CN106379290A - Electric automobile battery replacement system and battery replacement method based on system - Google Patents
Electric automobile battery replacement system and battery replacement method based on system Download PDFInfo
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- CN106379290A CN106379290A CN201610906698.2A CN201610906698A CN106379290A CN 106379290 A CN106379290 A CN 106379290A CN 201610906698 A CN201610906698 A CN 201610906698A CN 106379290 A CN106379290 A CN 106379290A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005611 electricity Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an electric automobile battery replacement system and a battery replacement method based on the system. The battery replacement system comprises an electricity storage bin, a rail, an automobile locating platform, a connection trolley and a data acquisition and control device, wherein the automobile locating platform and the connection trolley are controlled to realize battery replacement according to data of a data acquisition battery at each working node. The electric automobile battery replacement system realizes automatic control over the whole battery replacement process, is novel in design, is safe and reliable, and has good market development prospects.
Description
Technical field
The present invention relates to the battery replacement device of electric automobile and replacing options, especially for battery replacement of electric automobile
Automatic exchange device and the visual identity replacing options based on this device.
Background technology
Battery changed by electric automobile is a comparatively laborious process, needs vehicle and battery to be carried out determine in whole process
Position, battery is carried out the operation such as loading and unloading.Corresponding device is assisted to be directed to battery altering in existing technology.As patent
Notification number is invented the vehicle automatic centering mechanism changing electricity for electric automobile to realize vehicle location adjustment for CN102795205A,
Mainly consider for vehicle to be parked in target location, but because vehicle weight and volume are larger, adjust the position not side of automobile
Just.Patent announcement number be CN205010199U patented invention electric automobile in put battery case quickly unload, the essence in dress system
Adjust docking mechanism, the program mainly for big-and-middle-sized lorry, by design battery Turnoverplatform and car body guide rail Dock With Precision Position Lai
Realize battery case to change, because big-and-middle-sized lorry and the general weight of battery case are larger, larger effect can be produced to structure, cause
Deformation, thus affect precision.Patent announcement number is that the patent of CN 104973024 A proposes a kind of view-based access control model localization method
Electric automobile changes electric system, and the method realizes the battery of electric automobile and being accurately positioned of battery flat by sighting device, by
Turn stage apparatus and the loading or unloading operation of the complete battery pair of grip device.The method do not consider automobile, battery and other
The relation of equipment, arrangement is not reasonable, and robot load is less, expensive, is unfavorable for popularization and the popularization of the program.
These schemes have one to what is common is that the single flow process pertaining only to during battery altering, do not relate to whole
The process of individual flow process.And later application trend is, by electrical changing station, electric automobile is carried out changing with electric treatment, single auxiliary sets
The standby demand that can not meet batch processing.
Content of the invention
It is an object of the invention to provide a set of electric automobile changes the integrated system of electricity, electric automobile is made to change cell process
Middle whole realization automatically controls.
In order to solve above-mentioned technical problem, the battery replacement of electric automobile system of the present invention, including storing up electricity storehouse, dolly of plugging into
With bus location platform, described storing up electricity storehouse associated with bus location platform by track, and one end of described track connects storing up electricity storehouse,
The other end is arranged on immediately below bus location platform, and described dolly of plugging into is arranged in orbit, and described bus location platform includes
Two groups of columns, are provided with longeron between every group of column, described longeron is provided with one group of pedal, described longeron also sets up
There is transverse slat, described transverse slat and pedal on the same line, described column are provided with hydraulic jacking device, described hydraulic lifting
Device is connected with transverse slat and hydraulic controller respectively, and one end of described transverse slat is provided with roller bearing band, and described roller bearing band is connected with
I stepper motor.
In technique scheme, described dolly of plugging into includes elevating mechanism, lateral movement mechanism, walking mechanism and rotating mechanism,
Described elevating mechanism is arranged in walking mechanism, and described lateral movement mechanism is arranged on elevating mechanism, and described rotating mechanism is arranged on
On lateral movement mechanism, described elevating mechanism includes base plate, and base plate is provided with lifting-up support, and lifting-up support is provided with top board, institute
State and screw mandrel is also vertically installed with base plate, screw mandrel is connected with lifting-up support, described screw mandrel bottom is connected with the first stepper motor；Institute
State walking mechanism and include the second stepper motor, power transmission shaft, roller and liner plate；Described roller is arranged on four ends angle of base plate, institute
State the second stepper motor to be connected with the roller of side by power transmission shaft, described liner plate is arranged on below base plate, the second stepper motor
It is fixed on liner plate；Described lateral movement mechanism includes integral type rack guide rail, supporting plate and the 3rd stepper motor, described integral type tooth bar
Guide rail is arranged on top board, and described supporting plate is arranged on integral type rack guide rail, and described 3rd stepper motor is by power transmission shaft even
Connect integral type rack guide rail；Described rotating mechanism includes carousel gear, lifts plate and the 4th stepper motor, and described carousel gear sets
Put on supporting plate, described plate of lifting is arranged in carousel gear, described 4th stepper motor clutch disk gear.
In technique scheme, also include integrated manipulator, described integrated manipulator connects hydraulic controller, I respectively
Stepper motor, the first stepper motor, the second stepper motor, the 3rd stepper motor and the 4th stepper motor.
In technique scheme, also include the first camera, in the middle of described first camera setting in rail, positioned at automobile
Immediately below locating platform, described first camera connects integrated manipulator.
In technique scheme, also include second camera, described second camera is arranged on the side of column, towards rolling
Axle band, described second camera connects integrated manipulator.
In technique scheme, also include the 3rd camera, described 3rd camera is arranged on below transverse slat, positioned at transverse slat
Centre position, described 3rd camera connects integrated manipulator.
In technique scheme, described transverse slat inner side edge is provided with guardrail.
In technique scheme, also include placement platform, described placement platform is arranged on base plate both sides.
Based on storing up electricity storehouse described above, track, plug into dolly and bus location platform battery replacement of electric automobile method,
It is characterized in that：Comprise the steps of, by automobile movement to bus location platform, when front-wheel is located at roller bearing band, to front-wheel position
Put and carry out image sampling, obtain front wheel positions data, starting roller bearing band according to front wheel positions data makes front-wheel reach target location；
When trailing wheel is located at roller bearing band, rear wheel position is carried out with image sampling, obtain rear wheel position data, opened according to rear wheel position data
Dynamic roller bearing band makes rear wheel rotation reach target location；Bottom of car battery is carried out with image sampling, obtains battery size and positional number
According to；Dolly is plugged into target location according to battery location data-driven；Battery is unloaded at and plugs on dolly, position is loaded to battery
Put and carry out IMAQ, dolly of plugging into is back to storing up electricity storehouse, load reserve battery movement to target position according to battery size data
Put, IMAQ is carried out to standby battery device position, standby battery device position data is entered with battery-load position data
Row compares, and adjusts, according to comparison result, dolly of plugging into, and completes reserve battery and installs.
The advantage of such scheme is not need to adjust electric automobile parking spot during battery altering, solve electricity
Being accurately positioned during electrical automobile battery altering, solves that battery placement location during present battery altering is inaccurate etc. to ask
Topic, it is achieved that changing whole-process automatic control in electric process, has novel in design, safe and reliable, has the good prospect of marketing.
Brief description
Fig. 1 changes electric process schematic diagram for automobile；
Fig. 2 be that bus location platform is static and lifting state under front view structure figure；
Fig. 3 is storing up electricity storehouse and bus location platform top view；
Fig. 4 is storing up electricity storehouse and bus location platform side view；
Fig. 5 is dolly stereogram of plugging into；
Fig. 6 is dolly top view of plugging into；
Fig. 7 is dolly front view of plugging into；
Fig. 8 is dolly side view of plugging into.
Specific embodiment
Fig. 1 is shown that under a kind of embodiment, signal in changing electric process for the automobile, can be exchanged electrically by Fig. 1
Be described, based on storing up electricity storehouse, track, plug into dolly and bus location platform battery replacement of electric automobile method, its flow process
It is：By in electric automobile movement to transverse slat 24, when front-wheel reaches roller bearing band 26, with second camera, figure is carried out to front wheel positions
As sampling, it is analyzed processing using integrated manipulator, obtains front wheel positions information, according to front wheel positions data, using integrated
Controller controls I stepper motor to make front-wheel reach target location；When trailing wheel reaches roller bearing band 26, with second camera to rear
Wheel position carries out image sampling, is analyzed processing using integrated manipulator, obtains rear wheel position information；Put down using bus location
Automobile is promoted to object height by platform；According to rear wheel position data, I stepper motor is controlled so that trailing wheel is reached using integrated manipulator
To target location；Using the first camera 41, bottom of car is carried out with image sampling, obtain battery size and position data；According to
Battery location data message, drives the second stepper motor 6 to drive using integrated manipulator and plugs into dolly to target location；By battery
It is unloaded at and plugs on dolly, using the 3rd camera, IMAQ is carried out to battery-load position, and record dolly state of plugging into；
Dolly of plugging into is back to storing up electricity storehouse 40, unloads battery；According to battery size data, reserve battery is loaded to plugging on dolly,
Dolly movement will be plugged into target location, IMAQ will be carried out to reserve battery " loaded " position；By battery-load position with standby
Battery-load position data is compared, according to comparison result adjustment plug into dolly laterally, longitudinal direction, height and deflection, make electricity
Pond " loaded " position is coincide with reserve battery " loaded " position；Lift dolly of plugging into, by reserve battery installation.
Fig. 2 to 4 is a kind of embodiment in bus location platform and storing up electricity storehouse in aforesaid way, bus location platform, leads to
Cross four root post 21 composition rectangular frame, the bottom between wherein longitudinal two root posts 21 is provided with longeron 22, on longeron 22
It is respectively provided with one group of pedal 23, the distance between two neighboring pedal 23 is suitable with vehicle width.Set in the middle of the pedal 23 of both sides
It is equipped with transverse slat 24, when transverse slat 24 adopts integral slab structure, centre needs to arrange through hole, for dismounting cell；Transverse slat 24 adopts strip
Hardened structure is that on the same line, the two ends of two transverse slats 24 are preferably respectively provided with support beams for transverse slat 24 and both sides pedal 23.
The downside of the centre of transverse slat 24 is provided with the 3rd camera 43, the positional information of plug into for collection dolly and battery, column
It is provided with hydraulic jacking device, hydraulic jacking device is connected with transverse slat 24 by coupling assembly, and hydraulic jacking device passes through in 21
Hydraulic controller 25 controls, and hydraulic controller 25 can be fixed on column 21.
One end of transverse slat 24 is provided with roller bearing band 26, roller bearing band 26 is driven by I stepper motor 27.In transverse slat 24
Inner side is provided with guardrail 28, and the end of guardrail 28 adopts arcuate structure, is easy to guide wheel.The upper end of guardrail 28 is using rolling road
Structure, reduces friction when wheel is contacted with guardrail 28.The column 21 of close roller bearing band 26 is provided with second camera 42,
Second camera 42, towards roller bearing band 26, is easy to obtain wheel position information.
Described pedal 23 is fixedly connected on longeron 22 by hinge 30, and transverse slat 24 is taken and is placed on hinge, carries in transverse slat 24
Do not need to lift pedal 23 together when rising, reduce lifting weight, it also avoid the loaded down with trivial details of reset.
The lower section of transverse slat 24 is provided with track 29, one end of track 29 connects to storing up electricity storehouse 40, and the other end is arranged on horizontal stroke
The underface of plate 24, also sets up the first camera 41 in the underface of transverse slat, and track 29 can provide movement auxiliary for dolly of plugging into
Help.
Fig. 5 to 8 is to plug into a kind of embodiment of dolly in aforesaid way, the dolly of plugging into of the present invention, including base plate 1,
Folding jacking support 2 is provided with base plate 1, top board 3 is provided with lifting-up support 2, top board 3 centre is provided with logical
Hole；Screw mandrel 4 is vertically installed with base plate 1, screw mandrel 4 is threadeded with lifting-up support 2, the bottom of screw mandrel 4 passes through base plate 1 and bottom
Plate 1 is flexibly connected, and the bottom of screw mandrel 4 is connected with the first stepper motor 5.By the first stepper motor 5 drive screw mandrel 4 rotate and then
Lifting-up support 2 is made to realize moving up and down.
1 four ends of base plate angle is provided with roller 8, wherein one group of roller 8 of homonymy connects the two of power transmission shaft 7 respectively
End, power transmission shaft 7 is provided with the second stepper motor 6, the second stepper motor 6 is fixed on liner plate 9, and liner plate 9 is arranged on base plate 1
Lower section.Power transmission shaft 7 is driven by the second stepper motor 6 and then so that roller 8 is rotated.Roller 8 is arranged on corresponding rail.
It is arranged with one group of integral type rack guide rail 10, integral type rack guide rail 10 top setting in parallel above top board 3
There is supporting plate 12, supporting plate 12 is provided with through hole on centre；Integral type rack guide rail 10 connects the 3rd stepping electricity by power transmission shaft
Machine 11.3rd stepper motor 11 drives integral type rack guide rail 10 to move and then make supporting plate 12 carry out transverse shifting.
On supporting plate 12, activity is placed with carousel gear 13, and carousel gear 13 can be freely rotatable.Solid in carousel gear 13
Surely it is provided with and lifts plate 14, lift centre on plate 14 and be provided with through hole, carousel gear 13 is connected with the 4th stepper motor 15.
4th stepper motor 15 drives disk rotational and then realization is lifted plate 14 and rotated.
Two parallel sides of base plate 1 are provided with placement platform 15, it is possible to use placement platform 15 is shelving electricity
Pond, it is to avoid the long-time stress of lifting-up support 2.
During use, make dolly movement to target location first with the second stepper motor 6 driving rolls 8, using the first stepping
Motor 5 drives dolly to be lifted up, and lifts the lateral attitude of plate 14 using the 3rd stepper motor 11 adjustment, finally utilizes the 4th step
Stepper motor 15 makes to lift plate 14 and is adjusted to best angle.
In specific implementation process, the first camera 41, second camera 42, the 3rd camera 43, I stepper motor
27th, hydraulic controller 25, the first stepper motor 5, the second stepper motor 6, the 3rd stepper motor 11 and the 4th stepper motor 15 be all
Be controlled by integrated manipulator, remote wireless control pattern can be adopted, such as using mobile phone A PP or control platform according to
The data message obtaining, the such as position of battery, model image carry out the corresponding motor action of corresponding control, finally realize to battery
Replacing.
In use, some or all of stepper motor can be substituted using servomotor.
Claims (9)
1. battery replacement of electric automobile system, including storing up electricity storehouse, plug into dolly and bus location platform, rail is passed through in described storing up electricity storehouse
Road is associated with bus location platform, and one end of described track connects storing up electricity storehouse, and the other end is arranged on immediately below bus location platform,
Described plug into dolly setting in orbit it is characterised in that：Described bus location platform includes two groups of columns, between every group of column
It is provided with longeron, described longeron is provided with one group of pedal, described longeron is additionally provided with transverse slat, described transverse slat and pedal
On the same line, described column is provided with hydraulic jacking device, described hydraulic jacking device respectively with transverse slat and hydraulic pressure
Controller connects, and one end of described transverse slat is provided with roller bearing band, and described roller bearing band is connected with I stepper motor.
2. battery replacement of electric automobile system as claimed in claim 1 it is characterised in that：Described dolly of plugging into includes lift
Structure, lateral movement mechanism, walking mechanism and rotating mechanism, described elevating mechanism is arranged in walking mechanism, described lateral movement mechanism setting
On elevating mechanism, described rotating mechanism is arranged on lateral movement mechanism, and described elevating mechanism includes base plate, and base plate is provided with top
Rise support, lifting-up support is provided with top board, described base plate is also vertically installed with screw mandrel, screw mandrel is connected with lifting-up support, institute
State screw mandrel bottom and be connected with the first stepper motor；Described walking mechanism includes the second stepper motor, power transmission shaft, roller and liner plate；
Described roller is arranged on four ends angle of base plate, and described second stepper motor is connected with the roller of side by power transmission shaft, described
Liner plate is arranged on below base plate, and the second stepper motor is fixed on liner plate；Described lateral movement mechanism includes integral type rack guide rail, support
Plate and the 3rd stepper motor, described integral type rack guide rail is arranged on top board, and described supporting plate is arranged on integral type rack guide rail
On, described 3rd stepper motor is integrally connected formula rack guide rail by power transmission shaft；Described rotating mechanism includes carousel gear, lifts
Plate and the 4th stepper motor, described carousel gear is arranged on supporting plate, and described plate of lifting is arranged in carousel gear, and the described 4th
Stepper motor clutch disk gear.
3. battery replacement of electric automobile system as claimed in claim 2 it is characterised in that：Also include integrated manipulator, described
Integrated manipulator connects hydraulic controller, I stepper motor, the first stepper motor, the second stepper motor, the 3rd stepping electricity respectively
Machine and the 4th stepper motor.
4. battery replacement of electric automobile system as claimed in claim 3 it is characterised in that：Also include the first camera, described
In the middle of first camera setting in rail, immediately below bus location platform, described first camera connects integrated manipulator.
5. battery replacement of electric automobile system as claimed in claim 4 it is characterised in that：Also include second camera, described
Second camera is arranged on the side of column, and towards roller bearing band, described second camera connects integrated manipulator.
6. battery replacement of electric automobile system as claimed in claim 5 it is characterised in that：Also include the 3rd camera, described
3rd camera is arranged on below transverse slat, and positioned at transverse slat centre position, described 3rd camera connects integrated manipulator.
7. the battery replacement of electric automobile system as described in claim 1 or 2 or 3 or 4 or 5 or 6 it is characterised in that：Described horizontal stroke
It is provided with guardrail on plate inner side edge.
8. battery replacement of electric automobile system as claimed in claim 7 it is characterised in that：Also include placement platform, described put
Horizontalization platform is arranged on base plate both sides.
9. based on storing up electricity storehouse described in claim 1 to 8, track, plug into dolly and bus location platform batteries of electric automobile more
Change method it is characterised in that：Comprise the steps of, by automobile movement to bus location platform, when front-wheel is located at roller bearing band, right
Front wheel positions carry out image sampling, obtain front wheel positions data, and starting roller bearing band according to front wheel positions data makes front-wheel reach mesh
Cursor position；When trailing wheel is located at roller bearing band, rear wheel position is carried out with image sampling, obtain rear wheel position data, according to trailing wheel position
Putting data startup roller bearing band makes rear wheel rotation reach target location；Bottom of car battery is carried out with image sampling, obtains battery size
And position data；Dolly is plugged into target location according to battery location data-driven；Battery is unloaded at plugs on dolly, to electricity
Pond " loaded " position carries out IMAQ, and dolly of plugging into is back to storing up electricity storehouse, loads reserve battery according to battery size data and moves
To target location, IMAQ is carried out to standby battery device position, standby battery device position data is loaded position with battery
Put data to be compared, dolly of plugging into is adjusted according to comparison result, complete reserve battery and install.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610906698.2A CN106379290A (en) | 2016-10-15 | 2016-10-15 | Electric automobile battery replacement system and battery replacement method based on system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610906698.2A CN106379290A (en) | 2016-10-15 | 2016-10-15 | Electric automobile battery replacement system and battery replacement method based on system |
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| CN106379290A true CN106379290A (en) | 2017-02-08 |
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| CN201610906698.2A Pending CN106379290A (en) | 2016-10-15 | 2016-10-15 | Electric automobile battery replacement system and battery replacement method based on system |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106800014A (en) * | 2017-03-16 | 2017-06-06 | 芜湖华炬电动汽车技术有限公司 | Planer-type changes electric frame and its control method and moves battery system certainly |
| CN108145948A (en) * | 2017-12-22 | 2018-06-12 | 亚普汽车部件股份有限公司 | A kind of hollow blow molding host mouth mold apparatus for fast switching |
| CN108437951A (en) * | 2018-05-14 | 2018-08-24 | 叶桂阳 | A kind of electric vehicle of pure driven by power |
| CN109229077A (en) * | 2018-12-03 | 2019-01-18 | 黄河科技学院 | The automatic change station of accumulator of electric car |
| CN109501776A (en) * | 2018-10-25 | 2019-03-22 | 蔚来汽车有限公司 | The transport of power battery and operation post, power battery attach together line, vehicle production assembly line and method automatically |
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| CN109501744A (en) * | 2017-09-12 | 2019-03-22 | 上海蔚来汽车有限公司 | Vehicle location adjusts device |
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| EP3683108A4 (en) * | 2017-09-12 | 2021-07-07 | Nio Co., Ltd. | Automatic battery changing system for electric vehicle |
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Application publication date: 20170208 |