下链轮啮合，所述第一上链轮、第二上链轮通过传动轴连接。
  27. 如权利要求19-26中至少一项所述的码垛机，其特征在于，所述行走机构包括设置在支架顶部的上行走机构和设置在支架底部的下行走机构。
  28. 如权利要求27所述的码垛机，其特征在于，所述下行走机构包括：主动轮、被动轮、驱动机构，所述主动轮和被动轮相对安装在所述支架的底部，所述驱动机构与主动轮连接，并驱动所述主动轮带动所述支架沿水平方向移动；
    优选地，所述主动轮、被动轮中至少一个为槽轮，所述支架的下方设有供所述主动轮、被动轮滚动的水平轨道。
  29. 如权利要求27-28中至少一项所述的码垛机，其特征在于，所述上行走机构包括安装在所述支架顶部的夹轮组件以及支架上方的水平轨道，所述夹轮组件包括至少一对光轮，分别设置在所述支架顶部的上表面，并分布在所述支架顶部水平轨道的两侧。
  30. 如权利要求19-29中至少一项所述的码垛机，其特征在于，所述支架为框架结构，包括相对竖直设置的第一侧梁和第二侧梁，以及用于连接所述第一侧梁、第二侧梁顶部和底部的顶梁和底梁。
  31. 一种快换***，其特征在于，包括：
    权利要求19-30中至少一项所述的码垛机；
    电池架，用于摆放为电动汽车使用的替换电池，和由电动汽车上更换下来的待充电池；
    换电移动平台，用于将电动汽车上的待充电池取下并运送给所述码垛机，同时可由所述码垛机处接收替换电池并安装到电动汽车上。
PCT/CN2018/073750 2017-01-24 2018-01-23 伸出机构、双伸出机构、码垛机及快换*** WO2018137600A1 (zh)

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CN201710052600.6A CN108058685B (zh) 2017-01-24 2017-01-24 一种码垛机移动装置
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CN203511607U (zh) * 2013-10-25 2014-04-02 沈阳中科正方新能源技术有限公司 伺服型电动汽车电池更换***
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CN103922244A (zh) * 2014-04-22 2014-07-16 重庆社平科技有限公司 用于立体仓库的巷道式码垛装置

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