Battery quick-change system for an electric passenger car chassis having a cartesian coordinate robot
One type of battery quick-change system of electric passenger car chassis based on the Cartesian coordinate robot, including electric changing platform, and this platform, quick-change robot and charging rack along the same straight line; the quick-change robot comprises the battery tray and the Cartesian coordinate robot of four degrees of freedom, the Cartesian coordinate robot is associated with the X-axis driving motor, the Y-axis driving motor, the Z-axis up-down motor, the battery tray is connected with the R-axis driving motor; each of driving motors is connected with the corresponding encoder, and each of encoders is connected to the corresponding drive; there are equipped with a distance measuring sensor on the battery tray, and the corresponding limit switches on the both ends of each two-track rack; the drive, each limit switch and the distance measuring sensor of each driving motor are connected with the control system.
1. A battery quick-change system for an electric passenger car chassis, comprising:
a battery changing platform;
a quick-change robot; and
a charging rack,
wherein:
the battery changing platform is collinear with the quick-change robot and the charging rack in an X-direction extending horizontally;
the quick-change robot comprises a battery tray and a Cartesian coordinate robot with four degrees of freedom,
the Cartesian coordinate robot comprises an X-axis linear positioning system, a Z-axis up-down platform, a Y-axis telescopic platform and a R-axis angle correction system,
the X-axis linear positioning system comprises an X-axis two-track rack that enables movement in the X-axis direction, the Z-axis up-down platform comprises a Z-axis two-track rack and a Y-axis two-track rack, and the R-axis angle correction system comprises an R-axis driving motor,
two ends of the X-axis two-track rack extend in the X-axis direction to the battery changing platform and charging rack, respectively,
the Z-axis two-track rack is connected with the X-axis two-track rack and moves vertically in a Z-axis direction,
the Y-axis two-track rack moves horizontally in a Y-axis direction that is perpendicular to the X-axis direction,
the Y-axis two-track rack is mounted on the Z-axis two-track rack,
each two-track rack has two parallel running tracks over which a part of the Cartesian coordinate robot moves,
the battery tray is connected with the R-axis driving motor,
an X-axis driving motor is provided on the X-axis two-track rack, a Y-axis driving motor is provided on the Y-axis two-track rack, a Z-axis up-down motor is provided on the Z-axis two-track rack, and the R-axis driving motor is provided on the Y-axis two-track rack,
each of the X-axis driving motor, Y-axis driving motor, Z-axis up-down motor and R-axis driving motor is connected with a corresponding encoder, and each of the encoders is connected to a corresponding driver,
the battery tray is equipped with a distance measuring sensor,
a limit switch is installed on each end of each two-track rack,
each driver, each limit switch and the distance measuring sensor are connected with a control system,
the X-axis driving motor and the Z-axis up-down motor move in a linked manner,
the Y axis-driving motor drives only once the X-axis driving motor and the Z-axis up-down motor reach a set position, and
the R-axis driving motor drives only once the Y-axis driving motor moves to a specified position.
2. The battery quick-change system according to claim 1 , wherein the X-axis driving motor, the Y-axis driving motor, the Z-axis up-down motor and the R-axis driving motor are all stepping motors, which are equipped with gears in conjunction with the corresponding two-track racks.
3. The battery-quick-change system according to claim 1 , wherein the X-axis two-track rack and the Z-axis two-track rack, the Z-axis two-track rack and the Y-axis two-track rack are perpendicularly connected with each other through a respective slider.
4. The battery quick-change system according to claim 1 , wherein the control system comprises:
a host computer;
a motion control module connected with the host computer;
a battery management module;
a battery identification module; and
a detection module of battery position for detecting battery position, wherein
the motion control module comprises a PLC controller and an operating handle,
the PLC controller is connected to each limit switch and also to the corresponding encoder though each driver,
the PLC controller is connected with an emergency stop switch,
the PLC controller is in communication with the host computer via a CAN Bus,
the operating handle is connected with the host computer, and
the detection module of battery position is in connection with the distance measuring sensor.
5. The battery quick-change system according to claim 4 , wherein the battery identification module is connected with an RFID Reader.
6. The battery quick-change system according to claim 4 , wherein the distance measuring sensor is a laser distance measuring sensor, which is connected with the host computer through the detection module of battery position via the CAN Bus.
7. The battery quick-change system according to claim 4 , wherein the detection module of battery position comprises two sensors that determine the battery position, which are mounted on the battery tray to cooperate with a reflective device provided on a battery charging station.
8. The battery quick-change system according to claim 4 , wherein the host computer is in connection with the battery management module, the PLC controller, the battery identification module, the detection module of battery position and the operating handle via the CAN Bus.
9. The battery quick-change system according to claim 1 , wherein the battery changing platform is equipped with a V-shaped stop bit.