CN111823941A - Double station power exchange station for sharing intelligent and fast power exchange of multi-model electric passenger cars - Google Patents

Abstract

The invention discloses a dual-station power exchange station for sharing intelligent and fast power exchange of multi-model electric passenger cars, comprising: a control center and two power exchange station rooms, each of which is provided with an identical multi-model intelligent power exchange station The equipment and the power exchange room are set up in a double-station symmetrical layout, using a steel structure skeleton-insulated wall panel assembly structure and a semi-excavated reinforced concrete foundation. By applying the present invention, two electric passenger cars can be exchanged at the same time.

Description

Double station power exchange station for sharing intelligent and fast power exchange of multi-model electric passenger cars

technical field

The invention relates to the field of power battery swapping for electric passenger cars, in particular to a dual-station swapping station for sharing, intelligent and fast power swapping for multi-model electric passenger cars.

Background technique

With the shortage of global energy, the problem of environmental pollution is becoming more and more serious. Under the general trend of environmental protection and clean energy concepts, electric passenger cars have less impact on the environment than traditional cars, and their development prospects are very broad. Electric passenger car refers to a small passenger car that is powered by on-board power supply and drives wheels by motor, and meets the requirements of road traffic and safety regulations. Among them, the power battery is the core of the electric passenger car, but the insufficient endurance of the power battery has always been the bottleneck of the development of the electric passenger car.

Now there is an operation mode that does not require charging the power battery, but only replaces the electric vehicle with a fully charged power battery, which reduces the time for the user to wait for the power battery to charge, which is basically the same as the traditional car refueling time, without changing the user. The habit of using the car. Quick change mode: The electric passenger car entering the power exchange station directly replaces the charged power battery for the electric passenger car with insufficient power battery through the power exchange equipment in the power exchange station, which is convenient and fast, but the power exchange technology Not yet mature.

In this mode, the power battery is installed on the body of the electric passenger car, and the size of the power battery is relatively large (the length and width are generally several meters) and the weight is relatively large (up to several hundred kilograms). Safety requirements are very high; and the wheelbase and wheelbase of electric passenger cars of different models are different, and even the size of the power battery is not the same. For passenger cars, the power batteries of other models of electric passenger cars with different wheelbases/wheelbases cannot be replaced. Under the global concept of new energy vehicle manufacturing, only the power batteries of a single model of electric passenger cars can be replaced. It's a huge waste of resources. Only replacing the power battery of a single type of electric passenger car has always been a bottleneck in the development of electric passenger cars, resulting in the fact that the current electric passenger cars cannot be widely promoted and used. At the same time, if a large number of electric passenger cars are driven into the power exchange lamp for power exchange, the current power exchange station can only replace the power battery of one electric passenger car at a time, which leads to long waiting time for users and reduces the use of users. Experience is not conducive to the promotion of electric passenger cars.

Therefore, how to provide a new technical solution for the structure of the power exchange station to solve the situation that if a large number of electric passenger cars drive into the power exchange lamp for power exchange, the current power exchange station can only replace the power of one electric passenger car at a time The battery causes the user to wait too long and reduces the user experience. At the same time, the power exchange station can replace the power batteries of different types of electric passenger cars.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a dual-station power exchange station for sharing intelligent and fast power exchange of multi-model electric passenger cars, so as to solve the situation that a large number of electric passenger cars drive into the power exchange lamp for power exchange, The current power exchange station can only replace the power battery of one electric passenger car at a time, which causes the user to wait too long and reduces the user experience problem. At the same time, the power exchange station can replace the power battery of different types of electric passenger cars. .

In order to solve the above problems, the present invention provides a dual-station power exchange station for sharing intelligent and fast power exchange of multi-model electric passenger cars, including a control center, a battery storage rack, a battery charging device and two power exchange station rooms, 2 The same multi-model intelligent power-swapping equipment is installed in each power exchange station room, wherein the multi-model intelligent power-swapping equipment is used to perform power-swapping operations on the power batteries of various types of electric passenger cars with locking mechanisms; the control center, with It is used to control the overall process of power exchange of 2 electric passenger cars of the same model/different models that need to be exchanged at the same time in the 2 power exchange station rooms; Structural method of thermal wall panel assembly and semi-excavated reinforced concrete foundation;

The locking mechanism can couple the power battery with the vehicle chassis, and includes a main frame with a rectangular structure. Corresponding installation positions, the main body frame is fixedly installed on the bottom of electric passenger cars of different models, and two sets of connecting rod locking devices are symmetrically arranged on the inner walls of the two side beams of the main body frame; the connecting rod locking devices include a plurality of connecting rod locking devices. The locking assembly includes a locking block, a connecting rod, a toggle plate, a connecting rod safety unit fixed on the inner wall of the beam, and a locking sector gear matched with the locking block, wherein the locking The sector gear is embedded in the locking block and can be rotated. The toggle plate is arranged under the connecting rod with a T-shaped structure. The connecting rod is connected with the locking block, and the locking is completed through the movement of the connecting rod within the set range. The locking/unlocking operation of the mechanism and the power battery; the connecting rod safety unit includes a bracket, a limiter, an elastic element and an elastic pin, the bracket is fixed on the inner wall of the beam, and the elastic element is inserted into the elastic pin and inserted into the bracket, the elastic pin abuts against the limiter through the elastic element, and the limiter locks the elastic pin through the elastic element, and the limit locks the connecting rod;

The intelligent battery-swapping equipment for a number of models includes: an intelligent battery-swap positioning platform, a translational bridge plate, a translational suspension bridge, a battery pre-storage rack, a grabbing mechanism, a lifting mechanism, an intelligent battery-swapping robot, and an intelligent battery dispatching system; The suspension bridges are respectively arranged on the left and right sides of the intelligent power exchange positioning platform; among them,

The intelligent power exchange positioning platform is used to locate the electric passenger car on the intelligent power exchange positioning platform according to the model parameter information of the electric passenger car; the translation bridge plate and the translation suspension bridge are used to connect with the intelligent power exchange positioning platform, providing a A mobile platform for smooth passage of battery-swapping vehicles; the battery pre-storage rack, the grabbing mechanism and the lifting mechanism form a whole, which is used to grab the depleted battery of the intelligent battery-swapping robot and lift the depleted battery to a preset height. The intelligent battery swap robot is used to remove the fully charged battery that has been placed on the battery pre-storage rack by the intelligent battery dispatching system; the intelligent battery swap robot is used to remove the depleted battery from the chassis of the electric passenger car and install the fully charged battery on the electric passenger car The battery intelligent dispatching system is used to transport power batteries; the battery storage rack is used to store the power batteries of different models of electric passenger cars; the battery charging device is used to charge the power batteries.

Compared with the prior art, by applying the present invention, the double-station power exchange station can meet the power exchange requirements of different power exchange working conditions, various vehicle types and various types of power batteries, and has a high degree of intelligence and strong service capability. The power exchange idea of the power exchange station adopts a "parallel" action power exchange method, which effectively shortens the power exchange time, enhances the operation capability of the power exchange station, and improves the user experience. The model parameter information obtained through the control center can be applied to electric passenger cars of different models for power exchange, that is, power batteries of different sizes can be replaced safely, conveniently and quickly, and the power exchange station can be used for various types of electric passenger cars. , whether it is A0, A-class or B-class electric passenger cars, they can enter the intelligent battery-changing positioning platform for quick battery replacement, so that the user experience is basically the same as the previous experience of refueling at the gas station, and the user does not need to change the vehicle. The usage habits have brought unexpected and excellent effects to the large-scale promotion of electric passenger cars, which is convenient for the large-scale commercial promotion and application of electric passenger cars. It can quickly charge the power battery, solve the unstable and stable performance of the power battery caused by fast charging, and even the resulting safety problems; and can be replaced by the electric passenger car during the low power consumption period (idle time at night). It can improve the charging efficiency, reduce the electricity cost of charging, solve the problem of excessive grid load and even grid accidents caused by fast charging, and protect the environment.

Description of drawings

1 is a schematic structural diagram of a dual-station power exchange station for sharing intelligent and fast power exchange of a multi-model electric passenger car according to the present invention;

2 is a schematic structural diagram of a locking mechanism for intelligent quick-release and quick-installation of vehicle-mounted batteries for different battery-swapping models of the present invention;

FIG. 3 is a schematic structural diagram of the power battery 20 to which the present invention is applied;

Fig. 4 is the schematic diagram (locked state) of the connecting rod locking device 2 in the present invention;

FIG. 5 is a schematic diagram of the connecting rod locking device 2 in the present invention (unlocked state);

Fig. 6 is the structural representation of the locking assembly in the present invention;

7 is a schematic structural diagram of the battery lock fixing unit T and the connecting rod safety unit B in the present invention;

FIG. 8 is a schematic structural diagram of an intelligent battery-swap positioning platform suitable for shared swapping of electric passenger cars of different models according to the present invention;

Fig. 9 is the intelligent power exchange positioning platform provided on both sides of the intelligent power exchange positioning platform of the present invention for electric passenger cars of different vehicle types (that is, suitable for electric passenger cars of different vehicle types with different wheelbases/different wheelbases) Schematic diagram of the structure of PB and translational suspension bridge PD;

10 is a schematic structural diagram of a power battery intelligent pre-storage system for electric passenger cars of different models of the present invention;

11 is a schematic structural diagram of an intelligent power-swap robot used for power-swapping of electric passenger cars of different models of the present invention;

FIG. 12 is a schematic structural diagram of the pan/tilt 200 and the unlocking device 600 thereon in the intelligent power-swapping robot to which the present invention is applied;

FIG. 13 is a schematic structural diagram of a battery intelligent dispatching system for sharing power exchange for electric passenger cars of different models according to the present invention;

14 is a top view of the battery storage rack CC101 and the battery charging device CC102 of the present invention;

FIG. 15 is a front view of the battery storage rack CC101 and the battery charging device CC102 of the present invention.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

Note: In this application, the X direction refers to the direction opposite to the direction in which the vehicle keeps running straight on a level ground as the axis direction, the Y direction refers to the axis direction perpendicular to the X direction on the vehicle chassis plane, and the Z direction refers to the vertical direction The axis direction of the plane formed by the X and Y directions. The model parameters of the electric passenger car may include information such as body length, body width, body height, front wheel base, rear wheel base, tire size, body weight, body wheelbase, battery size and battery weight.

The electric passenger car in the present application refers to a small, light-duty electric passenger-carrying electric vehicle with less than 9 passengers, which is driven by the on-board power supply and drives the wheels by the motor. Electric passenger cars are different from electric special vehicles (for example: garbage transport vehicles powered by on-board power, urban freight transport vehicles powered by on-board power, and public transport vehicles powered by on-board power, etc.); electric passenger cars are An electric passenger car equipped with a power exchange controller. The power exchange controller is the control mechanism for the power exchange of the vehicle. It is used to control the unlocking and tightening of the locking mechanism throughout the power exchange process, and to control the contact and disengagement of the power exchange connectors. And exchange information with the main controller of the vehicle, and exchange information with the control center of the exchange station.

In this application, the power exchange station needs to set conditions (a, the battery connector is unified standard; b, the vehicle battery quick disassembly and quick installation locking device method is standardized), this application is a shared intelligent quick power exchange suitable for multi-model electric passenger cars According to the model parameter information obtained by the vehicle identification device, it can be applied to electric passenger cars of different models for power exchange, that is, power batteries of different sizes can be replaced safely, conveniently and quickly. Various types of electric passenger cars are used, whether it is A0, A-class, or B-class electric passenger cars, they can enter the intelligent battery replacement positioning platform for battery replacement, which is convenient for the large-scale commercial promotion and application of electric passenger cars.

The exchange station room adopts a double-station symmetrical layout. The double-station power exchange can meet the needs of the exchange station in different power exchange conditions, and at the same time effectively reduce the failure rate of the exchange station; the double-station symmetrical layout makes the double-station power exchange. The power exchange control center, battery storage rack, vehicle-mounted battery replacement trolley and other supporting facilities can be shared to save floor space. At the same time, the space of the shared battery storage rack is larger than that of the single-station battery storage room, which is conducive to battery heat dissipation; the power exchange station The whole house adopts the structure of H-shaped steel structure skeleton-insulated wall panel assembly, which is convenient for installation and station construction. In addition, the equipment foundation adopts a semi-excavated reinforced concrete structure, the depth of the foundation pit is 550mm, and the pad height of the power exchange platform is 550mm. The overall depth of the equipment foundation is 1100mm, which reduces the difficulty and cost of construction. Multi-model intelligent power exchange equipment, the two sets of equipment at the left and right stations are in a symmetrical relationship, which is conducive to the space layout of the power exchange station and the wiring of power cables; The passenger car performs power exchange work; all power exchange actions of the multi-model intelligent power exchange equipment are automatically completed by the unified control of the control center, which is intelligent and efficient, and has strong service capabilities.

The power exchange mode of the dual-station power exchange station adopts a "parallel" power exchange idea. The electric passenger car approaches the power exchange station. , the battery-changing positioning platform, the vehicle traffic device, the battery-changing robot and the battery scheduling machine are ready for battery-changing at the same time, and the battery-changing actions are performed orderly and intelligently one by one, and the battery-changing robot and the battery scheduling machine are performing their own lifting and driving. Actions are also carried out at the same time, effectively shortening the time of power exchange, enhancing service capabilities, reducing operating costs and improving economic benefits.

As shown in Figure 1, the schematic diagram of the structure of the dual-station power exchange station includes the control center and two power exchange station rooms (two entrances: R1 and R2, that is, including two power exchange power station rooms), and each of the two power exchange power station rooms is set An identical multi-model intelligent power exchange device, wherein the multi-model intelligent power exchange device is used to perform power exchange operations on the power batteries of various types of electric passenger cars provided with a locking mechanism; The overall process of power exchange of 2 electric passenger cars of the same model/different models that need to be exchanged at the same time in the room is controlled; and semi-excavated reinforced concrete foundation;

The locking mechanism can couple the power battery with the vehicle chassis, and includes a main frame with a rectangular structure. Corresponding installation positions, the main frame is fixedly installed on the bottom of electric passenger cars of different models, and two sets of connecting rod locking devices are symmetrically arranged on the inner walls of the beams on both sides of the main frame; the connecting rod locking devices include a plurality of locking assemblies , the locking assembly includes a locking block fixed on the inner wall of the beam, a connecting rod, a toggle plate, a connecting rod safety unit, and a locking sector gear matched with the locking block, wherein the locking sector gear is embedded in the locking The inside of the block can be rotated. A toggle plate is arranged under the connecting rod with a T-shaped structure. The connecting rod is connected with the locking block. Through the movement of the connecting rod within the set range, the locking mechanism and the power battery are locked/ Unlocking operation; the connecting rod safety unit includes a bracket, a limiter, an elastic element and an elastic pin, the bracket is fixed on the inner wall of the beam, the elastic element is inserted into the elastic pin and inserted into the bracket, and the elastic pin is passed through the elastic element and the limiter. Abutting against each other, the limiter locks the elastic pin through the elastic element, and the limit locking of the connecting rod;

The multi-model intelligent power exchange equipment may include: intelligent power exchange positioning platform HD, translational bridge board PB, translational suspension bridge PD (translational bridge board PB and translational suspension bridge PD are respectively set on the left and right sides of the intelligent power exchange positioning platform HD), battery pre-storage Rack Y10, grabbing mechanism Z10, lifting mechanism H10, intelligent battery swapping robot J, battery intelligent dispatching system ZD, battery storage rack CC101 and battery charging device CC102. The control center is used to control the overall process of power exchange of various models of electric passenger cars that need to be replaced; the intelligent power exchange positioning platform is used to place the electric passenger cars on the intelligent power exchange positioning platform according to the model parameter information of the electric passenger cars. Carry out vehicle positioning; translation bridge plate and translation suspension bridge are used to connect with the intelligent power exchange positioning platform to provide a mobile platform for a power exchange to make the vehicle pass smoothly; the battery pre-storage frame, the grabbing mechanism and the lifting mechanism form a whole, which is used for grabbing After taking the depleted battery of the intelligent battery swapping robot, raise the depleted battery to a preset height, and then make the intelligent battery swapping robot remove the fully charged battery that has been placed on the battery pre-storage rack by the intelligent battery dispatching system; the intelligent battery swapping robot It is used to remove the depleted battery of the chassis of the electric passenger car, and install the fully charged battery on the electric passenger car; the battery intelligent dispatching system is used to transport the power battery.

As shown in FIG. 2, the locking mechanism includes a main body frame 1; a socket unit C is arranged on the front side of the main body frame to couple with the plug of the power battery; A set of connecting rod locking devices 2; the connecting rod locking device 2 may include a plurality of locking assemblies 3 and a battery lock fixing position unit T (the battery lock fixing position unit T includes: on both sides of the main body frame 1 Each of the beams 11 is provided with a conical positioning sleeve 17); as shown in Figure 4, the locking assembly includes a locking block 31 fixed on the inner wall of the beam, a rack plate, a connecting rod 4, a toggle plate 5, The connecting rod reset unit F, the connecting rod safety unit B, and the locking sector gear 32 matched with the locking block 31 .

The number of locking assemblies 3 provided on each group of connecting rod locking devices 2 is at least two. When the power battery is coupled, the stability is better, but the production cost will be higher; if the number of locking assemblies 3 is set on each set of connecting rod locking devices 2, the stability of the locking mechanism when coupled with the power battery is Not good; after the actual use test, when each set of connecting rod locking devices includes 3 locking assemblies, it can not only ensure good stability when the locking mechanism is coupled with the power battery, but also control the production cost, which is the preferred implementation example.

Among them, the main frame 1 of the locking mechanism is a rectangular structure frame, and the main frame 1 is used for the corresponding installation positions set at the bottom of each electric passenger car according to the bottom structure of the electric passenger cars with different wheel bases/different wheelbases. The main frame 1 is fixedly installed on the bottom of electric passenger cars of different models.

The size of the main frame 1 can be applied to the bottom of different models of electric passenger cars (that is, it can be applied to the bottom of different models of electric passenger cars with different wheelbases/different wheelbases), that is, it can be adapted to different models (that is, it can be applied to different Wheelbase/different wheelbase electric passenger cars of different models) set corresponding installation positions at the bottom of each electric passenger car, and fix the main frame 1 on the bottom of the electric passenger cars of different models. The application does not limit the size of the main frame 1, as long as the size of the main frame 1 can be installed on the bottom of electric passenger cars of different models, and different types of power batteries can be installed on the bottom of the corresponding electric passenger cars through the main frame 1 , all of which are applicable to the bottoms of electric passenger cars of different models are all used in this application. In this way, there is no need to change the structure of the main frame 1. By installing the main frame 1 at the bottom of the electric passenger car, it can be applied to different sizes of power batteries. The replacement can be completed safely, conveniently and quickly, forming the standardization of the locking mechanism. Electric passenger cars of various models use the same locking mechanism, which reduces the cost of the locking mechanism in production and facilitates the large-scale commercial promotion and application of electric passenger cars.

The power battery is fixedly installed on the vehicle chassis by the locking mechanism, and the electric passenger car enters the power exchange station.

After the cross beams 11 on both sides of the main frame 1 are installed at the bottom of the electric passenger car, the axial direction of the cross beam is consistent with the axis direction of the body of the electric passenger car (wherein, the direction of the body axis of the electric passenger car is set to be the vehicle on the level ground. keep driving straight).

As shown in FIG. 3 , the power battery 20 is a plate-shaped cube (wherein the power battery 20 can be a plate-shaped cube, and a plate-shaped cube provided with a convex or groove structure is also applied in this application, which is not limited in this application. ), the end faces of the left and right sides of the plate-shaped cube are provided with a plurality of positioning pins P of the power battery, and the shape of the positioning pins P is the shape of a cylinder. The locking block in the locking assembly is a non-closed hollow structure, and the shape of the hollow structure of the locking block matches the shape of the cylinder of the positioning pin. When the locking mechanism and the power battery are in a locked state, the positioning pin P It is locked in the locking block (the positioning pin P corresponds to the locking block in the locking assembly of the main frame, and it is the close coupling of the two that makes the power battery locked and fixed on the vehicle body, and the two Separation unlocks the power battery from the bottom of the vehicle and completes the replacement of the power battery). The plug of the power battery is connected with the socket unit C in the locking mechanism, and the power energy and battery information of the power battery are provided to the electric passenger car to ensure the normal driving of the normal electric passenger car and the safety of the people on the vehicle. FIG. 4 is a schematic diagram (locked state) of the link locking device 2 in the present application. FIG. 5 is a schematic diagram of the connecting rod locking device 2 in the present application (unlocked state).

As shown in FIG. 6, the locking assembly 3 may include a locking block 31 fixed on the inner wall of the beam, a locking sector gear 32 matched with the locking block 31, and a connecting rod 4; wherein, the locking block 31 is provided with There is a stepped circular groove, and the bottom of the locking block 31 is provided with a trumpet-shaped notch which communicates with the circular groove. The rotation center hole of the locking sector gear 32 is connected to the outside to form a U-shaped slot hole; above the locking block 31, a meshing channel between the rack plate and the locking sector gear 32 is provided to facilitate the installation of the rack of the rack plate. Through the rack plate, the locking sector gear 32 is embedded in the locking block 31 and can be rotated; the trumpet-shaped notch is set as the position where the positioning pin on the power battery extends, which can provide a certain amount of positioning pin on the side of the power battery. The opening size of the trumpet-shaped notch ensures that the positioning pins on the side of the power battery are accurately introduced into the locking assembly 3 of the main frame of the locking mechanism, completing the locking of the locking mechanism and the power battery 20. The opening angle of the trumpet-shaped notch is not less than 60 degrees to ensure that the positioning pin on the side of the power battery is accurately introduced into the locking assembly 1 of the main frame of the locking mechanism, and has high adaptability. In more than 5,000 tests, the positioning pins on the side of the power battery can be smoothly introduced into the locking assembly of the main frame of the locking mechanism, with high stability and success rate. (Assumption: It takes more than 13 years to replace the power battery of an electric passenger car once a day, and it takes more than 13 years to basically ensure the use of the owner of the electric passenger car)

As shown in Figures 4 and 6, the connecting rod 4 is in a T-shaped structure, a toggle plate 5 is arranged under the connecting rod 4, and a rack fixed by screws is set at the connection position between the shaft of the connecting rod 4 and the locking block 31 An oblong hole is provided at the position where the shaft of the connecting rod 4 is connected with the locking block 31 , and the connecting rod 4 is connected with the locking block 31 by a pin to limit the moving distance of the connecting rod 4 . The rack plate in the connecting rod 4 meshes with the locking sector gear 32, and the connecting rod 4 is moved to make the locking sector gear 32 rotate (the structure of the rack plate allows the locking sector gear 32 to rotate under the control of the connecting rod 4). accurate, which not only reduces the cost, but also has high reliability). The present application completes the locking and unlocking functions of the locking mechanism on the power battery (ie, completes the locking/unlocking operation of the locking mechanism and the power battery) through the movement of the connecting rod within the set range (ie, fixed value movement).

As shown in FIG. 4 , each set of connecting rod locking devices 2 includes a connecting rod reset unit F. The connecting rod reset unit F includes a limit block 6 , a guide block 7 and a return spring 8 . The limit block 6 Fixed on the inner wall of the beam 11, the guide block 7 is fixed on the tail end of the connecting rod 4, the limit block 6 and the guide block 7 are connected by a guide rod, and one end of the guide rod is fixed on the limit block 6 , the other end of the guide rod passes through the waist hole on the side of the limit block 6; the reset spring 8 is sleeved on the guide rod, and the two ends of the reset spring 8 abut with the side walls of the limit block 6 and the guide block 7 respectively. (The connecting rod reset unit can make the connecting rod return to the preset position after the locking/unlocking operation of the locking mechanism and the power battery is completed, so as to facilitate the next locking/unlocking operation of the locking mechanism and the power battery. The rod reset unit has a simple structure and good stability. After the actual use test, the normal use times can reach more than 10,000 times, which saves the cost of use and has good reliability. usage of)

Specific workflow:

As shown in FIG. 6 , when the locking mechanism does not receive any signal action, the connecting rod 4 controls a plurality of locking sector gears 32 (for example: if the locking mechanism includes three locking assemblies, then there are three locking The sector gear can be pushed in the same way) hug the locating pin corresponding to the side of the power battery (the shape of the locating pin is a cylinder, as shown in Figure 7), and lock the power battery in the locking mechanism , to complete the locking operation of the locking mechanism and the power battery; when the toggle plate 5 is driven by the intelligent power-changing robot in the power-changing station, the connecting rod 4 connected to it controls three locking sector gears 32, and rotates the preset angle ( The preset angle ensures that the positioning pin can be unlocked from the locking block 31) Open the U-shaped slot, so that the positioning pin on the side of the power battery can be withdrawn from the locking block, and the power battery and the locking mechanism can be unlocked. The intelligent power exchange robot in the power station replaces the power battery from the main frame 1 of the locking mechanism of the electric passenger car.

As shown in FIG. 7 , each set of connecting rods 4 is provided with a connecting rod safety unit B, and the connecting rod safety unit B includes a bracket 13 , a limiting member 14 , an elastic element 15 and an elastic pin 16 . The bracket 13 is fixed on the inner wall of the beam 11 , and the elastic element 15 is inserted into the elastic pin 16 and inserted into the bracket 13 . The limiter 14 can automatically limit and lock the connecting rod 4 through the locking of the elastic pin 16 by the elastic element 15 (as shown in FIG. The limit locking of the connecting rod 4 is ensured), the reliable fixation of the power battery in the vehicle is ensured, and the positioning of the power battery in the forward and backward directions and the positioning in the up and down direction of the vehicle are realized. (As shown in Fig. 4 in the locked state, the elastic element 15 of the connecting rod safety unit B is in a non-compressed state, and the movement of the connecting rod 4 will be restricted by the elastic element 15; when in the unlocked state as shown in Fig. 5, the connection The elastic element 15 of the rod safety unit B is in a compressed state) The elastic element 15 (which can be an element with elastic force such as a spring or elastic rubber, the spring can be a spring structure such as a disc spring, which is not limited in the present invention) can eliminate the power The positioning gap of the battery on the vehicle makes the power battery and the vehicle an integral structure, which requires the elastic element to have enough elasticity to ensure that the power battery does not loosen when the vehicle is running or bumped. When designing the elastic element, the elastic driving force needs to be accurately calculated. While the power battery is reliably fixed to the vehicle, it can ensure the safety of people on the vehicle. The limiter 14 locks the elastic pin 16 through the elastic element 15, which can automatically limit and lock the connecting rod 4, which can ensure that the connecting rod 4 can be locked after extreme conditions (such as the vehicle is violently impacted) during the driving process of the vehicle. The position will not change, and the connecting rod 4 controls multiple sets of locking sector gears 32 to hug the corresponding positioning pins on the side of the power battery, which further ensures that the power battery is locked in the locking mechanism and ensures that the battery will not be released from the battery. The vehicle falls off, improving the safety of the vehicle.

In the present application, there is no need to perform complex structural settings on the body of the electric passenger car, and more electromechanical control structures are arranged on the side of the operating equipment by simply adding some structural parts to the locking mechanism installed at the bottom of the vehicle body. It is beneficial to reduce the production cost of the electric passenger car and facilitate the large-scale commercial promotion of the electric passenger car. The elastic element can ensure the initial locking state of the power battery in the battery compartment without causing the power battery to accidentally drop and cause danger, so it can greatly ensure the safety of the power battery and the vehicle.

Specific work flow: As shown in Figure 7, when the locking mechanism does not receive any signal action, the elastic pin 16 automatically abuts with the limiter 14 through the elastic element 15, and the limiter 14 abuts against the connecting rod 4, and the connecting The rod 4 is in a locked state; and when the limiting member 14 is driven, that is, the limiting member 14 is pushed to rotate upward through the ejector rod unlocking device of the intelligent power-swapping robot in the power exchange station. As shown in FIG. 4 , after unlocking, the upper end of the limiter 14 is flush with the bracket 13, and the limit of the connecting rod 4 is released at this time, and the toggle plate 5 can be pushed to move by the intelligent power exchange robot in the power exchange station (shown in the figure as direction to the right) to unlock the connecting rod locking device. The connecting rod safety unit has a simple structure and good stability. After the actual use test (when the elastic element adopts a disc spring), the normal use frequency reaches more than 10,000 times, which saves the cost of use and has good reliability, which can ensure many years. Normal work, to ensure the safety of the vehicle.

As shown in FIG. 7 , a battery lock fixing unit T of the present application is used in the docking process of the intelligent power-swapping robot and the locking mechanism through the positioning cone pins arranged on the intelligent power-swapping robot in the power-swapping station. The positioning operation, wherein, one or more tapered positioning sleeves 17 are respectively set on the two side beams 11 of the main frame 1 (as shown in FIG. A tapered positioning sleeve 17, wherein a plurality of tapered positioning sleeves 17 are provided on each of the two side beams 11 of the main frame 1 is also applied in this application, because a tapered positioning sleeve 17 is provided on each of the two side beams 11 , the power battery and the locking mechanism can be positioned by two-point positioning. Of course, more than two points can also be positioned. Due to the physical contact between the positioning taper pin and the tapered positioning sleeve 17, normal wear will occur, and the main frame 1 A plurality of conical positioning sleeves 17 are arranged on the beams 11 on both sides, and the corresponding intelligent power exchange robot will also increase the number of positioning cone pins, resulting in high system complexity and high cost. A tapered positioning sleeve 17 is the best embodiment of the present application); the opening angle A of the tapered positioning sleeve 17 is greater than 35 degrees and less than 90 degrees (ie, the extension line of the generatrix of the cone of the tapered positioning sleeve 17 in FIG. 7 ) The formed cone angle A, shown with dashed lines in Figure 7), the set opening angle ensures that the conical locating taper pin can be inserted into the conical locating sleeve 17, and has a high adaptability, within the 20 mm tolerance range of the cone Shaped positioning taper pins can be smoothly inserted into the tapered positioning sleeve 17, which improves the success rate of positioning.

The specific work flow: realize the docking between the intelligent power exchange robot in the power exchange station and the locking mechanism through mechanical positioning, and a tapered positioning sleeve 17 is provided on each side beam 11 of the main frame 1 of the locking mechanism. The upper part of the intelligent power-changing robot has a positioning taper pin that corresponds to the shape of the conical positioning sleeve 17. Through the rise of the intelligent power-changing robot, the top of the positioning taper pin contacts the edge of the conical positioning sleeve 17 first, and then slowly passes through. The rising pushes the positioning taper pin into the tapered positioning sleeve 17, and automatically completes the positioning through the automatic straightening feature of the conical surface.

As shown in Figure 8, the intelligent battery swap positioning platform HD includes: a vehicle identification device P10, a gate P20, a correction positioning unit P30, a correction positioning unit chassis P40, a V-groove positioning unit P50, and a V-groove positioning unit chassis P60 and a blocking unit (the blocking unit includes a front blocker P701 and a rear blocker P7012), a correction positioning unit P30, and the correction positioning unit P30 is arranged on the correction positioning unit chassis P40, and is used for intelligent replacement according to the model parameter information of the electric passenger car. The electric positioning platform moves in the X direction and the Y direction, and moves to the preset positioning position; (wherein, after obtaining the model parameter information of the electric passenger car, before the vehicle enters the intelligent power exchange positioning platform, the intelligent exchange The electric positioning platform will adjust the X direction and the Y direction according to the model parameter information); the V-shaped groove positioning unit P50, the V-shaped groove positioning unit P50 is set on the V-shaped groove positioning unit chassis P60, which is used to adjust the positioning unit when correcting At the same time as the wheel position of the electric passenger car, the front wheel of the electric passenger car is controlled to move in the Y direction on the intelligent power exchange positioning platform according to the model parameter information of the electric passenger car. The preset positioning position (that is, the central axis of the chassis of the electric passenger car coincides with the central axis of the vehicle positioning platform according to the model parameter information); the blocking unit includes a front blocker and a rear blocker, and the blocking unit is used when the electric passenger car is driving. After entering the intelligent power exchange positioning platform, the front blocker prevents the front wheel of the electric passenger car from driving out of the intelligent power exchange positioning platform. When the electric bus moves to the preset positioning position, the rear blocker stops the front wheel of the electric bus Move backwards.

When the electric passenger vehicle moves to the preset positioning position, the front wheel position of the electric passenger vehicle moved to the preset positioning position is locked through two blockers, respectively from the front and the rear of the tires of the front wheels. (The front blocker and the rear blocker are respectively connected by two electric push rods, and each of the two electric push rods drives a blocker to act as a safety device for the vehicle during the power exchange process)

The front stopper P701 prevents the vehicle from driving out of the front wheel positioning V-groove of the V-groove positioning unit because the speed is too fast after entering the intelligent battery swap positioning platform; The reverse gear is used to reverse, which improves the safety of electric passenger cars when they are battery-swapped on the intelligent battery-swap positioning platform, ensures vehicle and personal safety, and improves user experience.

The correcting and positioning unit is provided with a guide portion, and the correcting and positioning unit is a platform-type structure. The straightening and positioning unit includes a plurality of V-shaped rollers and guide rails for correcting the movement of the positioning unit in the X direction, and the straightening and positioning unit includes a plurality of positioning rollers for moving the rear wheel of the electric passenger car in the Y direction.

The guide part of the correcting and positioning unit can be formed by bending a seamless stainless steel tube, and is two sets of bell-shaped guide rods, which are used to guide the driving direction of the electric passenger car, and the wheel of the electric passenger car hits the bell-shaped guide rod. After the rod, due to the rolling of the V-shaped rollers laid under each set of guide rods, the wheels will be automatically guided to limit the driving path of the car.

The correcting and positioning unit moves in the X direction through the X-direction servo electric push cylinder fixed on the base frame of the correcting and positioning unit. The X-direction servo electric push cylinder is connected with the correcting positioning unit and the V-groove positioning unit. The correction positioning unit moves in the X direction (that is, the correction positioning unit is close to the V-shaped groove positioning unit in the X direction or the correction positioning unit is away from the V-shaped groove positioning unit in the X direction), and the position of the correction positioning unit is adjusted according to the wheelbase size of the electric passenger car. . Among them, the correction positioning unit and the V-groove positioning unit can be moved in the X direction according to different vehicle parameters, and their maximum stroke can be 1000mm (in practice, according to various electric passenger car models, the maximum stroke can be set to 580mm, This not only meets the requirements of the wheelbase and vehicle length of various models, but also saves the physical size of the intelligent positioning platform and reduces the consumption of resources). The X-direction reference of the lifting system of the electric robot is the same.

The correcting and positioning unit moves in the Y direction, and is fixedly arranged on the base frame of the correcting and positioning unit. Correct the position of the positioning unit and move the electric passenger car to the preset positioning position.

The V-groove positioning unit moves in the Y direction through a Y-direction servo electric push cylinder fixed on the V-groove positioning unit chassis. The Y-direction servo electric push cylinder is connected to the correcting part of the V-groove positioning unit. The wheelbase of the electric passenger car model adjusts the position of the V-groove positioning unit, and moves the electric passenger car to the preset positioning position.

The V-groove positioning unit includes a plurality of V-shaped rollers and guide rails for correcting the movement of the positioning unit in the X direction. The V-groove positioning unit is provided with a V-groove guide. The V-groove positioning unit can limit the front and rear position of the front wheel of the vehicle. Similarly, the process of the guide part of the V-shaped groove and the correction positioning unit is similar.

The V-groove positioning unit is a platform structure. The V-shaped groove positioning unit includes a front wheel positioning V-shaped groove, and a plurality of groups of front wheel positioning rollers are arranged in the front wheel positioning V-shaped groove. The plane width of the front wheel positioning V-shaped groove can be 200mm to 620mm. The opening angle formed by the V-shaped groove of the V-groove can be 115 degrees to 138 degrees, which can be applied to the front tires of most electric passenger car models and meet the wheel limit of the front tires of most electric passenger car models; In the present invention, due to cost requirements and applicability requirements, it is preferable that the plane width of the front wheel positioning V-shaped groove can be 620 mm, the opening angle formed by the V-shaped of the front wheel positioning V-shaped groove can be 120 degrees, and the front wheel positioning V-shaped groove can be 120 degrees. There are several sets of front wheel positioning rollers in the V-shaped groove, and a position sensor is arranged at the lower part of the front wheel positioning roller to detect whether the front wheel of the vehicle reaches a predetermined position. The vehicle drives onto the intelligent positioning platform in the opposite direction of the X-axis. When the two front wheels enter the V-groove of the front wheel positioning, the tires are located on multiple sets of front wheel positioning rollers. The position sensor under the front wheel positioning rollers is based on the vehicle The parameter information determines whether the vehicle has reached a predetermined position. The tire of the vehicle parked on the front wheel alignment roller of the front wheel alignment V-groove determines the position of the wheel in the X direction and is not affected by the tire diameter to a certain extent. The position sensor provided at the lower part of the front wheel positioning roller may adopt pressure sensing or photoelectric sensing, which is not limited in the present invention, and the photoelectric sensing method has high sensitivity.

As shown in Figure 8, the electric passenger car passes through the vehicle identification device P10 by reading the license plate information of the electric passenger car, correcting the positioning unit P30 and the V-groove positioning unit P50, and will automatically adjust the electric passenger car according to the model parameter information. The X-direction and Y-direction positions on the battery-changing positioning platform ensure that the electric passenger car is in the preset positioning position after entering the intelligent battery-changing positioning platform (even if the central axis of the electric passenger car chassis coincides with the central axis of the vehicle positioning platform, the intelligent replacement Vehicle location where electrorobots can perform battery swaps). After the intelligent battery swap positioning platform is adjusted, the vehicle identification device will automatically open the gate. The straightening and positioning unit P30 moves through the cooperation of the V-shaped roller P301 and the guide rail P302. Specifically, the V-shaped roller is installed at the bottom of the correction and positioning unit P30, the guide rail is installed on the correction and positioning unit chassis P40, the platform of the correction and positioning unit is provided with a plurality of positioning rollers, and the servo electric push cylinder is fixed on the correction and positioning unit chassis P40. The servo electric push cylinder can automatically adjust the position of the correcting and positioning unit P30 according to the wheel base of the electric passenger car by being connected with the correcting and positioning unit.

The V-groove positioning unit P50 moves through the cooperation of V-shaped rollers and guide rails. Specifically, the V-shaped roller is installed at the bottom of the V-shaped groove positioning unit P50, the guide rail is installed on the V-shaped groove positioning unit chassis P60, and the servo electric push cylinder is fixed on the V-shaped groove positioning unit chassis P60. The V-groove positioning unit P50 is connected, and the position of the V-groove positioning unit P50 can be automatically adjusted according to the wheel base of the electric passenger car.

As shown in Figure 8, after the gate P20 is opened, the front stopper P701 of the V-groove positioning unit P50 will automatically open to prevent the vehicle from running out of the front wheel positioning V-groove of the V-groove positioning unit due to excessive speed. At this time, the vehicle drives into the intelligent power-swap positioning platform through the guide part of the alignment and positioning unit P30, and the front wheel of the vehicle drives into the V-shaped groove of the front wheel positioning of the V-shaped groove positioning unit P50 to complete the initial positioning of the vehicle, and the rear stopper P702 It will be automatically turned on to prevent the vehicle from going backwards without changing the battery.

In FIG. 9 , the translation bridge plate PB and the translation suspension bridge PD are respectively set on the left and right sides of the intelligent power exchange positioning platform HD (that is, including two left and right traffic structures, the left side is the translation bridge plate, and the right side is the translation suspension bridge). The translation bridge plate includes a translation bridge plate X-direction moving unit and a translation bridge plate Y-direction moving unit. The translation bridge plate X-direction moving unit is used to control the movement of the translation bridge plate in the X direction; the translation bridge plate Y-direction moving unit controls the translation bridge plate. Movement in the Y direction; the translational suspension bridge includes a translational suspension bridge X-direction mobile unit, a translational suspension bridge Y-direction mobile unit and a vertical Z-direction mobile unit; the translational suspension bridge X-direction mobile unit is used to control the translational suspension bridge in the X direction. The mobile unit is used to control the movement of the translation suspension bridge in the Y direction; the vertical Z direction mobile unit controls the movement of the translation suspension bridge in the Z direction.

The translational bridge plate PB and the translational suspension bridge PD of the present application are connected with the corrective positioning unit and the V-groove positioning unit of the intelligent power exchange positioning platform to provide a whole mobile platform that can smoothly pass vehicles.

The translation bridge plate is divided into upper and lower frames, including the translation bridge upper frame PB101 and the translation bridge lower frame PB104, which are pushed by the translation bridge plate Y-direction electric push cylinder PB105 (the translation bridge plate Y-direction electric push cylinder PB105 is a retractable structure) The whole frame translates on the guide rails, the lower part of the frame is connected to the guide rail rollers, the guide rail of the track is a bent steel plate, and the selection of the guide rail rollers can ensure that the entire translation bridge is pushed smoothly on the guide rails. The translation bridge plate telescopic frame PB102 on both sides passes the X-direction electric push cylinder PB103 of the translation bridge plate (the X-direction electric push cylinder PB103 of the translation bridge plate is a retractable structure, which can be used for the servo electric push cylinder and the servo electric push cylinder to ensure the smoothness and stability of the movement. Controllability) Control the corrective positioning unit and V-groove positioning unit on both sides of the stroke bridge.

The translation bridge plate includes a translation bridge plate X-direction moving unit and a translation bridge plate Y-direction moving unit, which are used to control the expansion and contraction of the translation bridge plate and the translation of the translation bridge plate telescopic frame.

The X-direction horizontal movement unit of the translation bridge plate, the X-direction electric push cylinder of the translation bridge plate is fixed in the middle part of the translation bridge plate, and the translation bridge plate telescopic frame is arranged on both sides, and the X-direction electric push cylinder of the translation bridge plate passes through with the translation bridge plate expansion frame. Connect, control the telescopic frame of the translation bridge plate to perform telescopic action, extend the X-direction space of the translation bridge plate, and connect with the correction positioning unit and the V-groove positioning platform in the power exchange positioning platform system on both sides.

The telescopic frame of the translation bridge plate moves as a whole with the frame of the translation bridge plate by sliding, inserting the X-direction electric push cylinder of the translation bridge plate in the middle, and the head is fixed with a nut. The main function of several short beams is to keep more contact area with the frame and make the sliding more stable. The long beam is nested in the fixed beam of the lower frame of the translation bridge plate, and a round hole is set in the long beam and a button is inserted to prevent the wear caused by the friction between the tubes, and can play a role of stabilizing the sliding position.

The Y-direction mobile unit of the translation bridge plate, the movement of the translation bridge plate Y-direction mobile unit in the Y direction is to translate the bridge plate Y-direction electric push cylinder on the track fixed on the lower end of the foundation (the translation bridge plate Y-direction electric push cylinder can be DC power The push cylinder, the DC electric push cylinder ensures the smoothness and controllability of the movement), pushes the connecting parts under the lower frame of the translation bridge plate, and the bottom-mounted rail roller pushes the limiter through the translation bridge plate Y to the electric push cylinder to control the initial movement of the movement. Distance and final distance; the guide rail of the track is a bent steel plate, and the selection of guide rollers can make the entire translation bridge move smoothly on the track.

The translation suspension bridge mainly includes three parts: the translation suspension bridge X-direction mobile unit, the translation suspension bridge Y-direction mobile unit and the vertical Z-direction mobile unit. The translational suspension bridge also includes a translational suspension bridge telescopic frame for connecting two ends and a push-and-extension system for avoiding the power-changing robot. The mobile unit of the translation suspension bridge can be realized by electric push cylinder, which can realize stable and fast lifting and pushing.

The translation suspension bridge is divided into left and right column structures, including the left suspension bridge column PD201 and the right suspension bridge column PD202. The column extends out of two side beams to grab the carriage PD203 of the entire translation suspension bridge. The carriage PD203 passes the translation suspension bridge Y-direction electric cylinder PD208 (The Y-direction electric push cylinder PD208 of the translation suspension bridge is a retractable structure, and the Y-direction electric push cylinder of the translation suspension bridge can adopt a DC electric push cylinder, which ensures the smoothness and controllability of the movement) to drive the Y-direction expansion and contraction to play a connecting role. The movement process is mainly connected with gears on both sides of the gear linkage shaft PD205, and moves under the control of the rack and pinion system PD206. The main advantage of this movement method is that it can reduce frictional resistance and prevent the carriage PD203 from being on the side of the longitudinal beam. The physical damage caused by friction can greatly extend the service life of the translation suspension bridge. Both sides of the translation suspension bridge telescopic frame PD204, through the translation suspension bridge X-direction electric push cylinder PD207 (the translation suspension bridge X-direction electric push cylinder PD207 is a retractable structure, the translation suspension bridge X-direction electric push cylinder PD207 adopts a servo electric push cylinder, and the servo electric push cylinder guarantees The smoothness and controllability of the movement) control the corrective positioning unit and the V-groove positioning unit on both sides of the stroke bridge.

In the vertical direction on both sides, the transmission mechanism of the lifting column of the column (PD201 or PD202) is shown. The outer column LZ601 is nested with the inner column LZ602, and there are several inner column splicing strips LZ6022 on the inner column LZ602, which can reduce the frictional resistance of the inner and outer columns. The setting of the inner column splicing strip LZ6022 can provide more for the internal structure. protection of. Push the inner column to lift inside the outer column through the column electric push cylinder LZ603.

In the column transmission mechanism of the rack motion system, the gear LZ605 moves on the rack LZ604, and the gear is connected to the gear connecting shaft. The combination of the gear and the rack can reduce frictional resistance, and the most important thing is to ensure that the movements on both sides remain relative. balance. Among them, the Y-inward roller LZ606 is a structural device that can protect the carriage to maintain stability during the Y-direction expansion and contraction and reduce frictional resistance, which can effectively prevent the carriage from being unbalanced on both sides after stretching And pry.

The X-direction mobile unit of the translational suspension bridge, the X-direction electric push cylinder of the translational suspension bridge is fixed at the middle end of the sliding frame, and the translational suspension bridge telescopic frame is arranged on both sides. Carry out the telescopic action to extend the X-direction space of the translation suspension bridge, and connect with the correction positioning unit and the V-groove positioning platform in the power exchange positioning platform system on both sides.

The telescopic frame of the translation suspension bridge PD204 mainly moves in a sliding manner with the whole frame. The X-direction electric push cylinder of the translation suspension bridge is inserted in the middle, and the head is fixed by bolts. The telescopic frame of the translation suspension bridge also includes: multiple short beams and multiple long beams. The main function of several short beams is to keep more contact area with the frame and make the sliding more stable. The short beam is used to maintain more contact area when it is in contact with the frame of the carriage, the long beam is nested in the fixed beam of the frame of the carriage, the round hole is set in the long beam and the button is inserted to avoid the tube and the tube. Wear caused by friction, and can play a role in stabilizing the sliding position.

The carriage of the translation suspension bridge moves in the Y direction through gears and racks, and is pushed by the Y direction electric push cylinder of the translation suspension bridge to move in the Y direction. On the fixed beam at the bottom, in order to maintain the balance of the carriage, gears are installed on both sides of a long shaft, which is called a gear linkage shaft, and then the gears are pushed on the racks on both sides through the gears.

The Y-direction mobile unit of the translation suspension bridge is fixed on a mounting beam under the left suspension bridge column and the right suspension bridge column through the Y-direction electric push cylinder of the translation suspension bridge. The carriage passes through a long axis in the middle part, and the two ends of the long axis are respectively Two gears, the whole of the long shaft is fixed on the bearing seat, and the side beams of the columns on both sides are provided with racks, which are equivalent to the guide rails of the gears. In this way, the friction is reduced, and the track can be moved smoothly.

The vertical Z-direction mobile unit is pushed up by the vertical Z-direction electric push cylinder (the vertical Z-direction electric push cylinder can adopt the DC electric push cylinder, which ensures the smoothness and controllability of the movement). The external part is fixed on the foundation, and the internal column is lifted by the vertical Z-direction electric push cylinder to make the entire translation suspension bridge move up or down. The vertical Z-direction mobile unit can move upward in the z-direction, which can free up space for the intelligent power-swap robot carrying the power battery to pass through, reducing the depth of the initial foundation pit of the power-swapping station (the original foundation pit is 1.8 meters). , the construction difficulty is too high), the depth of the digging hole is now 55cm, which reduces the construction difficulty, reduces the construction cost of the power station, and facilitates the large-scale commercial promotion of electric passenger cars.

As shown in Figure 10, the battery pre-storage rack Y10, the grabbing mechanism Z10 and the lifting mechanism H10, the battery pre-storage rack Y10, the grabbing mechanism Z10 and the lifting mechanism H10 constitute the power battery intelligent pre-storage system, which is realized by using two DC motor electric push cylinders. , through a servo motor electric push cylinder to adjust the claw distance of the lifting claw to adapt to different specifications of batteries, after the lifting claw lowers, grabs the depleted battery of the intelligent power exchange robot, and lifts the depleted battery to a preset height, the intelligent The battery swapping robot removes the fully charged battery that has been placed on the battery pre-storage rack by the battery intelligent dispatching system. The whole process takes about 30 seconds, which can greatly shorten the entire battery swapping time by 60 seconds compared to the current waiting for the battery intelligent dispatching system. The battery pre-storage rack Y10 is used to preset the equipment of the depleted battery/full-charged battery, so that the intelligent battery swap robot or the battery intelligent dispatching system can take out or place the power battery 20 from the battery pre-storage rack; the grabbing mechanism Z10 is used according to the The size of the power battery placed on the battery pre-storage rack, adjust the grasping distance, and grasp the power battery placed on the battery pre-storage rack. The lifting mechanism H10 is used to lift the power battery grasped by the grasping mechanism to a preset height h, or lower the power battery grasped by the grasping mechanism to the preset height h and place it on the battery pre-storage rack.

The battery pre-storage rack includes support parts on both sides, the support parts on both sides form a bracket structure, and the support parts on both sides of the lifting part are respectively in contact with the bottom surface of the power battery placed on the battery pre-storage rack, the battery pre-storage The frame is set as a support structure of a metal structure (the support parts on both sides can be set as separate structures, which can save the material cost of the support structure; of course, it can also be set in the form of a bracket on the support part. This is not limited; the battery pre-storage rack can be set as a steel structure support structure, the steel structure has a low cost, is more convenient to manufacture, and facilitates the large-scale commercial application of the battery swap mode; other metal structures can also be used, such as: aluminum or copper and other metal structures , which is not limited in this application). The battery pre-storage rack is used to preset equipment with depleted batteries/fully charged batteries (as a transfer station for depleted batteries/fully charged batteries), and can charge power batteries; intelligent battery swap robots or intelligent battery scheduling systems are both The power battery can be removed or placed in the battery pre-storage rack.

The lifting mechanism H10 includes a bracket H101, two lifting power units H102, two lifting guide rails H103, a guide wheel assembly H104 and a frame H105, wherein the two lifting power units are respectively fixed on the two sides of the bracket. On the lifting guide rail, the two sides of the bracket are respectively connected with a lifting power unit. The two lifting power units push the bracket to move up and down. The guide wheel assemblies installed at the four corners of the bracket make the bracket move up and down along the lifting guide rail. (The guide wheel assemblies installed at the four corners of the bracket make the bracket move up and down along the square tube on the lifting guide rail) to realize the switching operation between the pre-storage position and the lifting pre-storage position of the depleted battery.

Among them, the guide wheel assembly (each guide wheel of the guide wheel assembly can be set as a bearing, the bearing structure design is simple, the cost is greatly reduced, and it is convenient for the large-scale commercial application of the power exchange mode) to control the bracket in the X direction and the Y direction. The freedom of movement enables the carriage to rise and fall smoothly without turning over.

Lifting guide rails, one on the left and one on the left and one on the gantry-shaped rack, each piece is made of vertical guide rails composed of 2 square tubes. There are 4 vertical guide rails on the left and right lifting guide rails, which correspond to the guide wheels at the four corners of the bracket respectively, forming a complete Up and down lifting mechanism. The vertical guide rail in the lifting guide rail adopts square tube, and the gap between each guide wheel in the guide wheel assembly and the corresponding vertical guide rail in the X direction and the Y direction can be adjusted. On the premise of ensuring the use function, the manufacturing and installation accuracy is greatly reduced.

The rack is set in the shape of a gantry. The rack is connected to the bracket through 4 vertical lifting rails. The 4 lifting rails are respectively arranged on the inner side of the rack support column. The battery storage rack and the bracket are arranged inside the rack. , the bracket, the battery storage rack and the rack form a whole, wherein the bracket is in the upper space inside the rack; the battery storage rack is in the lower space inside the rack,

The grasping mechanism Z10 includes a hanging claw Z101, a hanging claw arm Z102 and a claw distance adjustment unit Z103. The linear motion of the claw distance adjustment power unit Z104 (which can be an electric push cylinder) drives the connecting rod Z105 to drive the two inner hanging claw arms. The arm is equipped with a rack, and through the intermediate bridge gear Z106, the linear motion of the electric push cylinder is synchronously transmitted to the racks on the two outer claw arms to drive the outer claw arms to perform linear motion. The claw arm moves along the straight line formed by the base plate Z107, the guide wheel H104 and the positioning block Z108. The claw and the claw arm are connected into one body. The claw moves linearly with the claw arm and the electric push cylinder. of change.

The grabbing mechanism is fixed on the bracket to form a whole piece. The lifting movement is realized by two DC motor electric push cylinders. The guide wheels installed at the four corners of the bracket make the whole piece move up and down along the square tube on the lifting guide rail. . The gripping mechanism of the present application can automatically adjust the claw distance of the front and rear hanging claws according to the command of the automatic control of the system, can adapt to the lifting and pre-stored of various power batteries of electric passenger cars of various models, and is infinitely adjustable, and the positioning is accurate and reliable.

Claw distance adjustment unit: A single claw distance adjustment power unit drives the transmission mechanism through the connecting rod, the whole hanging claw (the whole hanging claw and the hanging claw arm form the whole hanging claw) and the intermediate bridge gear, so as to realize the adjustment of 2 hanging claws at the front and the rear. The claw distance of the parts can be adjusted steplessly to meet the requirements of various power battery widths.

The hanging claw Z101 and the hanging claw arm Z102 form the whole hanging claw, with 2 pieces at the front and the rear respectively. A rack Z109 is fixed on the hanging claw arm Z102; the positioning block and the guide wheel limit the movement of the whole hanging claw in the X and Z directions. Degree of freedom, the whole hanging claw moves linearly along the Y direction with the electric push rod to realize the function of adjusting the claw distance. The present application can be applied to the power batteries of electric passenger cars of different models through the claw distance adjustment unit, which is more convenient for the large-scale commercial promotion and application of the electric passenger car.

The intelligent power-changing robot can disassemble and install the power battery through functions such as fine-tuning the unlocking device, lifting the unlocking device, and driving in a straight line. The electric actions are all controlled by servo programming, which can automatically coordinate and complete the operation of replacing the power battery of the electric passenger car.

As shown in FIG. 11 , the intelligent power-swapping robot J includes an unlocking device 600 , a pan-tilt 200 , a return device 300 , a lifting system 400 and a mobile conveying platform 500 . The unlocking device 600 is provided on the pan-tilt 200 , and the pan-tilt 200 is provided on On the lifting system 400, the lifting system 400 is set on the mobile conveying platform 500, the return device 300 includes a return taper pin 3001 and corresponding two return taper holes 3002, and the return taper holes are fixedly arranged at the bottom of the pan/tilt 200 , the return taper pin is fixedly arranged on the mobile conveying platform 500 of the intelligent power-changing robot. As shown in FIG. 12, the unlocking device 600 is the core device for performing the power-changing action (the unlocking device can be adjusted according to different types of power batteries. Adjust the position of the corresponding shift fork to ensure the successful removal and installation of the power battery), the unlocking device 600 is arranged on the top layer of the intelligent power exchange robot, and is used to remove and install the vehicle-mounted power battery, including an unlocking base plate, a positioning unit 100, two dials Fork part, one width adjustment transmission part and 2 fork drive parts, the two fork parts are arranged oppositely on both sides of the unlocking base plate, the width adjustment transmission part is set in the middle of the unlocking base plate, and the two fork parts are connected by the width adjustment transmission part , the two fork driving parts are respectively connected to the two fork parts, wherein, the positioning unit 100 may include two groups of retractable conical pins, which are relatively fixedly arranged on both sides of the unlocking bottom plate;

The positioning unit 100 is used for the positioning of the intelligent power-swapping robot and the locking mechanism installed at the bottom of the electric passenger car; The positions of one or more conical positioning sleeves are respectively set on the pan/tilt 200, and the number of conical pins is the same as that of the conical positioning sleeves.

As shown in FIGS. 11 and 12 , the positioning unit 100 may include two sets of retractable conical pins, which are respectively fixed on the unlocking device 600 of the intelligent power-swap robot; wherein, the conical tips of the positioning taper pins 1001 face upward, corresponding to The corresponding two battery locks on the locking mechanism of the electric passenger car are to fix the conical positioning sleeve in the positioning unit 100, and the angle of the cone angle of the conical tip of the positioning cone pin 1001 should be adapted to the opening angle of the conical positioning sleeve The number of tapered pins is not less than 2 groups, which is determined according to the number of tapered positioning sleeves 17 provided on the beams 11 on both sides of the main frame 1, which is not limited in this application; A tapered positioning sleeve 17 is provided on each of the two side beams 11 of the main frame 1. Of course, more than two points can also be positioned. Due to the physical contact between the positioning tapered pin 1001 and the tapered positioning sleeve 17, normal wear will occur. A plurality of tapered positioning sleeves 17 are provided on the beams 11 on both sides of the main frame 1, and the number of positioning tapered pins 1001 will be correspondingly increased, resulting in high complexity and high cost of the intelligent power exchange robot. Each of the beams 11 is provided with a conical positioning sleeve 17. According to the positions of the two conical positioning sleeves 17 at the bottom of the vehicle, two sets of retractable conical pins are adopted, which are respectively fixed on the unlocking device 600 of the intelligent power exchange robot. Best practice.

The tapered pin may include a positioning tapered pin 1001, an intermediate sleeve 1002, a positioning tapered pin base 1003 and a return spring 1004. The tapered tip of the positioning tapered pin 1001 faces upward, and the angle of the cone angle of the tapered tip of the positioning tapered pin 1001 is the same as that of the positioning tapered pin 1001. The opening angle of the tapered positioning sleeve is adapted; wherein, the positioning tapered pin 1001 can perform vertical reciprocating linear movement in the positioning pin base; the tapered pin is set as a three-stage retractable tapered pin; the intermediate sleeve includes a plurality of cylinders, A plurality of cylinders are evenly arranged around the positioning taper pin 1001, the cylinder is set on the positioning taper pin base through a return spring, the positioning taper pin 1001 is set on the positioning taper pin base, and the number of cylinders in the intermediate sleeve is the same as the return spring. The number of positioning springs is the same; the middle sleeve is used for the guiding operation of the tapered pin. When the positioning tapered pin 1001 is inserted into the tapered positioning sleeve at the bottom of the electric passenger car, the end face of the middle sleeve is in contact with the main frame, which is determined by the compression degree of the return spring. The positioning taper pin 1001 reaches the preset positioning position.

The intermediate sleeve can include 2 cylinders, 3 cylinders (the intermediate sleeve includes 3 cylinders) or 4 cylinders, etc. The multiple cylinders are evenly arranged around the positioning taper pin 1001. When the positioning taper pin 1001 is inserted After the conical positioning sleeve at the bottom of the electric passenger car, when the end faces of multiple intermediate sleeves are in contact with the main frame, the pressure generated by the end face of each intermediate sleeve in contact with the main frame will compress the return spring, and the positioning The position where the taper pin 1001 is inserted into the conical positioning sleeve is more accurate, which ensures the accuracy of the fork group of the unlocking device entering the locking mechanism, and improves the stability; a plurality of cylinders are evenly arranged around the positioning taper pin 1001, which can ensure compression When returning the spring, the pressure generated by the contact between the end face of each intermediate sleeve and the main frame is relatively balanced. In the actual test, it is the best embodiment of the application to set three or four cylinders.

One or more conical positioning sleeves are arranged in one or more battery lock fixing position units T on the locking mechanism of the electric passenger car; wherein, the locking mechanism is used for coupling with the power battery and includes a rectangular structure The main body frame 11 is used to fix the main body frame on the bottom of electric passenger cars of different models according to the bottom structure of vehicles with different wheelbases/different wheelbases, at the corresponding installation positions set at the bottom of each vehicle; The battery lock fixing unit T of the locking mechanism is used for the positioning operation during the docking process with the positioning unit 100. The opening angle of the tapered positioning sleeve 17 is greater than or equal to 35 degrees and less than or equal to 90 degrees; the cone of the positioning taper pin 1001 The range of the cone angle of the tip is greater than 35 degrees and less than 90 degrees. After actual testing, the opening angle A of the tapered positioning sleeve 17 and the angle of the cone angle of the conical tip of the positioning tapered pin 1001 are set to ensure that the tapered tip of the positioning tapered pin 1001 can be inserted into the tapered positioning sleeve 17, and there are With high adaptability, the conical tip of the positioning taper pin 1001 can be smoothly inserted into the tapered positioning sleeve 17 within the tolerance range of 20 mm, which improves the success rate of positioning.

The fork part is used to unlock the power battery and the connecting rod locking device at the bottom of the electric passenger car, to complete the operation of separating the power battery from the vehicle body, or to connect the power battery to power on;

As shown in FIG. 11 and FIG. 12 , each fork part may include: an unlocking fork 610 and a battery inserting and removing fork 611, the unlocking fork, the connecting rod for pushing the locking mechanism at the bottom of the electric passenger car, After the locking sector gear of the locking mechanism is rotated, the power battery and the locking mechanism at the bottom of the vehicle are unlocked;

The battery insertion and removal fork is used to push the power battery on a horizontal plane. The battery insertion and removal forks arranged on both sides of the unlocking base plate simultaneously push the guide blocks arranged on both sides of the power battery to move linearly in the horizontal direction to complete the separation of the power battery. The vehicle body or the power battery is plugged in and powered on.

As shown in Figure 12, the width adjustment transmission part is used to adjust the two fork parts in the width direction of the power battery according to the width of the power battery: it is set to a gear-double rack structure (that is, the two racks are respectively and A gear coupling method), the reducer is driven by the motor, the gear is driven to rotate, the gear drives the racks on both sides, and the racks are connected to the fork parts on both sides for adjustment, so as to complete the two fork parts in the width direction of the power battery. Up adjustment operation (that is, adjustment in the Y direction, which can be adjusted according to the size of different power battery widths, the two fork parts are moved separately at the same time, and the distance between the two fork parts is enlarged; or two fork parts are The two parts move close together at the same time, reducing the distance between the two fork parts); the gear-dual rack structure is adopted, the adjustment distance is accurate, and the structure is relatively simple and has good adaptability.

Each fork drive part drives the unlocking fork and the battery insertion and removal fork to move, and the electric push cylinder directly pushes the connecting plate to drive each fork to move (that is, move in the X direction). The electric push cylinder has a compact structure and uses servo Programming control can realize intelligent unlocking and plugging and unplugging of the power battery in a small space.

As shown in FIG. 12 , the pan/tilt head 200 is used to perform a fine adjustment operation on the position of the unlocking device 600, so that the unlocking device 600 can be moved along the X direction, the Y direction and the Z direction (moving along the Z axis direction is performed by lifting the The lift 400 moves synchronously with the pan/tilt 200, that is, the lift system 400 drives the pan/tilt 200 and the unlocking device 600 to move up or down in the Z direction) to ensure that the unlocking device 600 reaches the position and state for the smooth removal and installation of the power battery.

As shown in FIG. 11 and FIG. 12 , the pan/tilt 200 is fixed on the bracket 4001 of the lift 400 of the intelligent power-swap robot, and the pan/tilt 200 is moved up and down in the Z direction by the lift 400 . The positioning unit 100 is arranged on the unlocking device 600 of the intelligent power-swap robot, the positioning unit 100 is fixedly arranged on the unlocking device 600 through the positioning taper pin base, and the unlocking device 600 is fixedly arranged on the pan/tilt 200; The lift 400 and the pan/tilt 200 move synchronously, that is, the lift 400 drives the pan/tilt 200 and the unlocking device 600 to move upward along the Z direction, while the pan/tilt 200 moves freely in the plane formed by the X and Y directions, so that the positioning unit 100 After inserting the tapered locating sleeve at the bottom of the electric passenger car. The gimbal 200 can support the unlocking device 600, and has degrees of freedom in various horizontal directions within a preset motion range, so that the unlocking device 600 and the positioning unit 100 can move freely in all horizontal directions (that is, the plane formed by the X direction and the Y direction can move freely. )

The pan/tilt 200 is used to move the positioning unit 100 in the plane formed by the X direction and the Y direction within the preset movement range, and can move up and down in the Z direction at the same time; That is, after the electric passenger car drives into the vehicle positioning platform of the swap station, the vehicle positioning platform completes the vehicle positioning for the electric passenger car on the vehicle positioning platform), and the pan/tilt 200 moves upward along the Z direction, and forms in the X direction and the Y direction. After the positioning unit 100 is inserted into the conical positioning sleeve at the bottom of the electric passenger car, the positioning unit 100 is driven to move by the automatic centering of the cone, and the position error generated in the process of replacing the power battery is compensated. The positioning unit and the conical positioning sleeve at the bottom of the electric passenger car reach a preset joint position, and the positioning before the electric passenger car is replaced is completed. (When the electric passenger car vehicle itself has manufacturing tolerances, or the vehicle axis is not parallel to the platform axis when the vehicle is parked on the platform, or even the vehicle has been impacted and the vehicle itself is deformed, etc. The positioning cone pin 1001 in 100 is inserted into the mechanical positioning mode of the tapered positioning sleeve at the bottom of the electric passenger car to adjust the mechanical positioning method, so that the unlocking device 600 installed on the pan/tilt 200 can adapt to the power exchange state of the electric passenger car for power exchange to the greatest extent. It can better enable the intelligent power exchange robot to successfully disassemble and install the power battery of the electric passenger car. After the actual test, the time for replacing the power battery of the electric passenger car is controlled within 3 minutes, the work is stable and reliable, the power exchange efficiency is high, and the The demand for high-frequency and stable power exchange of the power exchange station, and the low requirements for the positioning environment, are suitable for various power exchange environments, and at the same time reduce the equipment cost of the power exchange station, which is convenient for the large-scale commercial promotion of electric passenger cars).

The pan/tilt head 200 moves upward along the Z direction, so that the top of the conical tip of the positioning taper pin 1001 contacts the edge of the tapered positioning sleeve first, and then pushes the conical tip of the positioning taper pin 1001 into the tapered positioning sleeve by slowly rising. The positioning unit 100 is driven to move by the automatic centering of the cone, and after the position error generated in the process of replacing the power battery is compensated, the positioning unit and the tapered positioning sleeve at the bottom of the electric passenger car reach the preset engagement position, and the vehicle is completed. Positioning before battery replacement.

As shown in FIG. 12 , the pan/tilt head 200 includes an upper top plate 2001, a lower bottom plate 2002, a universal bearing 2003, a prestressed cylindrical spring 2004 and a pan/tilt limiting sleeve 2005, wherein the upper top plate and the lower bottom plate are connected by a prestressed cylindrical spring , the universal bearing is fixed on the lower bottom plate; the gimbal limit sleeve is fixed on the upper top plate, and the gimbal limit sleeve is used to limit the movement range of the gimbal 200 within the preset movement range. As shown in FIG. 11 , the intelligent power-swap robot lifts the unlocking device 600 to insert the positioning unit 100 fixed on the unlocking device 600 into the conical positioning sleeve in the battery lock fixing and positioning unit 100 of the locking mechanism, and the cone is automatically centered by the method The unlocking device 600 is driven to move to complete the compensation of the position error during the battery replacement process, so as to realize the accurate positioning of the intelligent battery-changing robot before battery-changing the electric passenger car.

The upper top plate of the gimbal 200 includes a two-layer structure, and the two-layer structure from top to bottom is: a moving frame along the X direction and a moving frame along the Y direction; wherein, the moving frame along the Y direction is provided with a Y direction electric The push cylinder pushes the multi-directional intelligent moving system to move along the Y direction; the moving frame along the X direction is provided with an X-direction electric push cylinder to push the multi-directional intelligent moving system along the X direction. The movement in each direction is independently completed by each electric push cylinder, which has a compact structure and can be controlled intelligently.

The returning device 300 is used to return the unlocking device 600 to the initial setting position after the positional deviation of the unlocking device 600 during the power exchange process. The returning device 300 includes two groups of three-stage retractable return taper pins. 3001 and the corresponding two return taper holes 3002, the return taper pin is fixed on the mobile conveying platform 500 of the power-swap robot, the taper head of the return taper pin faces upward, and the return taper hole is fixed on the bottom of the pan/tilt 200 , the tapered hole of the tapered hole faces down. After the unlocking device 600 falls back to the preset height, the return taper pin is inserted into the return taper hole to drive the unlocking device 600 back to the initial setting state through automatic cone positioning.

The angle of the cone angle of the conical head of the return taper pin is adapted to the opening angle of the return taper hole, and the opening angle of the return taper hole is greater than or equal to 35 degrees and less than or equal to 90 degrees; The range of the angle is greater than 35 degrees and less than 90 degrees, and the angle of the cone angle of the conical head of the return taper pin is smaller than the opening angle of the return taper hole. After the actual test, the angle of the opening angle of the return taper hole and the cone angle of the taper head of the return taper pin set above ensure that the taper head of the return taper pin can be inserted into the return taper hole, and has a higher Adaptability, the tapered head of the return taper pin can be smoothly inserted into the return taper hole within the tolerance range of 20 mm, which improves the success rate of the unlocking device 600 returning to the initial setting position.

The lifting system 400 is fixed on the mobile conveying platform 500, and the unlocking device 600 is lifted and lowered to the height of disassembling and assembling the power battery by means of double-sided synchronous lifting; wherein, it includes two single-side lifts 400A, a lifting transmission part and a lifting device. Lifting the tray part, the two unilateral lifts achieve synchronous lifting through the same transmission mechanism (lifting transmission part) (this application uses a lifting transmission part for driving, which reduces the complexity of the equipment, reduces the cost, and at the same time can The synchronous movement of the two single-side lifts is ensured, and the stability of the lifting system is improved), which is used for lifting and lowering the unlocking device 600 . Note: The structure that the above lifting system lifts on both sides reduces the overall height of the lifting system by about 40cm, which reduces the depth of the pit dug during the construction of the power station. Now the depth of the pit is less than 60cm, which greatly reduces the Reduced the construction difficulty (the depth of the excavation pit for the power station was originally 1.8 meters, and the construction difficulty was too high)

Single-side lift 400A: single-stage hinge plate lifting structure, the bottom plate is fixed on the mobile conveying platform 500, the top plate is connected with the supporting plate, and the left-handed ball screw and the right-handed ball screw are driven to drive the respective nuts to move toward each other or relative to each other. , change the angle between the hinge plate groups to realize the lifting and lowering of the single-side lift, so that the unlocking device 600 on the pallet can be lifted and lowered; The upper and lower ends of each hinge plate are equipped with rollers 400A6, the upper roller is in contact with the track on the top plate, the lower roller is in contact with the track on the bottom plate, the lower roller is connected with the screw nut 400A7, and the intermediate transmission is left-handed ball screw 400A4 and right Rotating the ball screw 400A5 transmission, by driving the left and right ball screws to drive the respective nuts to move towards each other or relative to each other, so as to realize the lifting and lowering of the lift on one side.

The degree of freedom limit mode of the top plate: the movement limit in the X direction and the movement limit in the Y direction are through "gear-two racks" (that is, the two racks are respectively coupled with a gear, using a gear-double rack structure. , the adjustment distance is accurate, the structure is relatively simple, and has good adaptability), the gear is fixed on the top plate, and the two racks are respectively connected to the upper roller shafts of the hinge plates on both sides. When the hinge plates shrink or open, the rack The gear is always meshed to rotate, and the top plate is moved in the X and Y directions by the length of the rack; the Z-direction movement limit is realized by the limit groove connected by the top plate "sleeping" the rack connection seat.

Lifting transmission part 400B: The motor drives the reducer, drives the double output shaft commutator through the connecting shaft, and divides the transmission in two ways, and then transmits the power to the corresponding single-sided lift through the respective one-way output shaft commutator. Ball screw; (The ingenious structural design of the lifting transmission part in this application, by using one lifting transmission part for driving, reduces the complexity of the equipment, reduces the cost, and at the same time can ensure the synchronization of two unilateral lifts movement, which improves the stability of the lifting system). The lifting tray part 400C includes two Z-shaped trays and brackets 4001 respectively arranged on the left and right sides, wherein the upper ends of the left and right Z-shaped trays are respectively connected to the top plate of the unilateral lift, and the lower ends jointly hold the brackets 4001 forms a concave pallet (a pan/tilt 200 with an unlocking device 600 is set on the concave pallet), and the "Z-shaped" pallet is made of manganese steel, which improves the overall rigidity and strength of the intelligent power exchange robot.

The mobile conveying platform 500 is used to make the whole intelligent power-swapping robot J run horizontally and straightly, and convey the power battery to the designated position. It is the carrier of the lifting system 400 and other accessories (the other accessories refer to the pan/tilt 200 with the unlocking device 600 ), through the synchronous pulley box 5001 and the linear synchronous belt traction movement, the reciprocation between the pre-storage rack and the electric passenger car is realized Conveying power batteries; the mobile conveying platform 500 is pulled by a bar-shaped synchronous belt, which has a simple structure, reduces the cost, and improves the stability and applicability of the mobile conveying platform.

As shown in FIG. 13 , a battery intelligent dispatching system ZD for electric passenger cars of different models of the present application can dispatch power batteries between the battery storage rack CC101 and the pre-storage rack (or the intelligent power exchange robot), or it can be Transfer the extracted battery to be charged to the battery storage rack CC101, or transport the fully charged battery on the battery storage rack to the intelligent power exchange robot J; including: track, gantry ZD101 and cargo platform ZD102, wherein the cargo platform ZD102 is set on the gantry frame ZD101. The gantry frame ZD101 is the main frame that provides the cargo platform ZD102 for lifting and lowering motion, and can perform linear reciprocating motion on the track; the cargo platform ZD102 is used to load power batteries, and the cargo platform ZD102 is on the Including the two-way telescopic fork ZD103, the two-way telescopic fork ZD103 is used to push the power battery to move forward and backward; the chain drive between the gantry ZD101 and the loading platform ZD102 controls the loading platform to load the power battery for lifting.

The gantry ZD101 includes an upper beam ZD1011, a lower beam ZD1012, a left column ZD1013 and a right column ZD1014, and the upper beam, the lower beam, the left column and the right column form a vertical frame structure; wherein, the upper beam ZD1011 includes the main body of the upper beam , Front and rear anti-collision block ZD1015, guide wheel group ZD1016 and wire seat; among which the guide wheel group ZD1016 clamps the sky rail TG to keep the upper beam of the gantry frame erect;

The lower beam ZD1012 includes the main body of the lower beam, the driving wheel system ZD1017, the driven wheel system, the front and rear anti-collision blocks ZD1018 and the lower roller group. The gantry drives the orthogonal axis reducer through the driving servo motor to drive the rollers in the lower roller group on the track. Straight line one-way travel, the lower roller group clamps the rail to keep the gantry travel in a straight line one-way;

The left column and the right column each include a column body. The column body includes a power transmission system for lifting the cargo platform and a Z-direction track to ensure smooth lifting. The lifting action of the cargo platform drives the worm gear reducer ZD1020 through the lifting servo motor ZD1019. , drive the sprocket to pull the cargo platform up and down, and the guide wheel group of the cargo platform itself clamps the guide rails on the column in the length and width directions. Through the lifting transmission structure of the cargo platform and the guide wheel group of the cargo platform itself, the guide rails on the column are always clamped in the length direction and the width direction, thereby ensuring the stable and reliable lifting and lowering of the cargo platform.

The cargo platform ZD102 is used to load power batteries, including the cargo platform frame ZD1021, the two-way telescopic fork ZD103 and the guide wheel group ZD1022 of the cargo platform; the cargo platform is connected by a chain drive, which can realize the lifting action in the frame of the gantry , When the cargo platform is raised and lowered, the guide wheel group of the cargo platform always holds the column in the length and width directions; the two-way telescopic forks can push the battery forward and backward, so as to push the battery to the battery storage rack and the pre-storage rack. exact location.

The worm gear reducer is provided with a self-locking action to stop the cargo platform at any height in the set stroke. Through the self-locking action set by the worm gear reducer, the cargo platform can be safely stopped at any height. The linear reciprocating motion of the gantry on the track, the lifting motion of the cargo platform, and the forward and backward motion of the two-way telescopic fork pushing the power battery are all controlled by the coding servo, which is combined with the positioning bar code. Ensure the precision of the action. Controlled by coded servo, combined with positioning barcode, it is more miniaturized, compact, intelligent and precise than the traditional stacking mechanical method. The travel servo motor and the lift servo motor are servo motors provided with a holding brake mode, and remain in a stopped state under a power-off condition. The servo motor is provided with a brake, which improves the safety of the power battery mounted on the loading platform on the gantry. The gantry is provided with a travel switch at a limited position. When the travel of the gantry goes out of control and exceeds the limited position, the travel switch is triggered, and the battery intelligent dispatching system performs power-off operation. Through the travel switch, the safety of the entire system can be protected, and the safety of the power battery mounted on the loading platform on the gantry is improved at the same time. The front and rear anti-collision blocks of the upper beam and the front and rear anti-collision blocks of the lower beam are polyurethane anti-collision blocks. Polyurethane bumpers can reduce the impact of the out-of-control gantry interception and reduce damage to the system. A buffer rubber pad is arranged on the lower beam directly below the cargo platform. When the cargo platform falls accidentally, the downward momentum of the cargo platform is reduced by the buffer rubber pad. Reduce accident damage.

The cargo platform ZD102 also includes: two pairs of through-beam photoelectric sensors ZD1023, two pairs of through-beam photoelectric sensors are arranged diagonally up and down; when the two-way telescopic fork ZD103 pushes the power battery 20 to move forward, through the opposite The photoelectric sensor judges whether the two-way telescopic fork has reached the preset positioning position; or when the two-way telescopic fork pushes the power battery to move backward, the through-beam type photoelectric sensor judges whether the two-way telescopic fork successfully leaves the preset positioning position. Among them, the two pairs of through-beam photoelectric sensors and the upper and lower diagonal arrangement ensure that the battery is stretched in place and is always in a safe state during the transfer process. The front end of the cargo platform ZD102 is provided with a diffuse reflection photoelectric sensor ZD1024, and the diffuse reflection photoelectric sensor is used to identify whether a power battery is placed in the storage position of the power battery 20 of the battery storage rack. This can intelligently identify whether there is a power battery, improve the sensitivity of the system, avoid useless actions, and improve the efficiency of the system.

In Figures 14 and 15, the battery storage rack CC101 and the battery charging device CC102, the battery storage rack CC101 is used to store the power batteries 20 of electric passenger cars of different models; the battery charging device CC102 is arranged on the battery storage rack CC101 and is used for The power battery is quickly charged, and the current status of each power battery is monitored and displayed in real time. The current status of the power battery includes: the battery to be charged, the battery being charged, the fully charged battery and the faulty battery.

The battery storage rack includes a frame for placing power batteries, the frame is a multi-layer structure, and a plurality of power battery storage positions are arranged on the frame, and each layer of the frame structure is formed by connecting a plurality of longitudinal beams and a plurality of transverse beams; The control center locks the power battery on the frame, and after receiving the information of taking a power battery, unlocks the power battery alone, so that the power battery is only placed on the frame, and controls the power battery to be removed from the frame. The frame is welded by profiles, and the size of the profile is 40mm×40mm. After actual measurement, the size of the profile is set to 40mm×40mm, which improves the strength of the frame.

It also includes: the locking of the power battery on the frame is to lock the power battery on the frame through the electromagnetic suction method of the electromagnetic suction cup. The power battery is fixed on the frame by the electromagnetic suction method of the electromagnetic chuck. The advantage of using the electromagnetic suction method to fix the power battery is that it is not limited to a specific form of power battery fixation. When taking a power battery, it can be unlocked separately, and then removed by the battery intelligent dispatching system.

It also includes: when the power battery is moved out of the frame, the power battery is moved out of the frame through a plurality of rollers and roller drive devices arranged on the frame, and the left and right sides of the roller are driven by sprockets. The drive motors on the left and right sides of the wheel drive a set of sprockets to make the roller rotate and move the power battery on the roller accordingly.

The battery charging device CC102 also includes a power battery plug-in unit CC1021. The power battery plug-in unit is used for plugging the power battery placed in the power battery storage position. The power battery plug-in unit makes the power socket in the front-rear direction of the vehicle. After adjusting the movement in the vertical direction to the ground, connect it with the power battery that needs to be charged. The power battery plug-in unit also includes a sensor, which determines that the power socket is moved and adjusted to match the power battery interface, and then inserts the guide column into the guide column hole of the power battery to complete the positioning of the power socket and the power battery. (By combining the sensor with the guide column, the positioning of the power socket and the power battery can be accurately completed, which improves the positioning efficiency and reduces the physical wear when the guide column is inserted into the guide column hole of the power battery)

The power battery plug-in unit also includes an electric push rod; the power battery plug-in unit makes the power socket move in the front-rear direction of the vehicle and in the vertical direction to the ground, and then connects with the power battery that needs to be charged, which refers to: power battery plug-in The unit is connected to the power battery that needs to be charged after the power socket is moved along the front and rear direction of the vehicle and perpendicular to the ground through the electric push rod.

As shown in Figure 14, the battery charging device CC102 also includes a charger CC1022 and a charging control cabinet CC1023 that are connected to each other. The charger is used to quickly charge the power battery; the charging control cabinet is used to control the rapid charging of the power battery. And after monitoring the state of the power battery, the corresponding alarm and power-off operations are performed.

Claims (10)

1. a dual-station power exchange station of a shared intelligent fast power exchange of a multi-model electric passenger car, is characterized in that, It includes a control center, a battery storage rack, a battery charging device, and 2 battery swapping stations. Each of the 2 battery swapping stations is equipped with an identical multi-model smart battery swapping device, wherein the multi-model smart battery swapping device is used to The power battery of various models of electric passenger cars of the locking mechanism is operated for power exchange; the control center is used for the overall process of power exchange of two electric passenger cars of the same model/different models that need to be exchanged at the same time in two power exchange stations. Control; the exchange station room is set up in a double-station symmetrical layout, using a structural method of steel structure skeleton-insulation wall panel assembly and a semi-excavated reinforced concrete foundation; The locking mechanism can couple the power battery with the vehicle chassis, and includes a main frame with a rectangular structure. Corresponding installation positions, the main body frame is fixedly installed on the bottom of electric passenger cars of different models, and two sets of connecting rod locking devices are symmetrically arranged on the inner walls of the two side beams of the main body frame; the connecting rod locking devices include a plurality of connecting rod locking devices. The locking assembly includes a locking block, a connecting rod, a toggle plate, a connecting rod safety unit fixed on the inner wall of the beam, and a locking sector gear matched with the locking block, wherein the locking The sector gear is embedded in the locking block and can be rotated. The toggle plate is arranged under the connecting rod with a T-shaped structure. The connecting rod is connected with the locking block, and the locking is completed through the movement of the connecting rod within the set range. The locking/unlocking operation of the mechanism and the power battery; the connecting rod safety unit includes a bracket, a limiter, an elastic element and an elastic pin, the bracket is fixed on the inner wall of the beam, and the elastic element is inserted into the elastic pin and inserted into the bracket, the elastic pin abuts against the limiter through the elastic element, and the limiter locks the elastic pin through the elastic element, and the limit locks the connecting rod; The intelligent battery-swapping equipment for a number of models includes: an intelligent battery-swap positioning platform, a translational bridge plate, a translational suspension bridge, a battery pre-storage rack, a grabbing mechanism, a lifting mechanism, an intelligent battery-swapping robot, and an intelligent battery dispatching system; The suspension bridges are respectively arranged on the left and right sides of the intelligent power exchange positioning platform; among them, The intelligent power exchange positioning platform is used to locate the electric passenger car on the intelligent power exchange positioning platform according to the model parameter information of the electric passenger car; the translation bridge plate and the translation suspension bridge are used to connect with the intelligent power exchange positioning platform, providing a A mobile platform for smooth passage of battery-swapping vehicles; the battery pre-storage rack, the grabbing mechanism and the lifting mechanism form a whole, which is used to grab the depleted battery of the intelligent battery-swapping robot and lift the depleted battery to a preset height. The intelligent battery swap robot is used to remove the fully charged battery that has been placed on the battery pre-storage rack by the intelligent battery dispatching system; the intelligent battery swap robot is used to remove the depleted battery from the chassis of the electric passenger car and install the fully charged battery on the electric passenger car The battery intelligent dispatching system is used to transport power batteries; the battery storage rack is used to store the power batteries of different models of electric passenger cars; the battery charging device is used to charge the power batteries. 2. The dual-station power exchange station according to claim 1, characterized in that, The intelligent power exchange positioning platform includes: a correction positioning unit, used for moving in the X direction and the Y direction on the intelligent power exchange positioning platform according to the model parameter information of the electric passenger car, and moving to a preset positioning position; The V-groove positioning unit includes a front-wheel positioning V-groove. The V-groove positioning unit is used to control the front wheel of the electric passenger car in the intelligent position according to the model parameters of the electric passenger car while the correcting and positioning unit adjusts the wheel position of the electric passenger car. The movement in the Y direction on the power-changing positioning platform moves the front wheel positioning V-groove to the preset positioning position at the same time as the correcting positioning unit; and The blocking unit includes a front blocker and a rear blocker. The blocking unit is used to prevent the front wheel of the electric passenger car from driving out of the intelligent power-changing positioning platform through the front blocker when the electric passenger car enters the intelligent power-changing positioning platform. After the passenger car moves to the preset positioning position, the front wheel of the electric passenger car is prevented from moving backward by the rear blocker. The blocking unit further includes two electric push rods, and the front blocker and the rear blocker pass through two The electric push rods are connected, and each of the two electric push rods drives a blocker to move; among them, the X direction refers to the direction opposite to the direction in which the vehicle keeps running straight on the horizontal ground as the axis direction, and the Y direction refers to the plane of the vehicle chassis. The axis direction perpendicular to the X direction. 3. The dual-station power exchange station according to claim 2, characterized in that, It also includes: the translation bridge plate is divided into upper and lower frames, including the translation bridge upper frame and the translation bridge plate lower frame, and the translation suspension bridge is arranged as a left and right column structure, including a left suspension bridge column and a right suspension bridge column, wherein, The translation bridge plate includes a translation bridge plate X-direction moving unit and a translation bridge plate Y-direction moving unit. The translation bridge plate X-direction moving unit is used to control the movement of the translation bridge plate in the X direction; the translation bridge plate Y-direction moving unit is used to control the translation. The movement of the bridge plate in the Y direction; The translational suspension bridge includes a translational suspension bridge X-direction mobile unit, a translational suspension bridge Y-direction mobile unit and a vertical Z-direction mobile unit; the translational suspension bridge X-direction mobile unit is used to control the movement of the translational suspension bridge in the X direction; the translational suspension bridge Y-direction mobile unit is used to control the translation The movement of the suspension bridge in the Y direction; the vertical Z movement unit is used to control the movement of the translation suspension bridge in the Z direction. 4. The dual-station power exchange station according to claim 3, characterized in that, The intelligent power-swapping robot includes: an unlocking device, a pan-tilt, a lifting system and a mobile conveying platform, wherein the lifting system is set on the mobile transporting platform, the unlocking device is used to remove and install the power battery, and the unlocking device is set on the pan-tilt. The PTZ is set on the lifting system; the lifting system is set on the mobile conveying platform, wherein, The unlocking device includes an unlocking base plate, a positioning unit and two fork parts, and the two fork parts are oppositely arranged on both sides of the unlocking base plate; wherein, the positioning unit includes two groups of telescopic conical pins, two groups of telescopic conical pins According to the positions of the corresponding two conical positioning sleeves in the locking mechanism at the bottom of the electric passenger car, they are relatively fixedly arranged on both sides of the unlocking bottom plate; the conical pin includes a positioning taper pin, and the conical tip of the positioning taper pin faces upwards and is positioned The angle of the conical angle of the conical tip of the conical pin is adapted to the opening angle of the conical positioning sleeve; the shifting fork is used to unlock the power battery and the locking mechanism at the bottom of the electric passenger car, so that the power battery can be disengaged. The operation of the vehicle body or the operation of plugging in the power battery; The gimbal is used to make the positioning unit move freely in the plane formed by the X direction and the Y direction within the preset motion range after the electric passenger car enters the power exchange station to complete the vehicle positioning, and moves up and down in the Z direction at the same time, so that the positioning unit can move up and down in the Z direction. After the unit is inserted into the conical positioning sleeve at the bottom of the electric passenger car, it drives the positioning unit to move through the automatic centering of the cone, compensates for the position error during the process of replacing the power battery, and completes the positioning operation before the electric passenger car is replaced; The lifting system is used to lift and lower the unlocking device; The mobile conveying platform is used to make the whole intelligent battery-swapping robot run horizontally and straightly, and convey the power battery to the designated position. 5. The dual-station power exchange station according to claim 4, characterized in that, It also includes: the two conical positioning sleeves are arranged in the corresponding two battery lock fixing position units on the locking mechanism of the electric passenger car; the battery lock fixing position units of the locking mechanism are used for During the positioning operation during the docking process with the positioning unit, the opening angle of the conical positioning sleeve is greater than or equal to 35 degrees and less than or equal to 90 degrees; the range of the cone angle of the conical tip of the positioning taper pin is greater than or equal to 35 degrees and less than or equal to 90 degrees. 90 degrees, the angle of the cone angle of the conical tip of the positioning cone pin is smaller than the opening angle of the cone positioning sleeve. 6. The dual-station power exchange station according to claim 5, characterized in that, It also includes: each group of tapered pins further includes an intermediate sleeve, a positioning tapered pin base and a return spring, wherein the positioning tapered pin can perform vertical reciprocating linear movement in the positioning pin base; the tapered pin is set to be three-stage telescopic The middle sleeve includes a plurality of cylinders, the plurality of cylinders are evenly arranged around the positioning cone pin, the cylinder is set on the positioning cone pin base through a return spring, and the positioning cone pin is set on the positioning cone pin base , the number of cylinders of the intermediate sleeve is the same as the number of return springs; the intermediate sleeve is used for the guiding operation of the tapered pin, when the positioning taper pin is inserted into the conical positioning sleeve at the bottom of the electric passenger car, the end face of the intermediate sleeve is in contact with the main body frame , determine that the positioning taper pin reaches the preset positioning position by the compression degree of the return spring; Each of the fork parts includes: an unlocking fork and a battery plugging and unplugging fork, wherein, The unlocking fork is used to push the connecting rod of the locking mechanism at the bottom of the electric passenger car, so that after the locking sector gear of the locking mechanism is rotated, the power battery and the locking mechanism at the bottom of the electric passenger car are unlocked; The battery insertion and removal fork is used to push the power battery on a horizontal plane. The battery insertion and removal forks arranged on both sides of the unlocking base plate simultaneously push the guide blocks arranged on both sides of the power battery to move linearly in the horizontal direction to complete the separation of the power battery. The vehicle body or the power battery is plugged in and powered on. 7. The dual-station power exchange station according to claim 6, characterized in that, The battery intelligent dispatching system includes a gantry and a cargo platform, wherein the cargo platform is arranged on the gantry, and the gantry provides a main frame for the cargo platform to move up and down, and can perform a linear reciprocating motion on a track; The cargo platform is used to load the power battery, and the cargo platform includes a two-way telescopic fork, which is used to push the power battery to move forward and backward; the chain drive is used between the gantry and the cargo platform to control the load. The cargo platform is loaded with power batteries for lifting and lowering. 8. The dual-station power exchange station according to claim 7, characterized in that, The battery pre-storage rack is used to pre-set the equipment of the depleted battery/full-charged battery, so that the intelligent battery swap robot or the battery intelligent dispatch system can take out or place the power battery from the battery pre-storage rack; The grabbing mechanism is used to adjust the grabbing distance according to the size of the power battery placed on the battery pre-storage rack, and grasp the power battery placed on the battery pre-storage rack. The lifting mechanism is used for lifting the power battery grasped by the grasping mechanism to a preset height, or lowering the power battery grasped by the grasping mechanism lifted to the preset height and placing it on the battery pre-storage rack. 9. The dual-station power exchange station according to claim 8, characterized in that, It also includes: the battery storage rack, including a frame for placing the power battery, wherein the frame is a multi-layer structure, a plurality of power battery storage positions are arranged on the frame, and each layer of the frame structure is composed of a plurality of longitudinal beams and Multiple beams are connected to form; the battery intelligent storage and charging system locks the power battery on the frame, and after receiving the information of taking a power battery, it unlocks the power battery separately, so that the power battery is only placed on the frame and controls remove the power battery from the frame; The battery charging device is arranged on the battery storage rack, used for fast charging the power battery, and monitoring and displaying the current state of each power battery in real time, wherein the current state of the power battery includes: battery to be charged, battery being charged, fully charged battery battery and faulty batteries. 10. The dual-station power exchange station according to claim 9, characterized in that, It also includes: the power battery is a plate-shaped cube, and the end faces of the left and right sides of the plate-shaped cube are provided with a plurality of positioning pins of the power battery, and the shape of the positioning pins is a cylindrical shape; In the locking assembly, the locking block is a non-closed hollow structure, and the shape of the hollow structure of the locking block matches the shape of the cylinder of the positioning pin. In the locked state, the positioning pin is locked in the locking block; The hollow structure of the locking block is a hollow structure with a stepped circular groove, the bottom of the locking block is provided with a trumpet-shaped notch that communicates with the circular groove, and the rotation center hole of the locking sector gear is connected to the outside. Connected to form a U-shaped slot hole, a meshing channel between the rack plate and the locking sector gear is arranged above the locking block, and the locking sector gear is embedded in the locking block through the rack plate and can be rotated; the horn-shaped The notch is set as the position where the positioning pin on the power battery extends, and is used to guide the positioning pin on the side of the power battery.

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