WO2015120753A1

WO2015120753A1 - Electric vehicle battery pack replacement system consisting of computers, internet, multiple robots

Info

Publication number: WO2015120753A1
Application number: PCT/CN2015/000238
Authority: WO
Inventors: 韩磊
Original assignee: 韩磊
Priority date: 2014-02-12
Filing date: 2015-04-07
Publication date: 2015-08-20
Also published as: CN104828028A; CN104828028B

Abstract

An electric vehicle battery pack replacement system. The hardware of said system consists of computers, a first palletizing robot (608), a second palletizing robot (609), a ferry robot (199), a four-post lift (22), a ferry robot track (198), a first conveyance line (607), and a second conveyance line (610). Connection between said hardware and an electric vehicle onboard device is achieved by means of various forms of computer-based supervisory control software, wired/wireless internet, and a 3G/4G wireless network, creating a man-machine dialogue system that utilizes supervisory control center computers to control, command, and guide electric vehicle battery replacement. The system is quick, safe, and prevents drivers unskilled at operating battery replacement systems from causing an accident by replacing a battery incorrectly. The system is well-designed, structurally simple, low in cost, and occupies little space.

Description

Electric car battery pack replacement system composed of multiple computers

Technical field

The invention relates to the field of automobile manufacturing, in particular to a computer, a plurality of computer monitoring software, a wired internet/wireless internet, a palletizing robot, a ferry robot, a conveying line, a lifting machine, and a computer internet and a car 3G. After the /4G wireless network is connected, the remote control program of the monitoring computer is divided into 15 steps to complete the system for replacing the battery pack of the electric vehicle.

Background technique

A pure electric vehicle is a vehicle that uses a single battery as a power source for storing energy. It supplies electric energy to the motor through the battery to drive the motor to run, thereby propelling the car forward. From the appearance point of view, there is no difference between electric vehicles and cars that are commonly found in Japan. The difference lies mainly in the power source and its drive system. That is, the electric motor of a pure electric vehicle is equivalent to the engine of a conventional automobile, and the battery is equivalent to the original fuel tank.

It does not emit harmful gases that pollute the atmosphere. Even if it is converted into power plant emissions according to the electricity consumption, other pollutants are significantly reduced in addition to sulfur and particulates. Because most of the power plants are built away from densely populated cities, human damage is caused. less. Since electricity can be obtained from a variety of sources, such as coal, nuclear power, and water power, it can also alleviate concerns about the depletion of oil resources. Electric vehicles can also make full use of the surplus power charging in the evening power grid, so that power generation equipment can be fully utilized day and night to improve its economic efficiency.

The lag of battery technology and charging technology has become a bottleneck restricting the development of the electric vehicle industry. Governments and enterprises have made great efforts to improve the basic service industry for electric vehicles. At present, electric vehicle energy supply mainly has two modes of charging and changing power. Charging requires a longer charging time, large current charging has a greater impact on battery life, and it is easy to generate harmonic pollution to the distribution network. This mode has major drawbacks. Compared with this, the power-changing operation is simple, and the professional industrial robot can realize the rapid and efficient replenishment of electric energy. Although electric vehicles have very good application prospects as green transportation vehicles, it is not easy to truly realize the socialization of electric vehicles. In addition, how to ensure the safe operation of the charging service network, provide intelligent and efficient charging and replacing services, realize the fast and orderly charging of electric vehicles and controllable and reasonable scheduling, which is also a problem that needs to be solved. The operation of an electric car can also be completed in three parts, that is, the vehicle manufacturer, the battery manufacturing enterprise and the electric vehicle replacement battery station operator work together. Many electric vehicle manufacturers at home and abroad are eagerly looking forward to the construction of electric vehicle replacement battery stations, because electric vehicle replacement battery stations are an essential accessory for electric vehicles. From a technical point of view, many car companies can now produce pure electric vehicles, but how to make batteries last longer, longer life, smaller size, while reducing the cost of consumers' purchase, this is the biggest challenge for enterprises. . As a new type of transportation, electric vehicles can keep up with the supporting facilities? Can consumers' habits adapt to it? It takes time to resolve. In the existing electric vehicles, defects such as inability to automatically replace the battery are urgently needed to be improved. Therefore, it is necessary to provide a complete set of economical and stable electric vehicle battery replacement systems and replacement methods to achieve fast, safe and accurate energy supply for electric vehicles, meet the daily driving needs of electric vehicles, and promote the commercialization and industrialization of electric vehicles.

Summary of the invention

In order to overcome the shortcomings of the existing plug-in mode electric vehicle, the present invention provides an electric vehicle battery pack replacement system using a computer, a plurality of computer monitoring software, a wired internet/wireless internet, a palletizing robot, a ferry robot The transportation line and the lifting machine are composed of the computer Internet and the 3G/4G wireless network. After the monitoring computer, the remote control program uses 15 remote steps to complete the replacement of the electric vehicle battery pack replacement system.

The technical solution adopted by the present invention to solve the technical problem is that the electric vehicle (200) vehicle-mounted device comprises a main control module, a CAN bus communication module, a 3G/4G wireless communication module, a GPS data receiving processing module and a user interaction module; the CAN bus The communication module is bidirectionally connected to the main control module through the SPI bus, and the 3G/4G wireless communication module, the GPS data receiving processing module and the user interaction module are bidirectionally connected to the main control module through a serial port.

The main control module includes a main controller and an Android/Windows embedded operating system; the LCD screen is connected to the main control board through a liquid crystal jack for human-computer interaction display; and the embedded operating system provides access to the framework application program interface. A driver module and a TCP/IP protocol stack are provided; the main controller includes an ARM Cortex-A8 series 32/64-bit microprocessor, a ROM clock, a RAM clock, and a reset circuit that are connected to the main control board via pins.

The CAN bus communication module includes a CAN bus physical interface, a data processing and storage unit, a CAN bus transceiver, a CAN bus controller, and an external crystal; the CAN bus physical interface is attached to the electric vehicle CAN bus, and the CAN bus transceiver Connected to the CAN bus controller via CAN_H and CAN_L, the CAN bus controller is connected to the main control board via an SPI interface; the data processing and storage unit processes the measured values and includes measurements on the device Centralized storage of real-time and historical data for values, status quantities, and alarm events. The CAN bus physical interface collects the operating state and battery information of the electric vehicle in real time, and the operating state includes running speed and running mileage, and the battery information includes vehicle charging/discharging voltage, vehicle charging/discharging current, battery SOC, and battery module. Temperature, maximum voltage of single cell, minimum voltage of single cell. The 3G/4G wireless communication module includes a 3G/4G communication chip, a real-time data interaction module and a real-time data timing module; the 3G/4G communication chip is connected to the main control board through pins, and the real-time data interaction module monitors The center forwards the running status and battery information of the electric vehicle, and receives the monitoring center to deliver the service information including the charging/changing station site information, the electricity price information and the news; the timing unit receives the synchronous clock timing instruction issued by the monitoring center, In order to ensure the consistency of the device time in the area. The GPS data receiving and processing module provides navigation services and monitors the operating network; The navigation service includes destination retrieval, route inspection, simulated navigation and real navigation. The real-time display of the power station in the operation area, the distributed charging pile distribution position and the electric vehicle operation status monitoring operation network are displayed through the map, and the display includes the electric vehicle geographic location and the electric vehicle. Status information for speed and remaining battery capacity.

Schematic diagram of the hardware deployment of the monitoring system of the electric vehicle replacement system, the monitoring workstation of the power distribution monitoring system, the server, the printer, the communication system communication management machine, and the power information collection terminal are connected to the network switch of the charging monitoring system through the local industrial Ethernet, The network switch of the electric monitoring system is connected to the communication gateway of the superior system through the local industrial Ethernet, and the communication system of the power distribution system is connected to the power distribution system and the communication gateway of the upper system through other communication links such as the 3G/4G wireless network, and the power is used. The information collection terminal is connected to the metering system and the communication gateway of the upper system through other communication links such as the 3G/4G wireless network; the intelligent communication terminal of the electric vehicle battery replacement monitoring system is connected to the network switch of the charging monitoring system through the local industrial Ethernet. The electric vehicle battery replacement system includes a first palletizing robot (608), a second palletizing robot (609) ferry robot (199), a four-column lifting machine (22), a ferry robot walking rail (198), and a first conveying. Line (607) and second conveyor line (610), controlled by a monitoring center computer Command, the electric vehicle to guide each step of replacing the battery. The video server of the video surveillance system is connected to the communication gateway of the superior system via the local industrial Ethernet. The data server can store the historical data of the monitoring system, and the front server can collect and parse the relevant real-time data and forward it to other computers. The security monitoring workstation is used for monitoring and control of the video surveillance system. The communication gateway enables conversion between the CAN bus and the local industrial Ethernet. The network switch has 24 ports, which can be divided into VLANs (Virtual Local Area Network) to implement communication between various subsystems. After the electric vehicle on-board device in Figure 1 is connected to the electric vehicle substation monitoring system hardware via Industrial Ethernet or other network, the electric vehicle to be charged is contacted with the monitoring workstation (03) through the 3G/4G network to find the nearest distance. After changing the battery station, after the battery exchange station is reached, the driver of the car drives the electric vehicle to change the battery station and replaces the battery system with the four-column lift (21). The driver in the electric vehicle cab starts on the LCD screen of the electric vehicle on-board device. The remote monitoring and changing battery mode is controlled by the computer. At this time, the monitoring station (03) transfers the battery changing process of the car to the monitoring station (01) or the monitoring station (02) through the network, and the monitoring station (01) or the monitoring station (02) Complete the entire process of replacing the battery with the vehicle until the vehicle leaves the four-post lift (22). The computer network of the monitoring station (01) monitoring station (02) and monitoring station (03) is connected via a telecommunication network or Industrial Ethernet.

The electric vehicle replacement station monitoring system includes a superior system, a power distribution monitoring system, a battery replacement monitoring system, and a video monitoring system. The power distribution monitoring system and the superior system pass local industrial Ethernet and GPRS/CDMA (General Packet Radio Service, universal Packet Radio Access; Code Division Multiple Access, other communication link communication such as wireless network, communication between power distribution monitoring system and battery replacement monitoring system, video surveillance system and superior system through local industrial Ethernet Communication. The power distribution monitoring system and the battery replacement monitoring system are built on a unified software platform, and the subsystem computer equipment is shared. Considering the network security protection and the public security department's access requirements for the video surveillance system, the video surveillance system is independently set up and communicates through the superior system. The gateway interacts with the charging monitoring system and the power distribution monitoring system.

The electric vehicle replacement station monitoring system is divided into a measurement acquisition module, a signal acquisition module, a control output module, and an information management module. The measurement acquisition module, the signal acquisition module, and the control output module are connected to the information management module through the local industrial Ethernet, and the information management module passes Other communication links such as 3G/4G/CDMA wireless network are connected to the computer monitoring platform of the superior system; wherein the measurement and acquisition module includes a monitoring workstation (01) and a front server, and the signal acquisition module includes a monitoring workstation (02), a data server, and a power supply. The information collection terminal and the measurement system include a printer and a power distribution system, and the signal management module includes a network switch, a power distribution system communication management machine, a monitoring workstation (01), a monitoring workstation (02), a front server, and a data server. Printer, network switch, distribution system communication management machine and power information collection terminal through local industrial Ethernet communication, distribution system communication management machine and distribution system and communication gateway of superior system, electricity information collection terminal and measurement System and the communication of the superior system Other communication link communication 3G / 4G / CDMA gateway between a wireless network, etc. have passed. The measurement acquisition module, the signal acquisition module, and the control output module belong to a parallel relationship, wherein the measurement acquisition module collects the secondary current transformer signal and the secondary voltage transformer signal, and the signal acquisition module collects the remote signal, the switch signal, the protection signal, and the alarm signal. a series of semaphores such as accident signals and status signals. The two types of signals are transmitted to the information management module through the CAN bus. After the information management module interacts with the higher-level system to realize the information, the higher-level system issues control commands to the information management module, and then passes through the CAN bus. Transfer to the control output module action.

The battery replacement station monitoring system includes an intelligent communication terminal and an electric vehicle battery replacement system; the intelligent communication terminal and the electric vehicle battery replacement system are connected by a CAN bus, and the electric vehicle battery replacement system includes a first palletizing robot (608), a second Palletizing robot (609) ferry robot (199), four-column lift (22), first conveyor line (607) and second conveyor line (610); first palletizing robot (608), second palletizing robot (609) The ferry robot (199), the four-column lift (22), the first conveyor line (607) and the second conveyor line (610) are connected by a local industrial Ethernet, and the intelligent communication terminal is integrated with scheduling software, scheduling The software and the intelligent communication terminal are connected by a digital communication link. The scheduling software issues control commands to the first palletizing robot (608), the second palletizing robot (609), the first conveying line (607) and the second conveying line (610) through the intelligent communication terminal; the first palletizing robot ( 608), the second palletizing robot (609), the first conveying line (607), the second conveying line (610), and the four-column lifting machine (22) have a PLC (Programmable Logic Controller) program built therein. The entire replacement process of the first battery pack box (817) or the second battery box (823) of the electric vehicle can be controlled, and after the internal analysis, the first battery pack box (817) or the second battery of the electric vehicle is removed from the station 2B. The box (823) is placed on the ferry robot (199), and then transported by the ferry robot (199); at the same time, the first palletizing robot (608), the second palletizing robot (609), the first conveying line (607), Second conveyor line (610) and four-column lift (22) position, fault signal, module charger operating status, temperature, fault signal, power, voltage, current, battery pack temperature, SOC, terminal voltage, current, battery Signals such as connection status and battery failure are uploaded to the dispatching software through the intelligent communication terminal.

Electric vehicle battery replacement station monitoring system video monitoring system includes security monitoring workstation, ball machine, video server; ball machine and video server are connected through CAN bus and video signal line, video server and security monitoring workstation and communication system of superior system Connected via local industrial Ethernet. The ball machine can collect and replace the video of the power station and the perimeter security, upload the video information to the video server through the CAN bus and the video signal line, and the video server is responsible for uploading the signal to the security monitoring workstation and the superior system, and the superior system and the security monitoring workstation have Alarm, control, image management, timing and other functions, including alarm categories including burglar alarm, illegal intrusion and screen change alarm, access control alarm, temperature and humidity alarm, image equipment fault alarm, etc., before alarm (at least 15 seconds), alarm After (at least 5 minutes) video storage, long-term automatic loop recording storage can be set for monitoring points in important areas. At the same time, the communication management machine can obtain the relevant alarm information of the power distribution system monitoring and charging facilities, etc., to complete the video linkage monitoring, and cooperate with the intelligent equipment of the electric vehicle charging and replacing power station monitoring area to realize the anti-theft and fire prevention functions, the equipment, Sites, lounges, duty rooms, business windows, etc. are monitored.

It consists of a first column (13), a second column (18), a third column (19), a fourth column (20), a cantilever beam (16), a beam (17), and a running board (15). The four-column lift (22) of the running board (15) is provided with an opening (23) on the beam between the first column (13) and the second column (18) to facilitate the ferry robot (199) to enter the four-column Inside the lift (22), a beam (17) is disposed between the third column (19) and the fourth column (20), the first column (13), the second column (18), the third column (19), and The fourth column (20) is mounted on the moving frame (7) and moves up and down with the moving frame (7) to raise the running plate (15) to a suitable position, the upper inclined plate (21) and the running plate. (15) Connected to the electric car (200) for the electric car (200) up and down the four-column lift (22) (15).

There are four or more rolling wheels symmetrically at the bottom of the lift frame (1). Each lift column consists of a fixed frame (1), a power unit (2), a hydraulic cylinder (3), and a lifting chain. (4) The detecting plate (5), the detecting switch (6), the moving frame (7), the sprocket seat (11) and the sprocket (12) are connected. The strip (1) of the fixing frame (1) is fixedly connected with a strip detecting plate (5), the detecting plate (5) is provided with a plurality of notches, and a detecting switch (6) is arranged at the bottom of the upper end of the moving frame (7). The switch (6) is matched with the detecting board (5). When the detecting board (5) is within the detection range of the detecting switch (6), the detecting switch (6) can output a signal. The detecting plate (5) is provided with a notch, and when the detecting switch (6) detects the notch, the detecting switch (6) does not output a signal, and thus reciprocates. The signal generated by the detection switch (6) of each lift column is connected to the controller (8) through the data line and calculated, and the data calculated by the controller (8) is connected to the display panel (9) through the data line. . The upper end of the movable frame (7) is provided with a sprocket seat (11) and a sprocket (12), the sprocket (12) is provided with a lifting chain (4), and one end of the lifting chain (4) is connected to the moving frame (7), and the other Connect the holder (1) to one end. One end of the hydraulic cylinder (3) is connected to the base of the fixing frame (1), and the other end is connected to the sprocket seat (11). When the hydraulic cylinder (3) moves up and down, the sprocket (12) on the sprocket seat (11) is rotated, and the hoisting chain (4) is operated, and the moving frame (7) is simultaneously lifted and lowered, and the detecting plate (5) And the detection switch (6) works and generates an electrical signal.

Part of the hardware of the electric vehicle battery replacement system consists of a ferry robot walking rail (198), a ferry robot (199), a four-column lift (22), a background monitoring system (407), a first conveyor line (607), and a second conveyor line. (610), a first palletizing robot (608) and a second palletizing robot (609); the electric vehicle (200) chassis is provided with a first battery pack case (817) and a second battery case (823).

The ferry robot (199) includes degrees of freedom in three directions of the X-axis, the Z-axis, and the R-axis, and is a linear traveling mechanism (201), a hydraulic lifting mechanism 202, and an angle correcting mechanism (203). The linear running mechanism (201) is located at the bottom of the quick change robot (199), and includes a pulley (301), a universal joint (204), a belt (302), a first servo motor (303), and a first reducer (304). And the base (305) and other parts; the front two pulleys are robotic power units, connected with a set of universal joints, the rear two pulleys are driven devices; the first servo motor (303) and the matching The first reducer (304) is connected by the expansion sleeve, and the power transmission of the first reducer (304) and the pulley (301) is realized by the belt, and the drive pulley (301) travels straight on the slide rail. At the lower end of the linear running mechanism (301), three photoelectric switches are arranged, which are sequentially matched with the original blocking piece and the front and rear limit plates to provide the PLC control system (401) in-position switch signal, realize the robot origin search and reset, and eliminate the cross-border The front limit flap, the origin stop and the rear limit flap are arranged along the laid linear slides, and the origin stop is located in the middle of the front and rear limit flaps. The hydraulic lifting and lifting mechanism (202) is located at an upper portion of the base of the linear traveling mechanism (201) and includes two hydraulic telescopic cylinders; the first hydraulic cylinder (306) is located at a lower portion of the secondary hydraulic cylinder (307), and the first hydraulic cylinder ( 306) After fully extending, the secondary hydraulic cylinder (307) performs telescopic movement; the first and second hydraulic cylinders are respectively welded with beams and arranged with anti-rotation beams, and the anti-rotation beams are welded with the welding beams and bases of the first-stage hydraulic cylinders. The two anti-rotation holes on the beam cooperate to prevent the battery from rotating during the lifting process of the hydraulic mechanism (202); the other side of the first and second hydraulic cylinders are respectively provided with a rack (205), an encoder (206), and a block. a sheet and a first proximity switch; the blocking piece is matched with the proximity switch, the first proximity switch is disposed at the bottom end of the welding beam of the first stage hydraulic cylinder, and when the first stage hydraulic cylinder (306) is fully extended, the blocking piece triggers the switch of the proximity switch The signal, the secondary hydraulic cylinder (307) starts the telescopic movement; the rack (205) on the side of the secondary hydraulic cylinder (307) is meshed with the encoder (206) through the gear, and the encoder (206) is obtained by calculating the number of revolutions. The hydraulic cylinder (307) rises in height; the encoder (206) is connected to the PLC control system (401), P The LC control system 401) starts high speed counting. The angle correcting mechanism (203) is located at the upper end of the hydraulic lifting mechanism (202), and includes a mounting flange (308), a large and small gear (309), a second servo motor (310), and a second speed reducer (311). . A mounting flange (308) is mounted on the secondary hydraulic cylinder (307), and the second servo motor (310), the second reduction gear (311), and the large and small gears (309) are sequentially disposed on the mounting flange (308). A pinion gear is mounted on the upper end of the two servo motor (310), a large gear is mounted on the second hydraulic cylinder (307), the large and small gears are mechanically meshed, and the second servo motor (310) is driven to rotate. A baffle is arranged at the lower end of the large gear, and three second proximity switches are arranged on the mounting flange (308); the large gear sequentially triggers the rotation left and right limit and the original electric reset switch signal during the rotation to ensure that the large gear rotates within a prescribed range. move. A battery tray (312) is mounted on the upper end of the angle correcting mechanism (203), and the center of rotation of the large gear is concentric with the center of gravity of the battery pack tray (312). The battery box tray (312) is equipped with four limiting blocks (313), which are coupled with the four protrusions at the bottom of the battery box of the electric vehicle to be replaced (200), so that the position of the battery outer box can be finely adjusted and reliably fixed. An ultrasonic ranging sensor (408) and a DMP sensor (409) are mounted on the battery pack tray (312); the ultrasonic distance measuring sensor (408) is used to measure the battery tray (312) to the chassis of the passenger to be replaced The DMP sensor (409) cooperates with the reflector mounted on the chassis of the vehicle to be replaced, searches for the position of the calculated reflector, and obtains the horizontal angular deviation of the ferry robot (199) from the electric vehicle to be replaced (200). . The linear running mechanism (201) and the hydraulic lifting mechanism (202) are interlocked. When only the swing robot (199) linearly travels and the vertical lift reaches the set position, the angle correcting mechanism (203) starts to operate, and only the angle correcting mechanism (203) The battery tray (312) on the board achieves the desired effect, and the hydraulic lifting mechanism (202) restarts the action. The linear running mechanism (201) and the angle correcting mechanism (203) are driven by a servo motor, and the driving motor is connected with a corresponding encoder, and each encoder is connected with a corresponding driver; the driver sends a position pulse signal to the servo motor, and the encoder will collect the The motor rotation information is passed back to the drive to form a full-closed control of the position mode.

The ferry robot (199) control system block diagram, the PLC control system ((401) is the core part of the swing robot (199) motion control, including a touch screen (402), a wireless communication module (403), an OMRON PLC controller (404) , A / D module (405), D / A module (406), etc.; wireless communication module (403) through the serial port RS (485) and touch screen (402) communication, Omron PLC controller (404) through the serial port RS (232) In communication with the touch screen (402), the touch screen (402) communicates with the background monitoring system (407) via Industrial Ethernet; the ultrasonic ranging sensor (408), the DMP sensor (409), the hydraulic proportional flow valve (410), and the encoders ( 411), proximity switch (412), photoelectric switch (413), etc. communicate with PLC control system (401) in real time data transmission. Ultrasonic ranging sensor (408) and DMP sensor (409) and A in PLC control system (401) The /D module (405) is connected to convert the analog signal collected by the sensor into a digital signal and transmitted to the PLC control system (401). The hydraulic proportional flow valve (410) and the D/A module in the PLC control system (401) ( 406) Connecting, converting the digital control signal of the PLC control system (401) into analog flow control information, realizing the hydraulic lifting The speed control of the mechanism (202). The encoder is connected to the A/D module (405) of the PLC control system (401), and the encoder (411) collects the rising height of the one-side rack of the secondary hydraulic cylinder (307), and is calculated. Obtain the lifting distance of the secondary hydraulic cylinder (307), and feed back the data to the PLC control system (401) to form a full closed loop control during the lifting process. The proximity switch (412) and the photoelectric switch (413) and the PLC control system ( The OMRON PLC controller (404) in 401) is connected, real-time transmission of the limit position information of the ferry robot (199), triggering the interrupt mode of the PLC control system (401) and the high-speed counting mode, realizing the ferry robot (199) Accurate and fast action within the specified range.

The structure of the first palletizing robot (608) and the second palletizing robot (609) includes a base (501), a frame (502), an arm mechanism and a gripper (503), and a drive is provided in the frame (502). The driving mechanism of the arm mechanism is operated, and the frame (502) is rotated on the base (501) by the θ axis (504), and is equipped with an AC servo motor and a speed reducer to rotate the whole machine about the θ axis (504). The drive mechanism includes a vertical portion and a horizontal portion, both of which include a motor (505), a drive wheel (506), a driven wheel (507), a timing belt (508), a ball screw (509), and a moving slide (510). The driving wheel (506) is connected to the motor (505), the timing belt (508) is sleeved on the driving wheel (506) and the driven wheel (507), and the driven wheel (507) is coaxially fixed with the ball screw (509). The moving rail (510) is threadedly coupled to the ball screw (509). The vertical part of the ball screw (509) is vertically arranged, the horizontal part of the ball screw (509) is horizontally arranged, and the above-mentioned motor (505), drive wheel (506), driven wheel (507) and timing belt (508) are attached. It is also arranged accordingly. The arm mechanism includes a forearm (511), a rear arm (512), and a parallel arm (513) parallel to the rear arm (512). The front end of the forearm (511) is rotatably coupled to the gripper (503) through the P-axis (522). The end portion is rotatably coupled to the rear arm (512) via the J-axis (514), and the other end of the rear arm (512) is rotatably coupled to the vertical portion of the moving rail (510) via the Z-axis (515). The upper end of the parallel arm (513) is rotatably coupled to the forearm 11 via a rotating shaft (521), and the lower end is rotatably coupled to the moving rail (510) of the horizontal portion via the R-axis (516). A rotating wheel (520) is also rotatably connected to the rotating shaft (521), the rotating plate (520) is triangular, the rotating shaft (521) is disposed at one end of the rotating plate (520), and the other ends of the rotating plate (520) are respectively connected and connected with a front pull rod ( 518) and the rear pull rod (519), the other ends of the front pull rod (518) and the rear pull rod (519) are respectively connected with the gripper (503) and the cylinder (517), and the three-dimensional scanning identifier (523) is mounted on the (3). A three-dimensional scanning identifier (523) is installed on one side of the gripper (503), and the three-dimensional scanning identifier (523) and the control device have an information communication connection for performing three-dimensional recognition and positioning on the grasping object, and three-dimensional scanning. The identifier is disposed (523) on the side of the connector that is parallel to the direction of movement of the gripper (503). The robot uses ABB's industrial robot IRB660_180/3.15; the 3D scanning identifier uses SICK LMS400-2000 model.

The battery compartment automatic replacement system (815) in the electric vehicle (200) is mounted on the chassis of the electric vehicle (200), in the battery compartment automatic replacement system (815), in the battery compartment automatic replacement system (815), one The vacuum baffle (816) is connected to a cooling box (818); one first battery pack (817) is mounted under the cooling box (818); and a first battery case is fixed to the upper shock plate ( 821) installed inside the first battery pack case (817); the first shock absorbing spring (819) is mounted on the first battery case upper fixed damper plate (821) and the first battery pack case upper cover (820) 1 first battery pack (822) is mounted between the upper portion of the first battery case and the damper plate (821) and the lower portion of the first battery case and the damper plate (832); the third damper spring (834) Between the first battery case lower fixing and the shock absorbing plate (832) and the first battery case bottom collision plate (833); a second electric jack (829) is installed under the cooling box (818), A second jack front bracket (830) is mounted with the second shock absorbing rubber (831), and a second damping rubber (831) is fixed to the first battery pack (817). First battery pack (817) effects; a battery case intermediate bracket (836) and the third damping rubber (835) and a fourth damper rubber (837) mounted together. One second battery pack box (823) is mounted under the cooling box (818), and one second battery pack (824) is mounted on the second battery box upper fixed damper plate (825) and the second battery case bottom is fixed. Between the vibration plates (841), the second damper spring (27) is mounted between the upper shock absorbing plate of the second battery case, 825) and the sealing plate (826) of the second battery case; the fourth damper spring ( 840) installed in a first electric jack (828) installed under the cooling box (818), the second jack front bracket (843) and the first insulating damping rubber (842) are installed together, An insulating shock absorbing rubber (842) is fixed after contact with the second battery pack case (823).

a first palletizing robot (608), a second palletizing robot (609) ferry robot (199), a four-column lift (22), a rail track (198), a first conveyor line (607), and a second conveyor line (610) an electric vehicle battery replacement system; the first conveyor line (607) carries the unloaded electric vehicle first battery pack box (817) or the second battery box (823); the second conveyor line (610) Carrying a battery-filled electric vehicle first battery pack case (817) or a second battery case (823); the first transfer line (607) and the second transfer line (610) work area are located in the first palletizing robot (608) ) Within the working radius; the first conveyor line (607) and the second conveyor line (610) associated with the four-column lift (22) and the ferry robot (199) first palletizing robot (608) may be 2-10 The bars are arranged side by side or arranged up and down. It is also possible to use only (1) conveyor line (607) or (1) second conveyor line (610) and four-column lift (22) and ferry robot (199) first code.垛 Robot (608); system consisting of a four-column lift (22), a ferry robot (199), and a first palletizing robot (608) associated with the first conveyor line (607) and the second conveyor line (610) It is 1 to 80 sets; the number of second palletizing robots (609) for the first conveyor line (607) and the second conveyor line (610) to be palletized and decomposed is 1 to 20.

Replacement steps for electric vehicle battery replacement system:

The first step, the electric vehicle (200) to be charged, the driver uses the electric vehicle vehicle device to contact the monitoring station (03) through the 3G/4G network, and finds the nearest electric vehicle battery pack replacement workshop to reach the electric vehicle battery pack. After replacing the workshop, the electric car is driven on a four-post lift (22). The driver in the cab of the electric car (200) is activated on the LCD screen of the electric vehicle on-board device. The remote monitoring can be controlled by the monitoring station (03). mode.

In the second step, the monitoring workstation (03) controls the battery replacement process of the electric vehicle (200) to the monitoring workstation (01) through the network, at which time the monitoring workstation (01) starts remote monitoring and starts the electric vehicle (200). The first electric jack (828) in the battery compartment automatic replacement system (815) under the chassis pops up and the second battery pack box (823) under the chassis of the electric vehicle (200) falls under the four-column lift (22). Above the ferry robot (199) top battery tray (312), the ferry robot (199) carries the second battery pack box (823) along the ferry robot walking rail (198) track to the station A position for accurate positioning.

In the third step, the first palletizing robot (608) grabs the second battery pack box (823) above the top battery tray (312) of the ferry robot (199) at the station A position and places it at the station seven H. The unloaded second battery pack box (823) is input from the first conveyor line (607) to the second palletizing robot (609) to capture the position of the station E, and is positioned accurately.

The fourth step, the second palletizing robot (609) grabs the second battery pack box (823) that is depleted at the station five E position, and then moves to the station six F position for palletizing, after the code is completed, The manual forklift forks the entire battery pack (823) that is depleted.

In the fifth step, after the fully charged second battery pack box (823) is moved by the forklift to the station four D, the second palletizing robot (609) disassembles the second battery pack box (823) into the station three C. Wherein, the second battery pack box (823) flows to the station 2B position along with the second conveyor line (610) and is positioned accurately.

In the sixth step, the ferry robot (199) walks along the ferry robot walking rail (198) into the station A, and the first palletizing robot (608) to the station 2B position captures the second battery box (823). ), placed on the top battery tray (312) of the waiting ferry robot (199) at the station A position, since the single second battery pack (823) can be accurately positioned on the second conveyor line (610), So the 3D scan recognizer does not work. The height of the second battery pack box (823) of the electric vehicle on the front transport line of the first palletizing robot (608) is judged by the photoelectric switch.

The seventh step, the ferry robot (199) follows the ferry robot walking rail (198) orbiting the four-column lift (22), and the ferry robot (199) completes the X/Y direction positioning, and the robot ascends the process using ultrasonic ranging. After the output of the sensor and the output of the hydraulic mechanism encoder are calculated, the input proportional valve valve is PID controlled as the input of the PID controller. When the hydraulic mechanism is lifted to the expected position, the rise is stopped; the positioning is accurate. The monitoring station (01) or the monitoring station (02) issues an instruction to start the installation of the electric vehicle second battery pack box (823) to the ferry robot (199), and the ferry robot (199) puts the electric vehicle second battery pack box (823) The position of the second battery pack box (823) of the electric vehicle above the battery box automatic replacement system (815) is placed, and the monitoring computer (01) controls the first electric jack (28) to fix the second battery pack box (823). On the battery compartment automatic replacement system (815).

In the eighth step, the monitoring workstation (01) starts remote monitoring, and the second electric jack (829) in the battery compartment automatic replacement system (815) under the chassis of the electric vehicle (200) is ejected under the chassis of the electric vehicle (200). The first battery pack box (817) falls on the top battery tray (312) of the ferry robot (199) waiting under the four-column lift (22), and the ferry robot (199) carries the first battery pack box (817) along The ferry robot travels the rail (198) track to the position of the station A, and accurately locates it.

In the ninth step, the first palletizing robot (608) grabs the first battery pack box (817) above the top battery tray (312) of the ferry robot (199) at the station A position and places it at the station seven H. The unloaded first battery pack box (817) is input from the first conveyor line (607) to the second palletizing robot (609) to capture the position of the station E, and is positioned accurately.

The tenth step, the second palletizing robot (609) grabs the first battery pack box (817) that is depleted at the station five E position, and then moves to the station six F position for palletizing, after the code is completed, The manual forklift forks the entire battery pack (817) that is depleted.

In the eleventh step, after the whole fully charged first battery pack box (817) is moved by the forklift to the station four D, the second palletizing robot (609) disassembles the second battery pack box (823) into the station three. At C, the first battery pack (817) flows to the station 2B position along with the second conveyor line (610) and is positioned accurately.

In the twelfth step, the ferry robot (199) walks along the ferry robot walking rail (198) into the station A, and the first palletizing robot (608) to the station 2B position grabs the first battery box ( 817), placed on the top battery tray (312) of the waiting ferry robot (199) at the station A position, because the single second battery pack (823) is accurately positioned on the second conveyor line (610) So the 3D scan recognizer does not work. The height of the first battery pack box (817) of the electric vehicle on the front transport line of the first palletizing robot (608) is judged by the photoelectric switch.

The thirteenth step, the ferry robot (199) walks along the ferry robot walking rail (198) orbiting the four-column lift (22), and the ferry robot (199) completes the X/Y direction positioning, and the robot rises by ultrasonic measurement. After calculating the difference between the output of the sensor and the output of the encoder of the hydraulic mechanism, PID control is performed as the input of the PID controller for the proportional flow valve, and the hydraulic mechanism is lifted to the expected position to stop rising; the positioning is accurate. The first battery pack box (817) of the electric vehicle is started by the monitoring station (01) or the monitoring station (02) to the ferry robot (199). The instruction, the ferry robot (199) pushes the first battery pack box (817) to the placement position of the first battery pack box (817) above the battery compartment automatic change system (815), and the monitoring computer (01) controller starts the first The second electric jack (829) secures the first battery pack (817) to the battery compartment automatic change system (815).

In the fourteenth step, the battery replacement process ends, the four-column lift (22) falls, and the driver drives the electric vehicle (200) away from the electric vehicle battery pack replacement workshop.

In the fifteenth step, the monitoring workstation (01) issues a battery replacement completion signal, and the entire battery replacement system completes the home position return.

The utility model has the beneficial effects that the electric vehicle vehicle device and the electric vehicle power station monitoring system hardware computer, the lifting machine, the conveying line, the ferry robot, the palletizing robot are connected through the industrial Ethernet or other network, and pass the 3G/4G wireless network. Connect with the on-board computer to implement man-machine dialogue, use the monitoring center computer to control, direct and guide the electric vehicle to replace the battery in 15 steps, quickly and safely prevent accidents caused by unskilled drivers in the electric vehicle to be replaced. Ingenious, simple structure, small footprint, low cost, easy to build large-scale underground parking lots in mega-mass cities with severe smog. After the replacement of battery sites, the electric vehicles can be mass-produced, used in large quantities, and gradually reduced gasoline. The use of vehicles reduces the harm of various harmful gases emitted by gasoline vehicles to humans.

DRAWINGS

1 is a schematic structural view of an electric vehicle-mounted device of the present invention;

2 is a schematic structural view of a main control module of the present invention;

3 is a schematic diagram of a CAN bus communication module of the present invention.

Figure 4 is a schematic view of the vehicle-mounted device of the present invention followed by the monitoring system of the electric vehicle charging and replacing station through Industrial Ethernet;

5 is a schematic diagram of a monitoring system for an electric vehicle charging and replacing power station of the present invention;

6 is a schematic structural view of a power distribution monitoring system of the present invention;

7 is a schematic structural view of a battery replacement monitoring system of the present invention;

8 is a schematic structural diagram of a video monitoring system according to the present invention;

Figure 9 is a schematic view showing the working state of four lifting machines of the mobile automatic leveling hydraulic lifting unit of the present invention;

Figure 10 is a schematic structural view of the mobile automatic leveling hydraulic lifter of the present invention;

Figure 11 is a schematic structural view of a battery replacement system for an electric passenger car according to the present invention;

Figure 12 is a left side view of the system mechanism of the quick change robot of the present invention;

Figure 13 is a front elevational view of the system mechanism of the quick change robot of the present invention;

Figure 14 is a block diagram of the control system of the quick change robot of the present invention;

Figure 15 is a schematic view showing the structure of the robot of the present invention;

Figure 16 is a structural view of an electric vehicle battery automatic replacement system on the chassis of the electric vehicle of the present invention;

Figure 17 is a block diagram showing the hardware connection of the electric vehicle battery replacement system of the present invention.

In the figure: 1. fixed frame; 2. power unit; 3. hydraulic cylinder; 4. lifting chain; 5. detection board; 6. detection switch; 7. moving frame; 8. controller; 9. display panel; Sprocket seat; 12. sprocket; 13. first column; 15. car running board; 16. cantilever beam; 17. beam; 18. second column; 19. third column; 20. fourth column; 21. Boarding slanting plate; 22. Four-column lifting machine; 23. Opening; 198. Ferry robot walking rail; 199. Ferry robot; 200. Electric vehicle; 201. Straight running mechanism; 202. Hydraulic lifting mechanism; Angle correcting mechanism; 204. universal joint; 205. rack; 206. encoder; 301. pulley; 302. belt; 303. first servo motor; 304. first reducer; 305. base; First stage hydraulic cylinder; 307. two-stage hydraulic cylinder; 308. mounting flange; 309. large and small gear; 310. second servo motor; 311. second reducer; 312. battery pack tray; 313. 401. Control system; 402. Touch screen; 403. Wireless communication module; 404. Omron PLC controller; 405. A/D module; 406. D/A module; 407. Background monitoring system; 408. Ultrasonic ranging sensor; .DMP sensor; 410. liquid Proportional flow valve; 411. encoder; 412. proximity switch; 413. photoelectric switch; 501. base; 502. frame; 503. gripper; 504. θ axis; 505. motor; 506. drive wheel; Moving wheel; 508. timing belt; 509. ball screw; 510. moving rail; 511. forearm; 512. rear arm; 513. parallel arm; 514. J axis; 515. Z axis; 516. R axis; Cylinder; 518. front pull rod; 519. rear pull rod; 520. turntable; 521. shaft; 522. P axis; 523. three-dimensional scanning identifier; 524. fixture; 525. grasping mechanism; 608. palletizing robot; Robot shuttle bus; 21. four-column lift; 607. first conveyor line; 608. first palletizing robot; 609 second palletizing robot; 610. second conveyor line; 611. rail track; A. station one ; B. Station 2; C. Station 3; D. Station 4; E. Station 5; F. Station 6; H. Station 7; 815. Battery pack automatic replacement system; a board; 817. a first battery pack; 818. a cooling box; 819. a first shock absorbing spring; 820. a first battery pack upper cover; 821. a first battery box upper fixed shock plate; 822. Battery pack; 823. second battery pack; 824. second battery pack; 825. Second battery box upper fixed damping plate; 826. second battery box upper sealing plate; 827. second damping spring; 828. first electric jack; 829. second electric jack; 830. second electric jack front support Frame; 831. second shock absorbing rubber; 832. first battery box bottom fixing and shock absorbing plate; 833. first battery box bottom bumper plate; 834. third shock absorbing spring; 835. Rubber; 836. battery box intermediate bracket; 837. fourth shock absorbing rubber; 838. second battery pack electrode connection line; 839. second battery box bottom bumper; 840. fourth shock absorbing spring; The second battery case is fixed at the bottom and the shock plate; 842. The first insulation damping rubber; 843. The first electric jack front bracket.

detailed description

In FIG. 1, an electric vehicle (200) vehicle-mounted device includes a main control module, a CAN bus communication module, a 3G/4G wireless communication module, a GPS data receiving processing module, and a user interaction module; the CAN bus communication module passes through the SPI bus and the The main control module is bidirectionally connected, and the 3G/4G wireless communication module, the GPS data receiving processing module and the user interaction module are bidirectionally connected to the main control module through a serial port.

In FIG. 2, the main control module includes a main controller and an Android/Windows embedded operating system; the LCD screen is connected to the main control board through a liquid crystal jack for human-computer interaction display; and the embedded operating system provides an access frame application. Permissions of the program interface, and provides a driver module and a TCP/IP protocol stack; the host controller includes an ARM Cortex-A8 series 32/64-bit microprocessor connected to the main control board via a pin, a ROM clock, a RAM clock, and a reset Circuit.

In FIG. 3, the CAN bus communication module includes a CAN bus physical interface, a data processing and storage unit, a CAN bus transceiver, a CAN bus controller, and an external crystal; the CAN bus physical interface is attached to the electric vehicle CAN bus. The CAN bus transceiver is connected to the CAN bus controller via CAN_H and CAN_L, the CAN bus controller is connected to the main control board via an SPI interface; the data processing and storage unit processes the measured values and Centralized storage of real-time and historical data, including measured values, status quantities, and alarm events, collected by the device. The CAN bus physical interface collects the operating state and battery information of the electric vehicle in real time, and the operating state includes running speed and running mileage, and the battery information includes vehicle charging/discharging voltage, vehicle charging/discharging current, battery SOC, and battery module. Temperature, maximum voltage of single cell, minimum voltage of single cell. The 3G/4G wireless communication module includes a 3G/4G communication chip, a real-time data interaction module and a real-time data timing module; the 3G/4G communication chip is connected to the main control board through pins, and the real-time data interaction module monitors The center forwards the running status and battery information of the electric vehicle, and receives the monitoring center to deliver the service information including the charging/changing station site information, the electricity price information and the news; the timing unit receives the synchronous clock timing instruction issued by the monitoring center, In order to ensure the consistency of the device time in the area. The GPS data receiving and processing module provides a navigation service and monitors an operation network; the navigation service includes destination retrieval, route viewing, simulated navigation, and real navigation; real-time display of the power station in the operating area, distributed charging pile distribution location, and electric vehicle operation through the map The status monitors the operational network and displays status information including the location of the electric vehicle, the speed of the electric vehicle, and the amount of remaining power.

In FIG. 4, the hardware deployment diagram of the monitoring system of the electric vehicle replacement system, the monitoring workstation of the power distribution monitoring system, the server, the printer, the power distribution system communication management machine, and the power information collection terminal pass the local industrial Ethernet and the charging monitoring system. The network switch is connected, and the network switch of the power distribution monitoring system is connected to the communication gateway of the superior system through the local industrial Ethernet, and the communication system of the power distribution system communicates with the power distribution system and the superior system through other communication links such as the 3G/4G wireless network. The gateway is connected, and the power information collecting terminal is connected to the metering system and the communication gateway of the upper system through other communication links such as the 3G/4G wireless network; the intelligent communication terminal of the electric vehicle battery replacement monitoring system passes the local industrial Ethernet and the charging monitoring The network switch connection of the system, the electric vehicle battery replacement system includes a first palletizing robot (608), a second palletizing robot (609) ferry robot (199), a four-column lifting machine (22), a ferry robot walking rail (198) ), the first conveyor line (607) and the second conveyor line (610), using the monitoring center Control, command, each of the guide electric vehicles replace the battery. The video server of the video surveillance system is connected to the communication gateway of the superior system via the local industrial Ethernet. The data server can store the historical data of the monitoring system, and the front server can collect and parse the relevant real-time data and forward it to other computers. The security monitoring workstation is used for monitoring and control of the video surveillance system. The communication gateway enables conversion between the CAN bus and the local industrial Ethernet. The network switch has 24 ports, which can be divided into VLANs (Virtual Local Area Network) to implement communication between various subsystems. After the electric vehicle on-board device in Figure 1 is connected to the electric vehicle substation monitoring system hardware via Industrial Ethernet or other network, the electric vehicle to be charged is contacted with the monitoring workstation (03) through the 3G/4G network to find the nearest distance. After changing the battery station, after arriving at the battery exchange station, the driver of the car drives the electric vehicle (200) to change the battery station and replace the battery system with the four-column lift (22). The driver in the electric vehicle cab is in the liquid crystal of the electric vehicle. The screen is controlled by the computer to control the remote monitoring and changing battery mode. At this time, the monitoring station (03) transfers the battery changing process of the car to the monitoring station (01) or the monitoring station (02) through the network, and the monitoring station (01) or the monitoring station (02) Complete the entire process of replacing the battery with the vehicle until the vehicle leaves the four-post lift (22). The computer network of the monitoring station (01) monitoring station (02) and monitoring station (03) is connected via a telecommunication network or Industrial Ethernet.

In Figure 5, the electric vehicle replacement station monitoring system includes a superior system, a power distribution monitoring system, a battery replacement monitoring system, and a video monitoring system. The distribution monitoring system and the superior system pass local industrial Ethernet and GPRS/CDMA (General Packet Radio Service, General Packet Radio Service; Code Division Multiple Access, other communication link communication such as wireless network, between power distribution monitoring system and battery replacement monitoring system, between video surveillance system and superior system Communication via local industrial Ethernet. The power distribution monitoring system and the battery replacement monitoring system are built on a unified software platform, and the subsystem computer equipment is shared. Considering the network security protection and the public security department's access requirements for the video surveillance system, the video surveillance system is independently set up and communicates through the superior system. The gateway interacts with the charging monitoring system and the power distribution monitoring system.

In Figure 6, the electric vehicle replacement station monitoring system is divided into a measurement acquisition module, a signal acquisition module, a control output module, and an information management module. The measurement acquisition module, the signal acquisition module, and the control output module are connected to the information management module through the local industrial Ethernet. The information management module is connected to the computer monitoring platform of the superior system through other communication links such as a 3G/4G/CDMA wireless network; wherein the measurement and acquisition module includes a monitoring workstation (01), a front server, and the signal acquisition module includes a monitoring workstation (02), Data server, power information collection terminal, metering system, control output module including printer, power distribution system, signal management module including network switch, power distribution system communication management machine; monitoring station (01), monitoring station (02), front Server, data server, printer, network switch, power distribution system communication management machine and power information collection Through the local industrial Ethernet communication, the communication system communication management machine and the power distribution system and the communication gateway of the superior system, the power information collection terminal and the metering system, and the communication gateway of the superior system all pass 3G/4G/CDMA. Other communication links such as wireless networks communicate. The measurement acquisition module, the signal acquisition module, and the control output module belong to a parallel relationship, wherein the measurement acquisition module collects the secondary current transformer signal and the secondary voltage transformer signal, and the signal acquisition module collects the remote signal, the switch signal, the protection signal, and the alarm signal. a series of semaphores such as accident signals and status signals. The two types of signals are transmitted to the information management module through the CAN bus. After the information management module interacts with the higher-level system to realize the information, the higher-level system issues control commands to the information management module, and then passes through the CAN bus. Transfer to the control output module action.

In FIG. 7, the battery exchange station monitoring system includes an intelligent communication terminal and an electric vehicle battery replacement system; the intelligent communication terminal and the electric vehicle battery replacement system are connected by a CAN bus, and the electric vehicle battery replacement system includes the first palletizing robot ( 608), a second palletizing robot (609) ferry robot (199), a four-column lift (22), a first conveyor line (607) and a second conveyor line (610); a first palletizing robot (608), The second palletizing robot (609) ferry robot (199), the four-column lift (22), the first conveyor line (607) and the second conveyor line (610) are connected by a local industrial Ethernet, and the intelligent communication terminal is integrated. There is scheduling software, and the scheduling software and the intelligent communication terminal are connected by a digital communication link. The scheduling software issues control commands to the first palletizing robot (608), the second palletizing robot (609), the first conveying line (607) and the second conveying line (610) through the intelligent communication terminal; the first palletizing robot ( 608), the second palletizing robot (609), the first conveying line (607), the second conveying line (610), and the four-column lifting machine (22) have a PLC (Programmable Logic Controller) program built therein. The entire replacement process of the first battery pack box (817) or the second battery box (823) of the electric vehicle can be controlled, and after the internal analysis, the first battery pack box (817) or the second battery of the electric vehicle is removed from the station 2B. The box (823) is placed on the ferry robot (199), and then transported by the ferry robot (199); at the same time, the first palletizing robot (608), the second palletizing robot (609), the first conveying line (607), Second conveyor line (610) and four-column lift (22) position, fault signal, module charger operating status, temperature, fault signal, power, voltage, current, battery pack temperature, SOC, terminal voltage, current, battery Signals such as connection status and battery failure are uploaded to the dispatching software through the intelligent communication terminal.

In Figure 8, the video surveillance system of the electric vehicle battery replacement station monitoring system includes a security monitoring workstation, a ball machine, a video server; a ball machine and a video server are connected through a CAN bus and a video signal line, a video server and a security monitoring workstation, and a superior The communication gateways of the system are connected via local industrial Ethernet. The ball machine can collect and replace the video of the power station and the perimeter security, upload the video information to the video server through the CAN bus and the video signal line, and the video server is responsible for uploading the signal to the security monitoring workstation and the superior system, and the superior system and the security monitoring workstation have Alarm, control, image management, timing and other functions, including alarm categories including burglar alarm, illegal intrusion and screen change alarm, access control alarm, temperature and humidity alarm, image equipment fault alarm, etc., before alarm (at least 15 seconds), alarm After (at least 5 minutes) video storage, long-term automatic loop recording storage can be set for monitoring points in important areas. At the same time, the communication management machine can obtain the relevant alarm information of the power distribution system monitoring and charging facilities, etc., to complete the video linkage monitoring, and cooperate with the intelligent equipment of the electric vehicle charging and replacing power station monitoring area to realize the anti-theft and fire prevention functions, the equipment, Sites, lounges, duty rooms, business windows, etc. are monitored.

In Fig. 9, by the first column (13), the second column (18), the third column (19), the fourth column (20), the cantilever beam (16), the beam (17), the running board ( 15) Forming a four-post lift (22) with a running board (15), and providing an opening (23) on the beam between the first column (13) and the second column (18) to facilitate the ferry robot (199) Entering the interior of the four-column lift (22), providing a beam (17) between the third column (19) and the fourth column (20), the first column (13), the second column (18), and the third The column (19) and the fourth column (20) are mounted on the moving frame (7) and move up and down with the moving frame (7) to raise the running plate (15) to a suitable position, and the upper inclined plate (21) It is connected with the running board (15) to facilitate the running board (15) of the electric vehicle (200) up and down the four-column lift (22).

In Fig. 10, the bottom of the lift holder (1) is symmetrically provided with four or more rolling wheels, each of which is supported by a fixed frame (1), a power unit (2), and a hydraulic cylinder (3). ), the lifting chain (4), the detecting plate (5), the detecting switch (6), the moving frame (7), the sprocket seat (11) and the sprocket (12) are connected. The strip (1) of the fixing frame (1) is fixedly connected with a strip detecting plate (5), the detecting plate (5) is provided with a plurality of notches, and a detecting switch (6) is arranged at the bottom of the upper end of the moving frame (7). The switch (6) is matched with the detecting board (5). When the detecting board (5) is within the detection range of the detecting switch (6), the detecting switch (6) can output a signal. The detecting plate (5) is provided with a notch, and when the detecting switch (6) detects the notch, the detecting switch (6) does not output a signal, and thus reciprocates. The signal generated by the detection switch (6) of each lift column is connected to the controller (8) through the data line and calculated, and the data calculated by the controller (8) is connected to the display panel (9) through the data line. . The upper end of the movable frame (7) is provided with a sprocket seat (11) and a sprocket (12), the sprocket (12) is provided with a lifting chain (4), and one end of the lifting chain (4) is connected to the moving frame (7), and the other Connect the holder (1) to one end. One end of the hydraulic cylinder (3) is connected to the base of the fixing frame (1), and the other end is connected to the sprocket seat (11). When the hydraulic cylinder (3) moves up and down, the sprocket (12) on the sprocket seat (11) is rotated, and the hoisting chain (4) is operated, and the moving frame (7) is simultaneously lifted and lowered, and the detecting plate (5) And the detection switch (6) works and generates an electrical signal.

In Fig. 11, part of the hardware of the electric vehicle battery replacement system is a swinging robot walking rail (198), a ferry robot (199), a four-column lift (22), a background monitoring system (407), and a first conveying line (607). a second conveyor line (610), a first palletizing robot (608) and a second palletizing robot (609); the electric vehicle (200) chassis has a first battery compartment (817) and a second battery compartment ( 823).

In FIG. 12 and FIG. 13, the quick change robot (199) includes degrees of freedom in three directions of the X axis, the Z axis, and the R axis, which are a linear traveling mechanism (201), a hydraulic lifting mechanism 202, and an angle correcting mechanism ( 203). The linear running mechanism (201) is located at the bottom of the quick change robot (199), and includes a pulley (301), a universal joint (204), a belt (302), a first servo motor (303), and a first reducer (304). And the base (305) and other parts; the front two pulleys are robotic power units, connected with a set of universal joints, the rear two pulleys are driven devices; the first servo motor (303) and the matching The first reducer (304) is connected by the expansion sleeve, and the power transmission of the first reducer (304) and the pulley (301) is realized by the belt, and the drive pulley (301) is on the slide rail. Walk straight. At the lower end of the linear running mechanism (301), three photoelectric switches are arranged, which are sequentially matched with the original blocking piece and the front and rear limit plates to provide the PLC control system (401) in-position switch signal, realize the robot origin search and reset, and eliminate the cross-border The front limit flap, the origin stop and the rear limit flap are arranged along the laid linear slides, and the origin stop is located in the middle of the front and rear limit flaps. The hydraulic lifting and lifting mechanism (202) is located at an upper portion of the base of the linear traveling mechanism (201) and includes two hydraulic telescopic cylinders; the first hydraulic cylinder (306) is located at a lower portion of the secondary hydraulic cylinder (307), and the first hydraulic cylinder ( 306) After fully extending, the secondary hydraulic cylinder (307) performs telescopic movement; the first and second hydraulic cylinders are respectively welded with beams and arranged with anti-rotation beams, and the anti-rotation beams are welded with the welding beams and bases of the first-stage hydraulic cylinders. The two anti-rotation holes on the beam cooperate to prevent the battery from rotating during the lifting process of the hydraulic mechanism (202); the other side of the first and second hydraulic cylinders are respectively provided with a rack (205), an encoder (206), and a block. a sheet and a first proximity switch; the blocking piece is matched with the proximity switch, the first proximity switch is disposed at the bottom end of the welding beam of the first stage hydraulic cylinder, and when the first stage hydraulic cylinder (306) is fully extended, the blocking piece triggers the switch of the proximity switch The signal, the secondary hydraulic cylinder (307) starts the telescopic movement; the rack (205) on the side of the secondary hydraulic cylinder (307) is meshed with the encoder (206) through the gear, and the encoder (206) is obtained by calculating the number of revolutions. The hydraulic cylinder (307) rises in height; the encoder (206) is connected to the PLC control system (401), P The LC control system 401) starts high speed counting. The angle correcting mechanism (203) is located at the upper end of the hydraulic lifting mechanism (202), and includes a mounting flange (308), a large and small gear (309), a second servo motor (310), and a second speed reducer (311). . A mounting flange (308) is mounted on the secondary hydraulic cylinder (307), and the second servo motor (310), the second reduction gear (311), and the large and small gears (309) are sequentially disposed on the mounting flange (308). A pinion gear is mounted on the upper end of the two servo motor (310), a large gear is mounted on the second hydraulic cylinder (307), the large and small gears are mechanically meshed, and the second servo motor (310) is driven to rotate. A baffle is arranged at the lower end of the large gear, and three second proximity switches are arranged on the mounting flange (308); the large gear sequentially triggers the rotation left and right limit and the original electric reset switch signal during the rotation to ensure that the large gear rotates within a prescribed range. move. A battery tray (312) is mounted on the upper end of the angle correcting mechanism (203), and the center of rotation of the large gear is concentric with the center of gravity of the battery pack tray (312). The battery box tray (312) is equipped with four limiting blocks (313), which are coupled with the four protrusions at the bottom of the battery box of the electric vehicle to be replaced (200), so that the position of the battery outer box can be finely adjusted and reliably fixed. An ultrasonic distance measuring sensor (408) and a DMP sensor (409) are mounted on the battery pack tray (312); the ultrasonic distance measuring sensor (408) is used to measure the distance of the battery tray (312) to the chassis of the passenger car to be replaced; The DMP sensor (409) cooperates with the reflector mounted on the chassis of the vehicle to be replaced, searches for the position of the calculation reflector, and obtains the horizontal angular deviation of the ferry robot (199) from the passenger to be replaced. The linear running mechanism (201) and the hydraulic lifting mechanism (202) are interlocked. When only the swing robot (199) linearly travels and the vertical lift reaches the set position, the angle correcting mechanism (203) starts to operate, and only the angle correcting mechanism (203) The battery tray (312) on the board achieves the desired effect, and the hydraulic lifting mechanism (202) restarts the action. The linear running mechanism (201) and the angle correcting mechanism (203) are driven by a servo motor, and the driving motor is connected with a corresponding encoder, and each encoder is connected with a corresponding driver; the driver sends a position pulse signal to the servo motor, and the encoder will collect the The motor rotation information is passed back to the drive to form a full-closed control of the position mode.

In FIG. 14, a ferry robot (199) controls a system block diagram, and the PLC control system ((401) is a core part of the swing robot (199) motion control, including a touch screen (402), a wireless communication module (403), and an Omron PLC. The controller (404), the A/D module (405), the D/A module (406), etc.; the wireless communication module (403) communicates with the touch screen (402) through the serial port RS (485), and the OMRON PLC controller (404) passes The serial port RS (232) communicates with the touch screen (402), the touch screen (402) communicates with the background monitoring system (407) through the industrial Ethernet; the ultrasonic ranging sensor (408), the DMP sensor (409), and the hydraulic proportional flow valve (410) Each encoder (411), proximity switch (412), photoelectric switch (413), etc. communicates with the PLC control system (401) in real time data transmission. Ultrasonic ranging sensor (408) and DMP sensor (409) and PLC control system ( The A/D module (405) in 401) is connected, and the analog signal collected by the sensor is converted into a digital signal and transmitted to the PLC control system (401). The hydraulic proportional flow valve (410) and the PLC control system (401) The D/A module (406) is connected to convert the digital control signal of the PLC control system (401) into analog flow control information. Speed control of the hydraulic lifting mechanism (202). The encoder is connected to the A/D module (405) of the PLC control system (401), and the encoder (411) collects the rise of the one-side rack of the secondary hydraulic cylinder (307). The height is calculated to obtain the lifting distance of the secondary hydraulic cylinder (307), and the data is fed back to the PLC control system (401) to form a full closed loop control during the lifting process. The proximity switch (412) and the photoelectric switch (413) are The OMRON PLC controller (404) in the PLC control system (401) is connected, real-time transmission of the limit position information of the swing robot (199), triggering the interrupt mode of the PLC control system (401) and the high-speed counting mode to realize the ferry robot (199) Accurate and fast action within the specified range.

In FIG. 15, a structural diagram of a first palletizing robot (608) and a second palletizing robot (609), including a base (501), a frame (502), an arm mechanism, and a gripper (503), a frame ( 502) a driving mechanism for driving the arm mechanism is arranged, the frame (502) is rotated on the base (501) by the θ axis (504), and the AC servo motor and the speed reducer are used to realize the whole machine around the θ axis (504). The rotation. The drive mechanism includes a vertical portion and a horizontal portion, both of which include a motor (505), a drive wheel (506), a driven wheel (507), a timing belt (508), a ball screw (50) 9), and a moving slide (510). The driving wheel (506) is connected to the motor (505), the timing belt (508) is sleeved on the driving wheel (506) and the driven wheel (507), and the driven wheel (507) is coaxial with the ball screw (509). The moving rail (510) is threadedly coupled to the ball screw (509). The vertical part of the ball screw (509) is vertically arranged, the horizontal part of the ball screw (509) is horizontally arranged, and the above-mentioned motor (505), drive wheel (506), driven wheel (507) and timing belt (508) are attached. It is also arranged accordingly. The arm mechanism includes a forearm (511), a rear arm (512), and a parallel arm (513) parallel to the rear arm (512). The front end of the forearm (511) is rotatably coupled to the gripper (503) through the P-axis (522). The end portion is rotatably coupled to the rear arm (512) via the J-axis (514), and the other end of the rear arm (512) is rotatably coupled to the vertical portion of the moving rail (510) via the Z-axis (515). The upper end of the parallel arm (513) is rotatably coupled to the forearm 11 via a rotating shaft (521), and the lower end is rotatably coupled to the moving rail (510) of the horizontal portion via the R-axis (516). A rotating wheel (520) is also rotatably connected to the rotating shaft (521), the rotating plate (520) is triangular, the rotating shaft (521) is disposed at one end of the rotating plate (520), and the other ends of the rotating plate (520) are respectively connected and connected with a front pull rod ( 518) and the rear pull rod (519), the other ends of the front pull rod (518) and the rear pull rod (519) are respectively connected with the gripper (503) and the cylinder (517), and the three-dimensional scanning identifier (523) is mounted on the (3). ) A three-dimensional scanning identifier (523) is installed on one side of the gripper (503), and the three-dimensional scanning identifier (523) and the control device have an information communication connection for performing three-dimensional recognition and positioning on the grasping object, and three-dimensional scanning and identifying The device is arranged (523) on the side of the connecting frame parallel to the direction of movement of the gripper (503). The robot uses ABB's industrial robot IRB660_180/3.15; the 3D scanning identifier uses SICK LMS400-2000 model.

In Figures 16 and 11, the battery compartment automatic replacement system (815) is mounted on the chassis of the electric vehicle (200), in the battery compartment automatic replacement system (815), in the battery compartment automatic replacement system (815), 1 A vacuum baffle (816) is connected to a cooling box (818); a first battery pack (817) is mounted under the cooling box (818); and a first battery box is fixed to the upper shock plate. (821) mounted inside the first battery pack case (817); the first damper spring (819) is mounted on the first battery case upper fixed damper plate (821) and the first battery pack case upper cover (820) Between; one first battery pack (822) is mounted between the upper portion of the first battery case and the damper plate (821) and the lower portion of the first battery case and the damper plate (832); the third damper spring ( 834) installed between the lower fixing and damping plate (832) of the first battery case and the bottom bumper (833) of the first battery case; one second electric jack (829) is installed under the cooling box (818) , a second jack front bracket (830) is mounted with the second shock absorbing rubber (831), and a second damping rubber (831) is in contact with the first battery pack (817). Fixed first battery pack (817) effects; a battery case intermediate bracket (836) and the third damping rubber (835) and a fourth damper rubber (837) mounted together. One second battery pack box (823) is mounted under the cooling box (818), and one second battery pack (824) is mounted on the second battery box upper fixed damper plate (825) and the second battery case bottom is fixed. Between the vibration plates (841), the second damper spring (827) is mounted between the upper damper plate of the second battery case, 825) and the sealing plate (826) of the second battery case; the fourth damper spring ( 840) installed in a first electric jack (828) installed under the cooling box (818), the second jack front bracket (843) and the first insulating damping rubber (842) are installed together, An insulating shock absorbing rubber (842) is fixed after contact with the second battery pack case (823).

In Fig. 17, Fig. 4, Fig. 11 and Fig. 16, the first palletizing robot (608), the second palletizing robot (609) ferry robot (199), the four-column lifting machine (22), the ferry robot walking rail (198), an electric vehicle battery replacement system composed of a first conveying line (607) and a second conveying line (610); the first conveying line (607) transporting the unloaded electric vehicle first battery pack box (817) Or a second battery case (823); the second transfer line (610) carries the battery-filled electric vehicle first battery pack case (817) and the second battery case (823); the first transfer line (607) and the second The working area of the conveying line (610) is located within the working radius of the first palletizing robot (608); the first conveying associated with the four-column lifting machine (22) and the first robot (608) of the ferry robot (199) The line (607) and the second conveying line (610) may be arranged in two parallel or upper and lower rows, or only one conveying line (607) or one second conveying line (610) and a four-column lifting machine ( 22) matched with the first robot (608) of the ferry robot (199); a four-column lift (22) and a ferry robot (19) matched with the first conveying line (607) and the second conveying line (610) 9) The system consisting of the first palletizing robot (608) is one set; the second palletizing robot (609) is provided for the first conveying line (607) and the second conveying line (610). It is one.

Deficit battery pack box transport workflow: robot shuttle bus (199) carrying the unloaded electric vehicle first battery pack box (817) or second battery box (823) by four-column lift (22) Under the track of the rail track (611), it is accurately positioned to the position of the station A, and the first palletizing robot (608) removes the first battery pack box (817) or the second battery box (823) of the electric vehicle. Bit seven H, the first battery pack box (817) or the second battery box (823) of the electric vehicle that is deficient in electricity flows to the station five E along the first conveyor line (607), and the robot uses the three-dimensional scan identifier for the electric vehicle. The upper surface of the first battery pack case (817) or the second battery case (823) is scanned once, and the scanning speed is >500 mm/s; the three-dimensional scan recognizer is scanned by the contour map of the detected object, and then fitted by multiple contour maps. The three-dimensional image is obtained by the 3D detection method, and the three-dimensional coordinates of the height and position of the first battery pack box (817) or the second battery box (823) of the electric vehicle and the angles respectively with the coordinate system axis are obtained. The data is sent to the second palletizing robot (609) for positioning. The control device PLC of the second palletizing robot (609) gives a trigger signal to the three-dimensional scanning identifier, so that the three-dimensional scanning identifier starts scanning, and after the scanning is finished, the first battery pack box (817) or the second battery box of the electric vehicle is obtained. Position coordinates of 823). According to the position data of the first battery pack box (817) or the second battery box (823) of the electric vehicle, the second palletizing robot (609) walks to the position of the station 5 E to grab the first battery pack box (817) of the electric vehicle or The second battery box (823) is palletized at the station six F position, and after the code is completed, the manual forklift forks the entire electric vehicle first battery pack box (817) or the second battery box (823).

Transporting a fully charged electric vehicle first battery pack (817) or second battery pack (823) Workflow: Fully charged electric vehicle first battery pack (817) or second battery pack (823) by forklift After being forked into the station 4D, the second palletizing robot (609) disassembles the first battery pack box (817) or the second battery box (823) of the electric vehicle into the station C, the first battery pack of the electric vehicle. The cartridge (817) or the second battery cartridge (823) flows toward the station B position along with the second conveyor line (610). The first battery pack box (817) or the second battery box (823) of the electric vehicle is input to the robot grabbing station 2B by the second conveying line (610), and the positioning is accurate; the robot shuttle bus (199) is along the rail track. (611) Walking into the station A, the first palletizing robot (608) grabs the first battery pack box (817) or the second battery box (823) of the electric vehicle at the position of the second position B, and puts it at the station. An A position enters the top of the robotic shuttle bus (199), and the ferry robot (199) walks along the ferry robot rail (198) track under the four-column lift (22) due to the single battery pack of the first electric vehicle (817) or The second battery case (823) is accurately positioned on the second transport line (610), so the three-dimensional scan recognizer does not work. The height of the first battery pack (817) or the second battery case (823) of the electric vehicle on the front conveyor line of the first palletizing robot (608) is judged by the photoelectric switch. The height information of the first battery pack (817) or the second battery cartridge (823) is transmitted to the first palletizing robot (608), and the first palletizing robot (608) automatically walks to the gripping position.

Claims

An electric vehicle battery pack replacement system composed of a plurality of robots of a computer network, characterized in that: the electric vehicle (200) vehicle-mounted device comprises a main control module, a CAN bus communication module, a 3G/4G wireless communication module, a GPS data receiving and processing module, and a user interaction module, the CAN bus communication module is bidirectionally connected to the main control module via an SPI bus, and the 3G/4G wireless communication module, the GPS data receiving processing module, and the user interaction module are both bidirectionally connected to the main control module through a serial port. The main control module includes a main controller and an Android/Windows embedded operating system, and the liquid crystal screen is connected to the main control board through a liquid crystal jack for human-computer interaction display, and the embedded operating system provides access to the framework application program interface. Permissions, and provides a driver module and a TCP/IP protocol stack, including a ARM Cortex-A8 series 32/64-bit microprocessor, a ROM clock, a RAM clock, and a reset circuit, which are connected to the main control board via pins, CAN Bus communication module includes CAN bus physical interface, data processing and storage unit, CAN bus transceiver, CAN bus control And an external crystal, the CAN bus physical interface is connected to the electric vehicle CAN bus, the CAN bus transceiver is connected to the CAN bus controller through CAN_H and CAN_L, and the CAN bus controller communicates with the main control through the SPI interface The board is connected, the data processing and storage unit processes the measured value, and centrally stores the real-time data and historical data collected by the device including the measured value, the state quantity, and the alarm event, and the CAN bus physical interface collects the electric vehicle in real time. The operating state and battery information, the operating state includes running speed and running mileage, and the battery information includes vehicle charging/discharging voltage, vehicle charging/discharging current, battery SOC, battery module temperature, maximum voltage of single battery, The lowest voltage of the single cell, the 3G/4G wireless communication module includes a 3G/4G communication chip, a real-time data interaction module and a real-time data timing module, and the 3G/4G communication chip is connected to the main control board through pins, The real-time data interaction module forwards the running status and battery information of the electric vehicle to the monitoring center, and receives the charging center to deliver the charging/ The power station site information, the electricity price information and the news service information, the time-keeping unit receives the synchronous clock timing instruction issued by the monitoring center to ensure the consistency of the device time in the area, and the GPS data receiving and processing module provides the navigation service and monitors the operation. Network, the navigation service includes destination retrieval, route viewing, simulated navigation and real navigation, real-time display of the power station in the operating area, distributed charging pile distribution position and electric vehicle operating state monitoring operation network through the map, and display including electric vehicle geography Status information of location, electric vehicle speed and remaining power, schematic diagram of hardware deployment of monitoring system of electric vehicle replacement system, monitoring workstation of power distribution monitoring system, server, printer, distribution system communication management machine and power information collection terminal through local industry The Ethernet is connected to the network switch of the charging monitoring system. The network switch of the power distribution monitoring system is connected to the communication gateway of the superior system through the local industrial Ethernet, and the communication system of the power distribution system is connected to other communication links such as 3G/4G wireless network. Electrical system The communication gateway of the superior system is connected, and the power information collecting terminal is connected to the metering system and the communication gateway of the upper system through other communication links such as the 3G/4G wireless network, and the intelligent communication terminal of the electric vehicle battery replacement monitoring system passes the local industrial Ethernet and The network switch of the charging monitoring system is connected, and the electric vehicle battery replacing system comprises a first palletizing robot (608), a second palletizing robot (609) ferry robot (199), a four-column lifting machine (22), a ferry robot The traveling rail (198), the first conveying line (607) and the second conveying line (610), use the monitoring center computer to control, direct and guide the electric vehicle to replace the battery steps, and the video monitoring system video server passes the local industrial Ethernet It is connected with the communication gateway of the superior system, wherein the data server can store the historical data of the monitoring system, the front server can collect and parse relevant real-time data, and forward it to other computers, and the security monitoring workstation is used for monitoring and control of the video monitoring system, and the communication gateway Enables conversion between CAN bus and local industrial Ethernet The network switch has 24 ports, which can be divided into VLANs (Virtual Local Area Network) to realize communication between various subsystems. The electric vehicle vehicle device and the electric vehicle power station monitoring system hardware in Figure 1 pass Industrial Ethernet or other. After the network connection, the electric vehicle to be charged contacts the monitoring workstation (03) computer through the 3G/4G network, and finds the nearest battery replacement station. After the battery exchange station is reached, the driver of the vehicle turns the electric vehicle on and replaces the battery station. The four-column lift of the battery-changing system (21) The driver in the cab of the electric vehicle starts the computer-controlled remote monitoring and changing battery mode on the LCD screen of the electric vehicle on-board device. At this time, the monitoring station (03) changes the car through the network. The battery process is handed over to the monitoring station (01) or the monitoring station (02). The monitoring station (01) or the monitoring station (02) completes the entire process of replacing the battery until the vehicle leaves the four-post lift (22), and the monitoring station ( 01) The computer network of the monitoring station (02) and the monitoring station (03) is connected via a telecommunication network or an industrial Ethernet network. Together, the electric vehicle replacement station monitoring system includes the superior system, the power distribution monitoring system, the battery replacement monitoring system and the video monitoring system, and the local industrial Ethernet and GPRS/CDMA (General Packet) between the power distribution monitoring system and the superior system. Radio Service, General Packet Radio Access, Code Division Multiple Access, other communication link communication such as wireless network, communication between power distribution monitoring system and battery replacement monitoring system, video surveillance system and superior system Local industrial Ethernet communication, power distribution monitoring system, and battery replacement monitoring system are built on a unified software platform, and subsystem computer equipment is shared, taking into account network security protection and public security departments. For the video surveillance system access requirements, the video surveillance system is independently set up, and the information communication is realized through the communication gateway of the superior system and the charging monitoring system and the power distribution monitoring system. The monitoring system of the electric vehicle replacement station is divided into a measurement acquisition module, a signal acquisition module, and a control. The output module, the information management module, the measurement acquisition module, the signal acquisition module, and the control output module are connected to the information management module through the local industrial Ethernet, and the information management module is connected to the computer of the upper system through other communication links such as a 3G/4G/CDMA wireless network. The monitoring platform, wherein the measurement and acquisition module comprises a monitoring workstation (01) and a front server, the signal acquisition module comprises a monitoring workstation (02), a data server, a power information collecting terminal, a metering system, and the control output module comprises a printer and a power distribution system. The signal management module includes a network switch, a power distribution system communication management machine, a monitoring workstation (01), a monitoring workstation (02), a front server, a data server, a printer, a network switch, a power distribution system communication management machine, and a power information collecting terminal. Through local industry Ethernet communication, power distribution system communication management machine and power distribution system and communication gateway of superior system, power information collection terminal and metering system, and communication gateway of superior system all pass 3G/4G/CDMA wireless network, etc. The communication link communication, the measurement acquisition module, the signal acquisition module, and the control output module belong to a parallel relationship, wherein the measurement acquisition module collects the secondary current transformer signal and the secondary voltage transformer signal, and the signal acquisition module collects the remote signal, the switch signal, A series of signal quantities such as protection signal, alarm signal, accident signal and status signal. The two types of signals are transmitted to the information management module through the CAN bus. After the information management module interacts with the higher-level system, the control command is sent to the information management module by the superior system. And then transmitted to the control output module through the CAN bus. The battery replacement station monitoring system includes an intelligent communication terminal and an electric vehicle battery replacement system. The intelligent communication terminal and the electric vehicle battery replacement system are connected by a CAN bus, and the electric vehicle battery replacement system includes By the first palletizing robot (6 08), a second palletizing robot (609) ferry robot (199), a four-column lift (22), a first conveyor line (607) and a second conveyor line (610), a first palletizing robot (608), The second palletizing robot (609) ferry robot (199), the four-column lift (22), the first conveyor line (607) and the second conveyor line (610) are connected by a local industrial Ethernet, and the intelligent communication terminal is integrated. There is scheduling software, the scheduling software and the intelligent communication terminal are connected through a digital communication link, and the scheduling software issues control commands to the first palletizing robot (608), the second palletizing robot (609), and the first conveying through the intelligent communication terminal. Line (607) and second conveyor line (610), first palletizing robot (608), second palletizing robot (609), first conveyor line (607), second conveyor line (610) and four-column lifting The machine (22) has a built-in PLC (Programmable Logic Controller) program, which can control the entire replacement process of the first battery pack box (817) or the second battery box (823) of the electric vehicle. Bit 2B removes the electric vehicle first battery pack box (817) or the second battery box (823) placed on the ferry robot (199) Then, it is transported by the ferry robot (199), while the first palletizing robot (608), the second palletizing robot (609), the first conveying line (607), the second conveying line (610), and the four-column lifting The position of the machine (22), fault signal, module charger working state, temperature, fault signal, power, voltage, current, battery pack temperature, SOC, terminal voltage, current, battery connection status, battery fault and other signals pass through the intelligent communication terminal. Upload to the dispatching software, the electric vehicle battery replacement station monitoring system video monitoring system includes security monitoring workstation, ball machine, video server, ball machine and video server are connected through CAN bus and video signal line, video server and security monitoring workstation and superior The communication gateways of the system are connected by local industrial Ethernet. The dome camera can collect and replace the video of the power station and the perimeter security. The video information is uploaded to the video server through the CAN bus and the video signal line. The video server is responsible for uploading the signal to the security. Monitoring workstations and superior systems, superior systems and security monitoring workstations with alarms, controls, and diagrams Management, timing and other functions, including alarm categories including burglar alarm, illegal intrusion and screen change alarm, access control alarm, temperature and humidity alarm, image equipment fault alarm, etc., before alarm (at least 15 seconds), after alarm (at least 5 minutes) Video storage, long-term automatic loop recording storage can be set for monitoring points in important areas, and relevant alarm information of equipment such as power distribution system monitoring and charging facilities can be obtained through communication management machine to complete video linkage monitoring It cooperates with the intelligent equipment of the electric vehicle charging and replacing power station monitoring area to realize the anti-theft and fire prevention functions, and monitors the equipment, the site, the restroom, the duty room, the business window, etc., by the first column (13) and the second column (18). ), the third column (19), the fourth column (20), the cantilever beam (16), the beam (17), and the running board (15) form a four-post lift with a running board (15) ( 22) An opening (23) is provided on the beam between the first column (13) and the second column (18) to facilitate the ferry robot (199) to enter the interior of the four-column lift (22), in the third column ( 19) and the fourth column (20) is provided with a beam (17), first The second column (18), the third column (19) and the fourth column (20) of the column (13) are mounted on the moving frame (7) and move up and down with the moving frame (7) to lift the running board (15). ) to the appropriate position, the upper swash plate (21) and the running board (15) are connected to facilitate the electric vehicle (200) up and down four-column lift (22) of the running board (15), the lift The bottom of the fixed frame (1) is symmetrically provided with four or more rolling wheels, each of which is supported by a fixed frame (1), a power unit (2), a hydraulic cylinder (3), and a lifting chain (4). The detecting plate (5), the detecting switch (6), the moving frame (7), the sprocket seat (11) and the sprocket (12) are connected, and the strip-shaped detecting plate is fixedly fixed in the pile of the fixing frame (1) ( 5), the detecting plate (5) is provided with a plurality of notches, and the upper end of the moving frame (7) The detection switch (6) is arranged at the bottom, and the detection switch (6) is matched with the detection board (5). When the detection board (5) is within the detection range of the detection switch (6), the detection switch (6) can output a signal. The detecting plate (5) is provided with a notch. When the detecting switch (6) detects the notch, the detecting switch (6) does not output a signal, so reciprocating, the signals generated by the detecting switch (6) of each lifting column are all Connect the controller (8) through the data line and perform calculation, and simultaneously display the data calculated by the controller (8) through the data line to the display panel (9), and the upper end of the moving frame (7) is provided with a sprocket seat (11) And the sprocket (12), the sprocket (12) is equipped with a lifting chain (4), one end of the lifting chain (4) is connected to the moving frame (7), the other end is connected to the fixing frame (1), and one end of the hydraulic cylinder (3) The base of the fixing bracket (1) is connected, and the other end is connected with the sprocket seat (11). When the hydraulic cylinder (3) moves up and down, the sprocket (12) on the sprocket seat (11) is rotated, and the lifting chain is attached (4). When the mobile rack (7) is lifted and lowered, the detecting board (5) and the detecting switch (6) work and generate electric signals, and part of the hardware of the electric vehicle battery replacing system is moved by the ferry robot (198) Ferry robot (199), four-column lift (22), background monitoring system (407), first conveyor line (607), second conveyor line (610), first palletizing robot (608) and second palletizing The robot (609) is composed of a first battery pack box (817) and a second battery box (823) disposed on the chassis of the electric vehicle (200), and the swing robot (199) includes three directions of an X-axis, a Z-axis, and an R-axis. The degrees of freedom are, in order, a linear running mechanism (201), a hydraulic lifting mechanism 202) and an angle correcting mechanism (203). The linear running mechanism (201) is located at the bottom of the quick change robot (199), including the pulley (301), and the universal direction. Coupling (204), belt (302), first servo motor (303), first reducer (304) and base (305), etc., the front two pulleys are robotic power units, and a group of 10,000 Connected to the coupling, the two pulleys at the rear end are driven devices, and the first servo motor (303) is connected with the supporting first reduction gear (304), and the first reduction gear (304) and the pulley are realized by the belt ( 301) power transmission, the driving pulley (301) travels straight on the sliding rail, and three photoelectric switches are arranged at the lower end of the linear running mechanism (301), which are sequentially and the original blocking piece Cooperate with the two front and rear limit plates to provide the PLC control system (401) in-position switch signal, realize the robot origin search and reset, and prevent its cross-border operation. The front limit block, the origin block and the rear limit block are laid along the edge. The linear slide rails are arranged in sequence, the original position flap is located in the middle of the front and rear limit flaps, and the hydraulic lift lifting mechanism (202) is located at the upper part of the base of the linear travel mechanism (201), including two hydraulic telescopic cylinders, a first-stage hydraulic cylinder (306) Located in the lower part of the secondary hydraulic cylinder (307), after the first hydraulic cylinder (306) is fully extended, the secondary hydraulic cylinder (307) performs telescopic movement, and the first and second hydraulic cylinders are respectively welded to the beam and arranged to prevent rotation. The beam and the anti-rotation beam cooperate with two anti-rotation holes on the welding beam of the first-stage hydraulic cylinder and the welding beam of the base to prevent the rotation of the battery during the lifting process with the hydraulic mechanism (202), and the other side of the first and second hydraulic cylinders Each is provided with a rack (205), an encoder (206), a flap and a first proximity switch, the flap is matched with the proximity switch, and the first proximity switch is disposed at the bottom end of the welding beam of the first-stage hydraulic cylinder, when the first stage The hydraulic cylinder (306) is fully extended, the flap The switching signal of the proximity switch is triggered, the secondary hydraulic cylinder (307) starts to telescope, and the rack (205) on the side of the secondary hydraulic cylinder (307) is meshed with the encoder (206) through the gear, and the encoder (206) is calculated. The number of revolutions obtains the rising height of the secondary hydraulic cylinder (307), the encoder (206) is connected to the PLC control system (401), the PLC control system 401) starts high-speed counting, and the angle correcting mechanism (203) is located at the hydraulic lifting mechanism (202). The upper end includes a mounting flange (308), a large and small gear (309), a second servo motor (310), and a second reducer (311). The secondary hydraulic cylinder (307) is mounted with a mounting method. Lan (308), second servo motor (310), second reducer (311), large and small gears (309) are sequentially arranged on the mounting flange (308), and the upper end of the second servo motor (310) is mounted with a pinion gear, The large hydraulic gear (307) is mounted with a large gear, the large and small gears are mechanically meshed, and the second servo motor (310) is driven to rotate, the lower end of the large gear is arranged with a blocking piece, and the mounting flange (308) is arranged with three second proximity switches. The large gear sequentially triggers the rotation left and right limits and the original electric reset switch signal during the rotation process to ensure large teeth. The wheel rotates within a prescribed range, and a battery tray (312) is mounted on the upper end of the angle correcting mechanism (203). The center of rotation of the large gear is concentric with the center of gravity of the battery pack tray (312), and four battery pack trays (312) are installed. The limiting block (313) is coupled with the four protrusions on the bottom of the battery compartment of the electric vehicle to be replaced (200), so that the position of the outer casing of the battery can be finely adjusted and reliably fixed, and the ultrasonic distance measuring sensor is mounted on the battery pack tray (312) ( 408) and DMP sensor (409), the ultrasonic ranging sensor (408) is used to measure the distance between the battery tray (312) to the chassis of the passenger car to be replaced, the DMP sensor (409) and the chassis to be replaced by the vehicle to be replaced The reflective board cooperates to search for the position of the calculation target of the reflector, and obtain the horizontal angle deviation between the ferry robot (199) and the electric vehicle to be replaced (200). The linear traveling mechanism (201) and the hydraulic lifting mechanism (202) are linked together. When the ferry robot (199) travels straight and vertically to the set position, the angle correcting mechanism (203) starts to operate, and only the battery tray (312) on the angle correcting mechanism (203) achieves the desired effect, and the hydraulic lifting mechanism ( 202) restart the action, straight line The mechanism (201) and the angle correcting mechanism (203) are driven by a servo motor, and the driving motor is connected with a corresponding encoder. Each encoder is connected with a corresponding driver, and the driver sends a position pulse signal to the servo motor, and the encoder rotates the collected motor. The information is transmitted back to the drive to form a position mode full closed loop control, and the swinging robot (199) control system block diagram (the (401) is the core part of the swing robot (199) motion control, including the touch screen (402), wireless communication Module (403), Omron PLC controller (404), A/D module (405), D/A module (406), etc., wireless The communication module (403) communicates with the touch screen (402) through the serial port RS (485), the OMRON PLC controller (404) communicates with the touch screen (402) through the serial port RS (232), and the touch screen (402) passes the industrial Ethernet and the background monitoring system. (407) Communication, ultrasonic ranging sensor (408), DMP sensor (409), hydraulic proportional flow valve (410), each encoder (411), proximity switch (412), photoelectric switch (413), etc. and PLC control system (401) real-time data transmission communication, the ultrasonic ranging sensor (408) and the DMP sensor (409) are connected with the A/D module (405) in the PLC control system (401), and the analog signal collected by the sensor is converted into a digital signal. And transmitted to the PLC control system (401), the hydraulic proportional flow valve (410) is connected with the D/A module (406) in the PLC control system (401), and converts the digital control signal of the PLC control system (401) into analog flow. The control information realizes the speed control of the hydraulic lifting mechanism (202), the encoder is connected with the A/D module (405) of the PLC control system (401), and the encoder (411) collects the secondary hydraulic cylinder (307) one side. The rising height of the rack is calculated to obtain the lifting distance of the secondary hydraulic cylinder (307), and the data is fed back to the PLC control. The system (401) forms a full closed loop control during the lifting process, and the proximity switch (412) and the photoelectric switch (413) are connected with the OMRON PLC controller (404) in the PLC control system (401), and the ferry robot is transmitted in real time (199). The respective limit position information of the degree triggers the interrupt mode and the high-speed counting mode of the PLC control system (401), realizing accurate and fast action of the swing robot (199) within the prescribed range, the first palletizing robot (608) and the first The structure of the second palletizing robot (609) comprises a base (501), a frame (502), an arm mechanism and a gripper (503), and a drive mechanism for driving the arm mechanism is provided in the frame (502), the frame ( 502) rotating on the base (501) by the rotation of the θ axis (504), and the rotation of the whole machine about the θ axis (504) by the AC servo motor and the reducer, the driving mechanism including a vertical portion and a horizontal portion, both of which include Motor (505), drive wheel (506), driven wheel (507), timing belt (508), ball screw (509) and moving rail (510), drive wheel (506) and motor (505) are connected, synchronized The belt (508) is sleeved on the driving wheel (506) and the driven wheel (507), and the driven wheel (507) is coaxially fixed with the ball screw (509), and is moved. The slide rail (510) is screwed to the ball screw (509), the ball screw (509) of the vertical portion is vertically disposed, the ball screw (509) of the horizontal portion is horizontally disposed, and the motor (505) and the drive wheel (506) are arranged. Attachments such as the driven wheel (507) and the timing belt (508) are also arranged correspondingly. The arm mechanism includes a forearm (511), a rear arm (512), and a parallel arm (513) parallel to the rear arm (512), the forearm The front end of (511) is rotatably connected to the gripper (503) via the P-axis (522), the rear end end is rotatably coupled to the rear arm (512) via the J-axis (514), and the other end of the rear arm (512) is passed through the Z-axis. (515) is rotatably coupled to the moving portion (510) of the vertical portion, the upper end of the parallel arm (513) is rotatably coupled to the forearm 11 via the rotating shaft (521), and the lower end is passed through the R-axis (516) and the moving portion of the horizontal portion (510) Rotating connection, rotating shaft (521) is also connected with a turntable (520), the turntable (520) is triangular, the rotating shaft (521) is disposed at one end of the turntable (520), and the other ends of the turntable (520) are respectively connected and connected There are a front pull rod (518) and a rear pull rod (519), and the other ends of the front pull rod (518) and the rear pull rod (519) are respectively connected to the gripper (503) and the cylinder (517), and the three-dimensional scanning is installed on the (3). Recognizer (523) A three-dimensional scanning identifier (523) is mounted on one side of the gripper (503), and the three-dimensional scanning identifier (523) and the control device have an information communication connection for performing three-dimensional recognition and positioning on the grasping object. The 3D scanning identifier is set (523) on the side of the connecting frame parallel to the direction of the moving direction of the gripper (503). The robot uses ABB's industrial robot IRB660_180/3.15, and the 3D scanning identifier uses the SICK LMS400-2000 model. a palletizing robot (608), a second palletizing robot (609) ferry robot (199), a four-column lift (22), a rail track (198), a first conveyor line (607), and a second conveyor line (610) The electric vehicle battery replacement system, the first conveyor line (607) transports the unloaded electric vehicle first battery pack box (817) or the second battery box (823), and the second conveyor line (610) is transported. The first battery pack (817) or the second battery pack (823) of the battery-filled electric vehicle, the working area of the first transport line (607) and the second transport line (610) are located in the first palletizing robot (608) Within the working radius, the first pallet with the four-column lift (22) and the ferry robot (199) The first conveying line (607) and the second conveying line (610) matched by the person (608) may be arranged in parallel or in a row arrangement of 2 to 10, or only (1) conveying line (607) or ( 1) The second conveying line (610) is matched with the four-column lifting machine (22) and the first robot (608) of the ferry robot (199), and the first conveying line (607) and the second conveying line (610) The system consisting of a four-column lift (22), a ferry robot (199), and a first palletizing robot (608) is 1 to 80 sets for the first conveyor line (607) and the second conveyor line (610). The second palletizing robot (609) for palletizing and disassembling is 1 to 20, and the replacement procedure of the electric vehicle battery replacement system: the first step, the electric vehicle (200) to be charged, the driver uses the electric vehicle in-vehicle device to pass The 3G/4G network is connected with the monitoring workstation (03) to find the nearest electric vehicle battery pack replacement workshop. After reaching the electric vehicle battery pack replacement workshop, the electric vehicle is driven on a four-post lift (22), electric vehicle ( 200) The driver in the cab is activated on the LCD screen of the electric vehicle on-board device and can be controlled remotely by the monitoring station (03) In the second step, the monitoring workstation (03) controls the battery replacement process of the electric vehicle (200) to the monitoring station (01) through the network. At this time, the monitoring station (01) starts remote monitoring and starts the electric system. The first electric jack (828) in the battery compartment automatic replacement system (815) under the chassis of the car (200) is ejected in the electric steam The second battery pack box (823) under the chassis of the vehicle (200) falls on the top battery tray (312) of the ferry robot (199) waiting under the four-column lift (22), and the ferry robot (199) carries the second battery. The group box (823) walks along the rail of the ferry robot walking rail (198) to the position of the station A, and is accurately positioned. The third step, the first palletizing robot (608) puts the ferry robot at the station A position (199). The second battery pack box (823) on the top battery tray (312) is grasped and placed in the station seven H, and the unloaded second battery pack box (823) is input by the first transport line (607). Go to the second palletizing robot (609) to grab the position of the station five E, and locate accurately. The fourth step, the second palletizing robot (609) grabs the second battery pack box that is depleted at the station five E position. After (823), move to the station six F position for palletizing. After the code is finished, the manual forklift will fork the second battery pack box (823) that is depleted. The fifth step is full of electricity. After the second battery pack box (823) is moved by the forklift to the station 4D, the second palletizing robot (609) disassembles the second battery pack box (823) into the station 3C, and the second battery pack box (823) With the second lose The line (610) flows to the position of the station B and is positioned accurately. In the sixth step, the ferry robot (199) walks along the ferry robot walking rail (198) and enters the station A, the first palletizing robot (608). Grab the second battery pack box (823) to the station B position and place it on the top battery tray (312) of the waiting ferry robot (199) at the station A position, due to the single second battery pack box ( 823) The transmission on the second conveyor line (610) can be accurately positioned, so that the three-dimensional scanning identifier does not work, and the first palletizing robot (608) grabs the second battery pack box (823) of the electric vehicle on the front conveying line. The height is judged by the photoelectric switch. The seventh step, the ferry robot (199) walks along the rail (198) orbiting the four-column lift (22) along the ferry robot, and the ferry robot (199) completes the X/Y direction positioning. The rising process uses the difference between the output of the ultrasonic distance measuring sensor and the output of the hydraulic mechanism encoder. After the PID controller is used as the input of the PID controller, the PID control is performed. When the hydraulic mechanism is lifted to the desired position, the positioning is stopped and the positioning is accurate. By monitoring station (01) or supervisor The station (02) issues an instruction to the ferry robot (199) to start installing the second battery pack box (823) of the electric vehicle, and the ferry robot (199) pushes the second battery pack box (823) of the electric vehicle to the battery compartment automatic replacement system ( 815) The electric vehicle second battery pack box (823) is placed above, and the monitoring computer (01) controller activates the first electric jack (28) to fix the second battery pack box (823) to the battery box automatic replacement system (815). On the eighth step, the monitoring workstation (01) starts remote monitoring, and the second electric jack (829) in the battery compartment automatic replacement system (815) under the chassis of the electric vehicle (200) is activated to pop up in the electric vehicle (200). The first battery pack box (817) under the chassis falls on the top battery tray (312) of the ferry robot (199) waiting under the four-column lift (22), and the ferry robot (199) carries the first battery pack box ( 817) Walking along the ferry robot walking rail (198) track to the station A position, accurate positioning, the ninth step, the first palletizing robot (608) puts the topping battery of the ferry robot (199) at the station A position The first battery pack box (817) above the tray (312) is grasped and placed at the station seven H, The first battery pack (817) of the lost power is input from the first conveyor line (607) to the second palletizing robot (609) to capture the position of the station E, and is positioned accurately, the tenth step, the second After the palletizing robot (609) grabs the first battery pack box (817) that is depleted at the station five E position, it moves to the station six F position for palletizing, and after the code is finished, the manual forklift will lose the entire truck. The electric first battery pack box (817) is forked, and the eleventh step, after the whole fully charged first battery pack box (817) is moved by the forklift to the station four D, the second palletizing robot (609) will The second battery pack box (823) is disassembled into the station 3C, and the first battery pack box (817) flows to the station 2B position along with the second transport line (610) and is positioned accurately, the twelfth step, the ferry The robot (199) walks along the ferry robot walking rail (198) into the station A, and the first palletizing robot (608) to the station 2B position grabs the first battery box (817) and puts it into the work. On the top battery tray (312) of the waiting ferry robot (199) in position A, the three-dimensional scanning recognition is recognized because the single second battery pack (823) can be accurately positioned on the second transport line (610). The device does not work, the height of the first battery pack box (817) of the electric vehicle on the front conveyor line of the first palletizing robot (608) is judged by the photoelectric switch, and the thirteenth step, the ferry robot (199) follows the ferry Under the robot walking rail (198) orbiting four-column lift (22), after the swing robot (199) completes the X/Y direction positioning, the robot rises the output of the ultrasonic distance measuring sensor and the output of the hydraulic mechanism encoder. After the calculation, as the input of the PID controller, the proportional flow valve is PID-controlled. When the hydraulic mechanism is lifted to the expected position and stops rising, the positioning is accurate, and the monitoring station (01) or the monitoring station (02) sends the ferry robot (199). Beginning to install the instruction of the first battery pack box (817) of the electric vehicle, the ferry robot (199) pushes the first battery pack case (817) to the first battery pack case (817) above the battery case automatic change system (815). Positioning, the monitoring computer (01) controller activates the second electric jack (829) to fix the first battery pack (817) to the battery compartment automatic replacement system (815), and the fourteenth step, the battery replacement process ends. Four-post lift 22) Falling, the driver drives the electric vehicle (200) away from the electric vehicle battery pack replacement workshop, the fifteenth step, the monitoring station (01) issues the battery replacement completion signal, and the entire battery replacement system completes the origin reset, in Figure 16 and In 11th, the battery compartment automatic replacement system (815) is installed on the chassis of the electric vehicle (200), in the battery compartment automatic replacement system (815), in the battery compartment automatic replacement system (815), a vacuum soundproofing board ( 816) is connected to a cooling box (818), and a first battery pack box (817) is installed in the cooling box (818) Below, a first battery case upper fixed damper plate (821) is mounted inside the first battery pack case (817), and a first damper spring (819) is mounted on the first battery case upper fixed damper plate ( 821) and between the first battery pack upper cover (820), one first battery pack (822) is mounted on the first battery case upper fixing and the shock plate (821) and the first battery case lower fixed and minus Between the shock plates (832), the third shock absorbing spring (834) is mounted between the lower portion of the first battery case and the shock plate (832) and the bottom plate of the first battery case (833), one second The electric jack (829) is mounted under the cooling box (818), and a second jack front bracket (830) is mounted with the second shock absorbing rubber (831), and a second damping rubber (831) functioning to fix the first battery pack case (817) in contact with the first battery pack case (817), one battery case intermediate bracket (836) and the third shock absorbing rubber (835) and the fourth shock absorbing The rubber (837) is mounted together, one second battery pack (823) is mounted under the cooling box (818), and one second battery pack (824) is mounted on the second battery pack upper fixed shock plate (825) And a shock absorbing plate at the bottom of the second battery case Between (841), the second damper spring (827) is mounted between the second battery case upper fixed damper plate, 825) and the second battery case upper sealing plate (826), and the fourth damper spring (840) Installed in a first electric jack (828) installed under the cooling box (818), the second jack front bracket (843) and the first insulating damping rubber (842) are installed together, the first insulation The damping rubber (842) is fixed after contact with the second battery pack case (823).
The electric vehicle battery pack replacing system composed of a plurality of robots of the computer Internet according to claim 1, wherein: the first palletizing robot (608), the second palletizing robot (609), the ferry robot (199), and the four pillars An electric vehicle battery replacement system comprising a lifter (22), a rail track (198), a first conveyor line (607) and a second conveyor line (610), the first conveyor line (607) transporting the unloaded power loss The first battery pack box (817) or the second battery box (823) of the electric vehicle, and the second transport line (610) transports the first battery pack case (817) or the second battery case (823) of the electric vehicle filled with the battery, The working area of one of the conveying line (607) and the second conveying line (610) is located within the working radius of the first palletizing robot (608), and the first pallet of the four-column lifting machine (22) and the ferry robot (199) The first conveying line (607) and the second conveying line (610) of the robot (608) may be arranged in parallel or in a row of 2 to 10, or may be used only by (1) conveying line (607) or (1). The second conveyor line (610) is matched with the four-column lift (22) and the first robot (608) of the ferry robot (199), and the first conveyor line (6) 07) The system consisting of a four-column lift (22), a ferry robot (199), and a first palletizing robot (608) matched with the second conveyor line (610) is 1 to 80 sets, which is the first conveyor line (607). The second palletizing robot (609) that is matched with the second conveyor line (610) for palletizing is 1 to 20.
The electric vehicle battery pack replacing system composed of a plurality of robots of the computer Internet according to claim 1, wherein: the first palletizing robot (608), the second palletizing robot (609), the ferry robot (199), and the four pillars An electric vehicle battery replacement system consisting of a lifting machine (22), a ferry robot walking rail (198), a first conveying line (607) and a second conveying line (610), and the first conveying line (607) transports the unloaded loss Electric electric vehicle first battery pack box (817) or second battery box (823), second transport line (610) transports battery-filled electric vehicle first battery pack box (817) and second battery pack (823) The working area of the first conveying line (607) and the second conveying line (610) is located within the working radius of the first palletizing robot (608), and is first with the four-column lifting machine (22) and the ferry robot (199) The first conveying line (607) and the second conveying line (610) of the palletizing robot (608) may be arranged in parallel or in a row, or may be used only by one conveying line (607) or one second. The conveyor line (610) is matched with the four-column lift (22) and the first robot (608) of the ferry robot (199), and the first loser The system consisting of a four-column lifter (22), a ferry robot (199) and a first palletizing robot (608) supporting the line (607) and the second conveying line (610) is one set, which is the first conveying line ( 607) The second palletizing robot (609) that is matched with the second conveying line (610) for palletizing is one.
The electric vehicle battery pack replacing system composed of a plurality of robots of the computer Internet according to claim 1, wherein: the first palletizing robot (608), the second palletizing robot (609) ferry robot (199), and the four-column lifting Electric vehicle battery replacement system consisting of a lift (22), a ferry robot walking rail (198), a first conveying line (607) and a second conveying line (610), and the first conveying line (607) transports the unloaded loss The electric vehicle first battery pack box (817) or the second battery box (823), and the second transport line (610) transports the battery-filled electric vehicle first battery pack case (817) and the second battery case (823), The working areas of the first conveying line (607) and the second conveying line (610) are located within the working radius of the first palletizing robot (608), and the first yard of the four-column lifting machine (22) and the ferry robot (199) The first conveying line (607) and the second conveying line (610) of the cymbal robot (608) may be arranged in parallel or in a row, or only one conveying line (607) or one second conveying. The line (610) is matched with the four-column lift (22) and the first robot (608) of the ferry robot (199), and the first transport (607) A system consisting of a four-column lifter (22), a ferry robot (199), and a first palletizing robot (608), which is associated with the second conveyor line (610), is a first conveyor line (607). The second palletizing robot (609) that is matched with the second conveyor line (610) for palletizing is one.