CN103153721A - Battery-replacing robot - Google Patents

Battery-replacing robot Download PDF

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Publication number
CN103153721A
CN103153721A CN2012800031795A CN201280003179A CN103153721A CN 103153721 A CN103153721 A CN 103153721A CN 2012800031795 A CN2012800031795 A CN 2012800031795A CN 201280003179 A CN201280003179 A CN 201280003179A CN 103153721 A CN103153721 A CN 103153721A
Authority
CN
China
Prior art keywords
battery
orienting lug
guide rail
disposed
revolving member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2012800031795A
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Chinese (zh)
Other versions
CN103153721B (en
Inventor
矢泽隆之
中岛弘登
柴真砂
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Sankyo Corp
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Nidec Sankyo Corp
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Filing date
Publication date
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Publication of CN103153721A publication Critical patent/CN103153721A/en
Application granted granted Critical
Publication of CN103153721B publication Critical patent/CN103153721B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0461—Removal or replacement of the energy storages from the side
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/143—Busses

Abstract

The present application provides a battery-replacing robot capable of appropriate replacing a battery in a vehicle even if said battery is located at a comparatively low point in the vehicle. Said robot is provided with: a columnar member (64) that holds a battery insertion/removal mechanism, which removes and inserts batteries, such that said mechanism can be raised and lowered; a rotating member (85) to which the columnar member (64) is affixed; a guide rail (94) that guides said rotating member (85); guide blocks (95) that engages with said guide rail (94); a sliding member (87) to which the rotating member (85) is attached; a guide rail that guides said sliding member (87); and a guide block (102) that engages with said guide rail. In this battery-replacing robot, some guide blocks (95A and 95E) are disposed below the columnar member (64) and other guide blocks (95B to 95D, 95F, and 95G) are disposed near the top of another guide block (102).

Description

The battery altering robot
Technical field
The present invention relates to a kind of battery altering robot for the battery that is installed in vehicle is changed.
Background technology
In the past, a kind of battery replacement device (for example with reference to patent documentation 1) for the battery that is installed in electronic bus is changed had been proposed.The battery replacement device that patent documentation 1 is put down in writing comprises: for the battery tray of battery installing; Make the vertical movement device of battery tray lifting; For battery pallet and the installing of vertical movement device and revolvable rotation platform; And the parallel platform that supplies the rotation platform installing and can move in the horizontal direction.
The prior art document
Patent documentation
Patent documentation 1: the special table of Japanese Patent 2008-520173 communique
Summary of the invention
Invent technical matters to be solved
In the situation that electronic bus, general downside at the seat is equipped with the resettlement section of battery.That is, in the situation that electronic bus, battery is installed in lower position.Therefore, in the situation that change the battery of electronic bus, need to carry out in lower position extracting or inserting of battery.
Therefore, even if the battery altering robot that provides a kind of lower position at vehicle to be equiped with battery, also can to change the battery that is installed in vehicle rightly is provided technical matters of the present invention.
The technical scheme that the technical solution problem adopts
In order to solve the problems of the technologies described above, battery altering robot of the present invention is used for the battery that is installed in vehicle is changed, it is characterized in that, when vehicle and battery altering robot direction in opposite directions are made as fore-and-aft direction, and will roughly the direction of quadrature be made as left and right directions with fore-and-aft direction and above-below direction the time, the battery altering robot comprises: battery plug mechanism, this battery plug mechanism carry out battery from vehicle extract and/or battery towards the insertion of vehicle; Lifting mechanism, this lifting mechanism make the lifting of battery plug mechanism; Rotating mechanism, this rotating mechanism with above-below direction for battery plug mechanism and lifting mechanism are rotated; And horizontal mobile mechanism, this horizontal mobile mechanism makes battery plug mechanism, lifting mechanism and rotating mechanism move up at right and left, and lifting mechanism comprises: lift component, this lift component moves up at upper and lower together with battery plug mechanism; And cylindrical component, this cylindrical component is held in the energy lifting with lift component, and rotating mechanism comprises: revolving member, this revolving member face side thereon are fixed with cylindrical component and can rotate; Rotate guide rail, this rotation guide rail is disposed at the lower face side of revolving member, and revolving member is guided on rotation direction; And a plurality of rotation orienting lugs, these a plurality of rotation orienting lugs are disposed at the lower face side of revolving member, a plurality of rotation orienting lugs merge and can relatively move along rotating guide rail with the rotation guide rail card, horizontal mobile mechanism comprises: sliding component, upper surface side at this sliding component is equipped with revolving member in the mode that can rotate, upper surface side at sliding component disposes the rotation guide rail and rotates orienting lug, and sliding component can move up at right and left; Straight moving guide rail, this directly moves guide rail and is disposed at the lower face side of sliding component, and sliding component is guided on left and right directions; And a plurality of straight action-oriented pieces, these a plurality of straight action-oriented pieces are disposed at the lower face side of sliding component, a plurality of straight action-oriented pieces merge and can relatively move along straight moving guide rail with straight moving guide rail card, in rotating mechanism, as rotating orienting lug, comprise: at least one first rotates orienting lug, this first rotate orienting lug be disposed at when extracting and/or insert battery the downside of cylindrical component or downside near; And at least one second rotates orienting lug, this second rotate orienting lug be disposed at when extracting and/or insert battery the upside of straight action-oriented piece or upside near.
In battery altering robot of the present invention, when extracting or insert battery, at least one first rotate orienting lug be disposed at the downside of cylindrical component or downside near.Therefore, when extracting or insert battery, equipped with battery in battery plug mechanism and cylindrical component is applied larger load, but when extracting or insert battery, can with first of the lower face side that is disposed at revolving member rotate orienting lug and rotate guide rail directly bear the cylindrical component that puts on the upper surface side that is fixed on revolving member than heavy load.Therefore, in the present invention, even if make the revolving member attenuation reduce the rigidity of revolving member, also can prevent the distortion of revolving member.That is, in the present invention, can make the revolving member slimming.
In addition, the load that is passed to revolving member from cylindrical component is dispersed and is passed to a plurality of rotation orienting lugs, but in battery altering robot of the present invention, when extracting or insert battery, at least one second rotate orienting lug be disposed at the upside of straight action-oriented piece or upside near, therefore, can directly bear the load that is dispersed the second rotation orienting lug that is passed to the upper surface side that is disposed at sliding component with straight action-oriented piece and the straight moving guide rail of the lower face side that is disposed at sliding component.Therefore, in the present invention, even if make the sliding component attenuation reduce the rigidity of sliding component, distortion that also can the anti-skidding member.That is, in the present invention, can make the sliding component slimming.
Like this, in the present invention, can make revolving member and sliding component slimming.Therefore, in the present invention, can will be disposed at the battery plug mechanism of upside of revolving member and sliding component be reduced to lower position, even if be equiped with battery at the lower position of vehicle, also can extract rightly or insert the battery that is installed in vehicle with battery plug mechanism.That is, in the present invention, even if be equiped with battery on the lower position of vehicle, also can change rightly the battery that is installed in vehicle.
In the present invention, comparatively it is desirable to, second rotates orienting lug is disposed between a plurality of straight action-oriented pieces along left and right directions when extracting and/or insert battery.If the employing said structure can utilize straight action-oriented piece and straight moving guide rail in the both sides of left and right directions, bearing of sliding component to be passed to the second part of effect of rotating the load of orienting lug and support.Therefore, the distortion of anti-skidding member effectively.
In the present invention, comparatively it is desirable to, directly moving guide rail is disposed between a plurality of rotation orienting lugs along fore-and-aft direction when extracting and/or insert battery.If the employing said structure can be passed to bearing of sliding component the partial configuration of effect of the load of rotating orienting lug in the both sides of straight moving guide rail on fore-and-aft direction.Therefore, the situation that the part that is passed to the effect of the load of rotating orienting lug with bearing of sliding component concentrates on the straight moving side of guide rail on fore-and-aft direction relatively, distortion that can the anti-skidding member.
In the present invention, comparatively it is desirable to, rotate orienting lug and be fixed in revolving member, rotate guide rail and be fixed in sliding component.If the employing said structure rotates orienting lug and rotates together with revolving member.That is, the first rotation orienting lug rotates together with revolving member.Therefore, even if revolving member rotates, also can rotate orienting lug and rotate guide rail and directly bear the load that puts on cylindrical component with first.
In the present invention, comparatively it is desirable to, rotating mechanism comprises the drive source that revolving member is rotated, and drive source is disposed at the radial outside of revolving member.If the employing said structure, downside or the upside at revolving member do not dispose drive source, therefore, can make the rotating mechanism slimming.Therefore, battery plug mechanism can be reduced to lower position.
In the present invention, comparatively it is desirable to, rotating mechanism comprises: as the electrical motor of drive source; Be fixed in the profile of tooth belt wheel of the output shaft of electrical motor; And the flat-toothed belt that is set up in profile of tooth belt wheel and revolving member, face of the formation tooth section of flat-toothed belt and the outer peripheral face butt of profile of tooth belt wheel, another smooth face of flat-toothed belt and the outer peripheral face butt of revolving member.If the employing said structure need not the outer peripheral face formation tooth section at revolving member, therefore, can simplify the structure of revolving member.In addition, if adopt said structure, can be effectively the power of electrical motor be passed to flat-toothed belt via the profile of tooth belt wheel.
In the present invention, comparatively it is desirable to, the outer peripheral face of revolving member is fixed in the part of flat-toothed belt.If the employing said structure even if do not form tooth section at the outer peripheral face of revolving member, can prevent that also flat-toothed belt from sliding, thereby the power of electrical motor can be passed to revolving member reliably on the outer peripheral face of revolving member.
In the present invention, for example battery plug mechanism comprises movable part, the direction that this movable part can reach away from vehicle towards the direction near vehicle moves, and move towards the direction near vehicle when extracting and/or insert battery in order to carry out extracting and/or inserting of battery, lifting mechanism comprises two cylindrical components that are disposed at respectively with the both end sides of the first direction of the moving direction of movable part and above-below direction quadrature, two cylindrical components separately downside or downside near dispose at least one and first rotate orienting lug.
The invention effect
As mentioned above, in battery altering robot of the present invention, even if be equiped with battery at the lower position of vehicle, also can change rightly the battery that is installed in vehicle.
Description of drawings
Fig. 1 is the block diagram of battery change system that uses the battery altering robot of embodiment of the present invention.
Fig. 2 is the block diagram from the E section of another angle measuring gauge diagram 1.
Fig. 3 is the enlarged drawing of the F section of Fig. 2.
Fig. 4 means the front view that contains the state of battery in shown in Figure 1 battery container section.
Fig. 5 is the enlarged drawing of the G section of Fig. 4.
Fig. 6 represents battery plug mechanism shown in Figure 2 and the figure of lifting mechanism from the front.
Fig. 7 is from the H-H direction indication battery plug mechanism of Fig. 6 and the figure of lifting mechanism.
Fig. 8 is for the figure from front explanation battery mechanism for mounting shown in Figure 6.
Fig. 9 is for the figure that battery mechanism for mounting shown in Figure 6 is described from the side.
Figure 10 is for the figure from upper surface explanation battery mechanism for mounting shown in Figure 6.
Figure 11 is the amplification view of roller shown in Figure 8.
Figure 12 is for the figure from front explanation battery travel mechanism shown in Figure 6.
Figure 13 is for the figure that shown in Figure 6 battery travel mechanism is described from the side.
Figure 14 is the figure of the state when illustrating that from the side shown in Figure 13 battery snap-in section moves towards the direction away from bus.
Figure 15 is the enlarged drawing of the J section of Figure 13.
Figure 16 is the enlarged drawing of the K section of Figure 13.
Figure 17 is the enlarged drawing of the L section of Figure 13.
Figure 18 is for the figure from upper surface explanation battery travel mechanism shown in Figure 6.
Figure 19 (A) is the enlarged drawing of the M section of Figure 18, and Figure 19 (B) is the enlarged drawing of the N section of Figure 18.
Figure 20 is for the figure from upper surface explanation lifting mechanism shown in Figure 6.
Figure 21 is the figure be used to the structure that the first bindiny mechanism shown in Figure 6 is described, Figure 21 (A) is for the figure from front explanation the first bindiny mechanism, and Figure 21 (B) is for the figure of the first bindiny mechanism is described from the P-P direction of Figure 21 (A).
Figure 22 is the figure be used to the structure that the second bindiny mechanism shown in Figure 6 is described, Figure 22 (A) is for the figure from front explanation the second bindiny mechanism, and Figure 22 (B) is for the figure of the second bindiny mechanism is described from the Q-Q direction of Figure 22 (A).
Figure 23 is the figure of the state when retaining member shown in Figure 6 is tilted.
Figure 24 is for rotating mechanism shown in Figure 2 and the figure of horizontal mobile mechanism are described from the front.
Figure 25 is for from upper surface, rotating mechanism shown in Figure 2 and the figure of horizontal mobile mechanism being described.
Figure 26 is for the figure of rotating mechanism and horizontal mobile mechanism is described from the R-R direction of Figure 25.
Figure 27 (A) is the enlarged drawing of the U section of Figure 25, and Figure 27 (B) is the enlarged drawing of the V section of Figure 25.
Figure 28 is be used to the figure to the method for inspection of the general location of battery of testing agency shown in Figure 10 is described.
Figure 29 is be used to the figure to the method for inspection of the position of battery of testing agency shown in Figure 10 is described.
Figure 30 is the figure for the installation method of the testing agency of another embodiment of explanation the present invention.
Figure 31 is equipped with the figure of the effect in the situation of testing agency with installation method shown in Figure 30 for explanation.
Figure 32 (A) is for from the detection of another embodiment of the front explanation the present invention figure with mark, and Figure 32 (B) is the cutaway view in the W-W cross section of Figure 32 (A).
The specific embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described.
(schematic configuration of battery change system)
Fig. 1 is the block diagram of battery change system 1 that uses the battery altering robot 5 of embodiment of the present invention.Fig. 2 is the block diagram from the E section of another angle measuring gauge diagram 1.In the following description, three mutually orthogonal directions are made as respectively directions X, Y-direction and Z direction.In the present embodiment, the Z direction is consistent with above-below direction (vertical).In addition, in the following description, directions X is made as fore-and-aft direction, Y-direction is made as left and right directions.
The battery altering robot 5 of present embodiment (hereinafter referred to as " robot 5 ") is the robot of changing for to the battery 3 that is installed in vehicle 2, and it is used in battery change system 1.The vehicle 2 of present embodiment is electronic bus.Therefore, below, vehicle 2 is called by " bus 2 ".The battery container section 4 of accommodating a plurality of batteries 3 is installed in bus 2.Battery container section 4 is configured to expose at side 2a when pulling down when the lid member (not shown) of a side 2a that will be installed on bus 2.In addition, battery container section 4 is disposed at the downside at the seat of bus 2.That is, battery 3 is installed in the lower position of bus 2.When changing battery 3, bus 2 with its direct of travel and left and right directions roughly consistent mode stop.
Robot 5 with the mode that can change the battery 3 that is contained in battery container section 4 on fore-and-aft direction with the side 2a of bus 2 in opposite directions.This robot 5 will be contained in the battery 3 of battery container section 4 and extract to move into not shown buffer station, and will be contained in the complete battery 3 of the charging of buffer station and take out of to insert battery container section 4 from buffer station.
(structure of battery and battery container section)
Fig. 3 is the enlarged drawing of the F section of Fig. 2.Fig. 4 means the front view that contains the state of battery 3 in shown in Figure 1 battery container section 4.Fig. 5 is the enlarged drawing of the G section of Fig. 4.
Battery container section 4 comprises for the battery mounting table 6 of battery 3 installings and the sidewall 7 of left and right, is formed the receiving space of battery 3 by battery mounting table 6 and sidewall 7.Be formed with the receiving space of a plurality of batteries 3 in the battery container section 4 of present embodiment, can accommodate a plurality of batteries 3.In addition, battery container section 4 be configured to towards than the side 2a of bus 2 more by inboard position depression, as shown in Figure 3, the boundary between battery mounting table 6 and sidewall 7 and side 2a is formed with step 2b.
Front surface at battery mounting table 6 is formed with for the detection that the position of battery 3 is detected indirectly mark 8.Detect the both end sides that is formed at respectively the left and right directions of battery mounting table 6 with mark 8.In addition, as shown in Figure 3, detect and form the tabular more outstanding than the front surface of battery mounting table 6 with mark 8, and form the general triangular that its width changes on above-below direction.In addition, in the present embodiment, as shown in Figure 4, detect and to be fixed in plate-like members 9 with mark 8, plate-like members 9 is fixed in the front surface of battery mounting table 6, by this, is formed with at the front surface of battery mounting table 6 and detects use mark 8.
Be formed with on the front surface of battery 3 for extract the handle portion 11 of battery 3 from battery container section 4.In the present embodiment, the left and right directions both end sides at the front surface of battery 3 is formed with respectively handle portion 11.The lower surface of battery 3 with towards below outstanding mode be formed with jut 12, this jut 12 be used for carrying out the battery 3 extracted by robot 5 with the direction of extracting the direction quadrature on location (with reference to Fig. 5).In addition, battery 3 comprises: the stationary member 13 (with reference to Fig. 4) that is used for battery 3 is fixed in battery container section 4; And be used for to remove battery 3 with respect to the releasing member 14 (with reference to Fig. 3) of the stationary state of battery container section 4.
Stationary member 13 is installed on battery 3 in the mode of giving prominence to respectively from the left and right side of battery 3.In addition, stationary member 13 is installed on the front surface side of battery 3.This stationary member 13 is can remain in along the mode that left and right directions moves battery 3.In addition, stationary member 13 is by the not shown force application component outside application of force to left and right direction.In the present embodiment, utilize the application force of this force application component that the external side end part of the left and right of stationary member 13 is engaged with the connecting hole of the sidewall 7 that is formed at battery container section 4, by this, battery 3 is fixed in battery container section 4.Stationary member 13 has played in battery container section 4 and has carried out battery 3 along the effect of the location of fore-and-aft direction and above-below direction.
Releasing member 14 is disposed at the inboard of handle portion 11.Remove member 14 can remain in along the mode that fore-and-aft direction moves battery 3.In addition, remove member 14 by the front surface side application of force of not shown force application component towards battery 3.In the present embodiment, when releasing member 14 is pressed towards the inboard, stationary member 13 medial movement is to left and right direction removed being formed at the connecting hole of sidewall 7 of battery container section 4 and the fastening state of stationary member 13, thereby battery 3 can be extracted from battery container section 4.
In addition, at the back side of battery 3, adaptor union is installed, this adaptor union can be connected with the adaptor union of the inboard that is disposed at battery container section 4.In addition, at the back side of battery 3, locating dowel pin is installed, this locating dowel pin is used for carrying out the location of battery 3 on direction up and down in battery container section 4.
(schematic configuration of battery altering robot)
As shown in Figure 2, robot 5 comprises: battery plug mechanism 17, this battery plug mechanism 17 carry out battery 3 from bus 2 extract and battery 3 towards the insertion of bus 2; Lifting mechanism 18, this lifting mechanism 18 make 17 liftings of battery plug mechanism; Rotating mechanism 19, this rotating mechanism 19 with above-below direction for battery plug mechanism 17 and lifting mechanism 18 rotated; And horizontal mobile mechanism 20, this horizontal mobile mechanism 20 makes battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 move up at right and left.In addition, robot 5 comprises the testing agency 21 (with reference to Figure 10) of detecting with mark 8 for to detection.
Battery plug mechanism 17 comprises: battery mechanism for mounting 23, this battery mechanism for mounting 23 have the battery installing department 22 of installing for battery 3 when extracting and insert battery 3; And battery travel mechanism 25, this battery travel mechanism 25 has and engages with battery 3 when extracting and insert battery 3 and make battery 3 mobile battery snap-in 24 (with reference to Fig. 6) of section on battery installing department 22.Battery installing department 22 and battery snap-in section 24 can be towards moving near the direction of bus 2 and away from the direction of bus 2.
In addition, battery plug mechanism 17 remains in and forms the roughly retaining member 26 of cubic tubular.Retaining member 26 comprises: the first retaining member 27 that consists of its lower end side; And the second retaining member 28 that consists of its upper end side.The first retaining member 27 forms the chamfered groove shape of side opening, and the second retaining member 28 forms the chamfered groove shape of open lower side.The roughly cubic tubular of the both ends open of retaining member 26 by the first retaining member 27 and the second retaining member 28 being made up the moving direction that forms battery installing department 22 and battery snap-in section 24 of being fixed together on above-below direction.
(structure of battery mechanism for mounting)
Fig. 6 represents battery plug mechanism 17 shown in Figure 2 and the figure of lifting mechanism 18 from the front.Fig. 7 is from the H-H direction indication battery plug mechanism 17 of Fig. 6 and the figure of lifting mechanism 18.Fig. 8 is for the figure from front explanation battery mechanism for mounting 23 shown in Figure 6.Fig. 9 is for the figure that battery mechanism for mounting 23 shown in Figure 6 is described from the side.Figure 10 is for the figure from upper surface explanation battery mechanism for mounting 23 shown in Figure 6.Figure 11 is the amplification view of roller 32 shown in Figure 8.
Except above-mentioned battery installing department 22, battery mechanism for mounting 23 also comprises makes battery installing department 22 towards the installing department travel mechanism 30 that moves near the direction of bus 2 and away from the direction of bus 2.
Battery installing department 22 forms flat bulk flat on above-below direction.In revolvable mode, a plurality of rollers 31,32 with the lower surface butt of battery 3 are installed on the upper surface of battery installing department 22.As shown in figure 10, a plurality of rollers 31 separate the arranged spaced of regulation on the moving direction of battery installing department 22, and a plurality of rollers 32 also separate the arranged spaced of regulation in the same manner with roller 31 on the moving direction of battery installing department 22.In addition, roller 31 and roller 32 with the direction of the moving direction quadrature of battery installing department 22 on the state configuration across predetermined distance.
Roller 31 is plain-barreled rolls.On the other hand, as shown in figure 11, roller 32 is that outer peripheral face is formed with the roller of the trough of belt of the slot part 32a of all side depressions inwardly.Slot part 32a can engage with the jut 12 of the lower surface that is formed at battery 3, and when battery 3 was installed in the assigned position of battery installing department 22, jut 12 engaged with slot part 32a.In the present embodiment, engage with slot part 32a by jut 12, battery 3 can with the direction of the moving direction quadrature of battery installing department 22 on be positioned battery installing department 22.
In installing department travel mechanism 30, the structure as being used for battery installing department 22 is moved comprises: electrical motor 33; The screw member such as ball-screw 34; And the nut member 35 that screws togather with screw member 34.In addition, in installing department travel mechanism 30, the structure as being used for battery installing department 22 is guided comprises: the guide rail 36 that forms linearity; And the orienting lug 37 that engages with guide rail 36 and can relatively move along guide rail 36.
Electrical motor 33 is fixed in the upper surface side of the rearward end of battery installing department 22.Screw member 34 remains in the lower face side of battery installing department 22 in revolvable mode.Electrical motor 33 is connected by belt wheel, driving band etc. with screw member 34.Nut member 35 is fixed in the first retaining member 27.In addition, guide rail 36 is fixed in the lower face side of battery installing department 22, and orienting lug 37 is fixed in the first retaining member 27.Therefore, in the present embodiment, when electrical motor 33 rotation, battery installing department 22 is by guide rail 36 and orienting lug 37 guiding and with respect to the first retaining member 27 linearity ground movements.
The structure of travel mechanism (battery)
Figure 12 is for the figure from front explanation battery travel mechanism 25 shown in Figure 6.Figure 13 is for the figure that shown in Figure 6 battery travel mechanism 25 is described from the side.Figure 14 is the figure of the state when illustrating that from the side shown in Figure 13 battery snap-in section 24 moves towards the direction away from bus 2.Figure 15 is the enlarged drawing of the J section of Figure 13.Figure 16 is the enlarged drawing of the K section of Figure 13.Figure 17 is the enlarged drawing of the L section of Figure 13.Figure 18 is for the figure from upper surface explanation battery travel mechanism 25 shown in Figure 6.Figure 19 (A) is the enlarged drawing of the M section of Figure 18, and Figure 19 (B) is the enlarged drawing of the N section of Figure 18.
Except above-mentioned battery snap-in section 24, battery travel mechanism 25 also comprises: make battery snap-in section 24 towards near the direction of bus 2 and the engagement section travel mechanism 39 that moves away from the direction of bus 2; And battery snap-in section 24 is held in the mobile retaining member 40 that can move and displaceably remain in the second retaining member 28.
Battery snap-in section 24 comprises: the engaging claw 41 that engages with the handle portion 11 of battery 3; The cylinder 42 that engaging claw 41 is moved up and down; And the base portion 43 that supplies cylinder 42 to install.Engaging claw 41 is fixed in the drawer at movable side of cylinder 42, and the fixation side of cylinder 42 is fixed in the front end face of base portion 43.
Engaging claw 41 comprises: the fixed part 41a that is fixed in cylinder 42; And the claw 41b that engages with handle portion 11.Between claw 41b enters handle portion 11 from upside fore-end and the front surface of battery 3 and engage with handle portion 11.When claw 41b engaged with handle portion 11, claw 41b pressed and removes member 14, was formed at the connecting hole of sidewall 7 of battery container section 4 and the fastening state of stationary member 13 with releasing.Therefore, when claw 41b engages with handle portion 11, can utilize battery plug mechanism 17 to extract or insert battery 3.
Mobile retaining member 40 forms elongated strip on the moving direction of battery snap-in section 24.Shape when in addition, mobile retaining member 40 is observed from the moving direction of battery snap-in section 24 is roughly H shape.
In engagement section travel mechanism 39, the structure as being used for battery snap-in section 24 and mobile retaining member 40 are moved comprises: electrical motor 44; The screw member such as ball-screw 45; The nut member 46 that screws togather with screw member 45; Belt wheel 47,48; And be set up in belt wheel 47,48 driving band 49.In addition, in engagement section travel mechanism 39, the structure as being used for battery snap-in section 24 and mobile retaining member 40 are guided comprises: the guide rail 50 that forms linearity; The orienting lug 51 that engages with guide rail 50 and can relatively move along guide rail 50, and the structure as being used for battery snap-in section 24 is guided comprises: the guide rail 52 that forms linearity; And the orienting lug 53 that engages with guide rail 52 and can relatively move along guide rail 52.
Electrical motor 44 is fixed in the upper surface of the rearward end of the second retaining member 28.Screw member 45 remains in the upper surface portion of the second retaining member 28 in revolvable mode.Electrical motor 44 is connected by belt wheel, driving band etc. with screw member 45.Nut member 46 is fixed in the rearward end of mobile retaining member 40.Belt wheel 47 remains in the rearward end of mobile retaining member 40 in revolvable mode, belt wheel 48 remains in the leading section of mobile retaining member 40 in revolvable mode.
Driving band 49 is fixed in the base portion 43 of battery snap-in section 24 by driving band stationary member 54, and is fixed in the upper surface portion of the second retaining member 28 by driving band stationary member 55.Particularly, driving band 49 is fixed in base portion 43 and the second retaining member 28 by driving band stationary member 54,55, so that: when driving band stationary member 55 is disposed near belt wheel 47 as shown in figure 16 from the second retaining member 28 is outstanding when mobile retaining member 40, as shown in figure 15, driving band stationary member 54 be disposed at belt wheel 48 near, and, when mobile retaining member 40 is accommodated in the second retaining member 28 and when driving band stationary member 55 is disposed near belt wheel 48 as shown in figure 14, driving band stationary member 54 be disposed at belt wheel 47 near.
Guide rail 50 is fixed in the upper surface portion of the second retaining member 28, and orienting lug 51 is fixed in the upper surface of mobile retaining member 40.Guide rail 52 is fixed in the lower surface of mobile retaining member 40, and orienting lug 53 is fixed in the upper end side of the base portion 43 of battery snap-in section 24.
In the present embodiment, when electrical motor 44 rotation, utilize screw member 45 and nut member 46, make mobile retaining member 40 together with battery snap-in section 24 by guide rail 50 and orienting lug 51 guiding and with respect to the second retaining member 28 linearity ground movements.In addition, when electrical motor 44 rotation, utilize belt wheel 47,48 and driving band 49, make battery snap-in section 24 by guide rail 52 and orienting lug 53 guiding and with respect to mobile retaining member 40 linearities relatively move.
The summary of mechanism (the battery plug action)
When carrying out extracting of battery 3 from bus 2, at first, battery installing department 22 is towards moving near the direction of bus 2 and side-prominent forward from retaining member 26.Then, battery snap-in section 24 moves and side-prominent forward from retaining member 26 towards the directions near bus 2.Then, engaging claw 41 descends and engages with the handle portion 11 of battery 3.Then, battery snap-in section 24 moves towards the direction away from bus 2.When battery snap-in section 24 moves specified amount and when battery 3 is installed in battery installing department 22, then, battery installing department 22 synchronously moves towards the direction away from bus 2 with battery snap-in section 24.Then, when breaking away from from handle portion 11 when 41 risings of engaging claw, battery 3 is completed from extracting of bus 2.
In addition, when carrying out battery 3 towards the insertion of bus 2, at first, battery installing department 22 synchronously moves towards the direction near bus 2 with battery snap-in section 24.Then, battery snap-in section 24 moves towards the directions near bus 2, to carry out battery 3 towards the insertion of bus 2.Subsequently, engaging claw 41 rises, and battery installing department 22 and battery snap-in section 24 move towards the direction away from bus 2, to complete battery 3 towards the insertion of bus 2.
The battery installing department 22 of present embodiment and battery snap-in section 24 are the movable parts that move towards the direction near bus 2 when extracting and insert battery 3 in order to carry out extracting and inserting of battery 3.When battery 3 is extracted from bus 2, as described later, utilize testing agency 21 to detect position of battery 3 etc.In addition, as Fig. 8, shown in Figure 10, be fixed with on the first retaining member 27 for the battery 3 of extracting from bus 2 is positioned fixing align member 56.As shown in figure 10, be formed with the engaging recessed part 56a that engages with stationary member 13 on align member 56.In addition, as Figure 12, shown in Figure 180, be fixed with radio-frequency card reader 57 at the center of the front end face of base portion 43, this radio-frequency card reader 57 is used for the IC chip swap data with the front surface that is formed at battery 3.
(structure of lifting mechanism, the first bindiny mechanism and the second bindiny mechanism)
Figure 20 is for the figure from upper surface explanation lifting mechanism 18 shown in Figure 6.Figure 21 is the figure be used to the structure that the first bindiny mechanism 61 shown in Figure 6 is described, Figure 21 (A) is for the figure from front explanation the first bindiny mechanism 61, and Figure 21 (B) is for the figure of the first bindiny mechanism 61 is described from the P-P direction of Figure 21 (A).Figure 22 is the figure be used to the structure that the second bindiny mechanism 62 shown in Figure 6 is described, Figure 22 (A) is for the figure from front explanation the second bindiny mechanism 62, and Figure 22 (B) is for the figure of the second bindiny mechanism 62 is described from the Q-Q direction of Figure 22 (A).Figure 23 is the figure of the state when retaining member shown in Figure 6 26 is tilted.
Lifting mechanism 18 comprises the first lifting mechanism 59 and the second lifting mechanism 60 that is disposed at respectively with the both end sides of the direction of moving direction and the above-below direction quadrature of battery installing department 22 and battery snap-in section 24 (following this direction is called " first direction ").The first lifting mechanism 59 utilizes distolateral a connection of the first bindiny mechanism 61 and the first direction of the first retaining member 27.The second lifting mechanism 60 utilizes another distolateral connection of the second bindiny mechanism 62 and the first direction of the first retaining member 27.For the first direction that makes retaining member 26 when observing from the moving direction of battery installing department 22 and battery snap-in section 24 tilts, can individually drive the first lifting mechanism 59 and the second lifting mechanism 60.In addition, retaining member 26 is connected with the first lifting mechanism 59 and the second lifting mechanism 60 in the mode that can the first direction when observing from the moving direction of battery installing department 22 and battery snap-in section 24 tilts.
The first lifting mechanism 59 and the second lifting mechanism 60 comprise: the lift component 63 that moves up at upper and lower together with battery plug mechanism 17 and retaining member 26; Lift component 63 is held in the cylindrical component 64 of energy lifting; And the lift drive mechanism 65 that makes lift component 63 liftings.Cylindrical component 64 forms column elongated on above-below direction.As shown in Figure 6, the upper end that consists of the cylindrical component 64 of the first lifting mechanism 59 is connected member 66 with the upper end of the cylindrical component 64 that consists of the second lifting mechanism 60 and is connected, and is made of the framework of a type two cylindrical components 64 and transom 66.
In lift drive mechanism 65, the structure as being used for lift component 63 is moved comprises: electrical motor 67; The screw member such as ball-screw 68; And the nut member 69 that screws togather with screw member 68.In addition, in lift drive mechanism 65, the structure as being used for lift component 63 is guided comprises: the guide rail 70 that forms linearity; And the orienting lug 71 that engages with guide rail 70 and can relatively move along guide rail 70.
Electrical motor 67 is fixed in the upper end side of cylindrical component 64.Screw member 68 remains in cylindrical component 64 in revolvable mode.Electrical motor 67 is connected by unitor 72 (with reference to Fig. 7) with screw member 68.Nut member 69 is fixed in lift component 63.Guide rail 70 is fixed in the side of cylindrical component 64, and orienting lug 71 is fixed in lift component 63.Therefore, in the present embodiment, when electrical motor 67 rotation, lift component 63 is guided and moves up and down with respect to cylindrical component 64 by guide rail 70 and orienting lug 71.
As shown in figure 21, the first bindiny mechanism 61 comprises: the cylindrical member 73 of a distolateral roughly tubular that is fixed in the first direction of the first retaining member 27; Be inserted through the shaft component 74 of interior all sides of cylindrical member 73; And the axle retaining member 75 that is fixed in the both end sides of the lift component 63 that consists of the first lifting mechanism 59 and retainer shaft member 74.Shaft component 74 with the moving direction of battery installing department 22 and battery snap-in section 24 for axially remaining in axle retaining member 75.
The inner peripheral surface of cylindrical member 73 is barrel surface, and shaft component 74 forms elongated cylindric.Dispose tapered roller bearing 76 between the outer peripheral face of the inner peripheral surface of cylindrical member 73 and shaft component 74.Cylindrical member 73 can relatively rotate with respect to shaft component 74, thereby can carry out retaining member 26 with respect to the relatively rotating centered by shaft component 74 of the lift component 63 of the first lifting mechanism 59.
As shown in figure 22, the second bindiny mechanism 62 comprises: another the distolateral axle retaining member 77 that is fixed in the first direction of the first retaining member 27; Its both end sides remains in the shaft component 78 of axle retaining member 77; Be fixed in the axle retaining member 79 of the lift component 63 that consists of the second lifting mechanism 60; Its both end sides remains in the shaft component 80 of axle retaining member 79; And be formed with for shaft component 78 and shaft component 80 and insert respectively the link component 81 of two logical inserting hole 81a.Shaft component 78 with the moving direction of battery installing department 22 and battery snap-in section 24 for axially remaining in axle retaining member 77, shaft component 80 with the moving direction of battery installing department 22 and battery snap-in section 24 for axially remaining in axle retaining member 79.In addition, shaft component 78,80 was configured to from last time overlapping successively.
The inner peripheral surface of inserting hole 81a is barrel surface, and shaft component 78,80 forms elongated cylindric.Dispose tapered roller bearing 82 between the inner peripheral surface of inserting hole 81a and shaft component 78,80 outer peripheral face.Link component 81 can relatively rotate respectively with respect to shaft component 78,80, thereby link component 81 can relatively rotate centered by shaft component 80 with respect to the lift component 63 of the second lifting mechanism 60 and link component 81 can relatively rotate centered by shaft component 78 with respect to retaining member 26.Therefore, can carry out retaining member 26 with respect to relatively rotating of lift component 63 and the relatively moving towards first direction of the second lifting mechanism 60.
In the present embodiment, when electrical motor 67 rotation so that the amount of movement of the lift component 63 of the first lifting mechanism 59 when equating with the amount of movement of the lift component 63 of the second lifting mechanism 60, retaining member 26 lifting under the state of maintenance and horizontal direction parallel.On the other hand, when only having an electrical motor rotation in the electrical motor 67 of the electrical motor 67 of the first lifting mechanism 59 and the second lifting mechanism 60, perhaps when electrical motor 67 rotation so that the amount of movement of the lift component 63 of the amount of movement of the lift component 63 of the first lifting mechanism 59 and the second lifting mechanism 60 not simultaneously, for example shown in Figure 23, retaining member 26 tilts with respect to horizontal direction.
(structure of rotating mechanism and horizontal mobile mechanism)
Figure 24 is for rotating mechanism 19 shown in Figure 2 and the figure of horizontal mobile mechanism 20 are described from the front.Figure 25 is for from upper surface, rotating mechanism 19 shown in Figure 2 and the figure of horizontal mobile mechanism 20 being described.Figure 26 is for the figure of rotating mechanism 19 and horizontal mobile mechanism 20 is described from the R-R direction of Figure 25.Figure 27 (A) is the enlarged drawing of the U section of Figure 25, and Figure 27 (B) is the enlarged drawing of the V section of Figure 25.
Rotating mechanism 19 comprises: install the revolving member 85 that also can rotate for battery plug mechanism 17 and lifting mechanism 18; And the rotating drive mechanism 86 that revolving member 85 is rotated.Horizontal mobile mechanism 20 comprises: for battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 installings and the sliding component 87 that can move up at right and left; And the horizontal drive mechanism 88 that sliding component 87 is moved.
Revolving member 85 forms roughly discoideus.Sliding component 87 forms roughly rectangular tabular take left and right directions as long side direction.The width of the left and right directions of sliding component 87 is larger than the diameter of revolving member 85, and the width of the fore-and-aft direction of sliding component 87 is less than the diameter of revolving member 85.
Revolving member 85 is disposed at the upside of sliding component 87.This revolving member 85 can rotate centered by its center of curvature.That is, revolving member 85 is installed on the upper surface side of sliding component 87 in the mode that can rotate.Be fixed with the lower end of two cylindrical components 64 at the upper surface of revolving member 85.Particularly, on the upper surface of revolving member 85, be fixed with respectively the lower end of cylindrical component 64 in the both end sides with the first direction of the moving direction quadrature of battery installing department 22 and battery snap-in section 24.
In rotating drive mechanism 86, as the structure that is used for revolving member 85 is rotated, comprise electrical motor 90 as drive source, belt wheel 91,92 and driving band 93.In addition, in rotating drive mechanism 86, as being used for, the structure of revolving member 85 towards the rotation direction guiding comprised: guide rail 94; And a plurality of orienting lugs 95 that engage with guide rail 94 from upside and can relatively move along guide rail 94.The guide rail 94 of present embodiment is to rotate guide rail, and orienting lug 95 is to rotate orienting lug.
Electrical motor 90 and belt wheel 91,92 are disposed at the radial outside of revolving member 85.Particularly, electrical motor 90 and belt wheel 91,92 are disposed at the radial outside of revolving member 85 on left and right directions.Electrical motor 90 is fixed in the upper surface side of sliding component 87 in the mode of its output shaft towards the below.On the output shaft of electrical motor 90, reductor is installed, is fixed with belt wheel 91 on this reductor.That is, be fixed with belt wheel 91 by reductor on the output shaft of electrical motor 90.Belt wheel 91 is to be formed with the profile of tooth belt wheel of tooth section at outer peripheral face.Front side and rear side at belt wheel 91 dispose respectively belt wheel 92.Belt wheel 92 is disposed at the upper surface side of sliding component 87, and is supported on sliding component 87 in revolvable mode.
Driving band 93 is to be formed with the flat-toothed belt of tooth section at a face.Driving band 93 is set up in belt wheel 91,92 and the outer peripheral face of revolving member 85.In the present embodiment, in the mode of the outer peripheral face butt of another smooth face of the tooth section of not being formed with of the outer peripheral face butt of face of the tooth section of being formed with of driving band 93 and belt wheel 91, driving band 93 and belt wheel 92 and revolving member 85, belt wheel 91,92 and the outer peripheral face of revolving member 85 set up driving band 93.Belt wheel 92 is for driving band 93 being applied the tension wheel of tension force.
The slewing area of the revolving member 85 of present embodiment is roughly 180 °.Therefore, exist on driving band 93 and the outer peripheral face of revolving member 85 part of butt all the time.In the present embodiment, driving band 93 and outer peripheral face revolving member 85 are fixed in the outer peripheral face of revolving member 85 in the part of the part of butt all the time.In addition, in the present embodiment,, battery 3 can be moved into buffer station or take out of from buffer station with respect to carrying out battery 3 when rotating 180 ° from the position that bus 2 was extracted or inserted to bus 2 when robot 5.
Guide rail 94 forms circular, and is fixed in the upper surface of sliding component 87.That is, guide rail 94 is disposed at the lower face side of revolving member 85.Guide rail 94 with the center of curvature of the center of curvature that forms circular guide rail 94 when above-below direction is observed and revolving member 85 roughly consistent mode be fixed in the upper surface of sliding component 87.
Orienting lug 95 is fixed in the lower face side of revolving member 85.A plurality of orienting lugs 95 are configured to circular centered by the center of curvature of revolving member 85.In addition, a plurality of orienting lugs 95 configure centered by the center of curvature of revolving member 85 and with the equal angles spacing.In the present embodiment, seven orienting lugs 95 configure centered by the center of curvature of revolving member 85 and with the equal angles spacing.In the following description, in the situation that seven orienting lugs 95 of indivedual expression are labeled as respectively orienting lug 95A～95G with seven orienting lugs 95.As shown in figure 25, orienting lug 95A～95G configuration successively in a circumferential direction.
In the present embodiment, when electrical motor 90 rotation, revolving member 85 is guided and rotates with respect to sliding component 87 by guide rail 94 and orienting lug 95.In addition, when electrical motor 90 rotation, revolving member 85 rotates centered by its center of curvature.
In horizontal drive mechanism 88, as the structure that is used for sliding component 87 is moved, comprise electrical motor 97, belt wheel 98,99 and driving band 100.In addition, in horizontal drive mechanism 88, the structure as being used for sliding component 87 is guided to left and right direction comprises: two guide rails 101 that form linearity; And a plurality of orienting lugs 102 that engage with guide rail 101 from upside and can relatively move along guide rail 101.The guide rail 101 of present embodiment is directly to move guide rail, and orienting lug 102 is straight action-oriented pieces.
Two guide rails 101 are configured in along fore-and-aft direction and separate under the state of predetermined distance.In addition, guide rail 101 is fixed in the upper surface of a plurality of supporting members 103 (with reference to Fig. 1) of the spacing configuration that separates regulation on left and right directions.Supporting member 103 is disposed at the downside of sliding component 87.As shown in figure 25, two guide rails 101 are configured to intersect with guide rail 94.In addition, the mode that equals the fore-and-aft direction distance between the center of curvature of another root guide rail 101 and revolving member 85 with the distance of the fore-and-aft direction between the center of curvature of guide rail 101 in two guide rails 101 and revolving member 85 disposes two guide rails 101.
Orienting lug 102 is fixed in the lower surface of sliding component 87.Particularly, be fixed with two stationary members 104 at the lower surface of sliding component 87 with the state that separates predetermined distance along fore-and-aft direction, be fixed with a plurality of orienting lugs 102 at above-mentioned stationary member 104 lower surface separately.Stationary member 104 forms bulk elongated on left and right directions.Stationary member 104 is fixed in sliding component 87 in the mode that the center of curvature of the center of stationary member 104 and revolving member 85 is disposed at roughly the same position on left and right directions.In addition, the mode that equals the fore-and-aft direction distance between the center of curvature of another stationary member 104 and revolving member 85 with the distance of the fore-and-aft direction between the center of curvature of stationary member 104 in two stationary members 104 and revolving member 85 disposes two stationary members 104.
A plurality of orienting lugs 102 are fixed in the lower surface of stationary member 104 with constant spacing on left and right directions.In the present embodiment, be fixed with respectively four orienting lugs 102 on two stationary members 104.In the following description, in the situation that eight orienting lugs 102 of indivedual expression are labeled as respectively orienting lug 102A～102H with eight orienting lugs 102.As shown in figure 25, orienting lug 102A～102D is fixed in a stationary member 104 and is configured in successively on left and right directions, and orienting lug 102E～102H is fixed in another stationary member 104 and is configured on left and right directions successively.In addition, orienting lug 102A, 102E and orienting lug 102D, 102H are configured to the symmetry of the line of centers on left and right directions with respect to stationary member 104, and orienting lug 102B, 102F and orienting lug 102C, 102G are configured to the symmetry of the line of centers on left and right directions with respect to stationary member 104.
Electrical motor 97 and belt wheel 98,99 are disposed at the radial outside of revolving member 85.Particularly, electrical motor 97 and belt wheel 98,99 are disposed at the radial outside of revolving member 85 on left and right directions, and are disposed at across revolving member 85 and are positioned at position with electrical motor 90 and belt wheel 91,92 opposite sides.Electrical motor 97 is fixed in the upper surface side of sliding component 87 towards the mode of fore-and-aft direction with its output shaft.On the output shaft of electrical motor 97, reductor is installed, is fixed with belt wheel 98 on this reductor.Belt wheel 98 is to be formed with the profile of tooth belt wheel of tooth section at outer peripheral face.Dispose respectively belt wheel 99 in the lower-left of belt wheel 98 side and lower right side.Belt wheel 99 is supported on sliding component 87 in revolvable mode.
Driving band 100 is to be formed with the flat-toothed belt of tooth section at a face.One end of driving band 100 is fixed in the supporting member that is disposed at left end 103 in a plurality of supporting members 103, and the other end of driving band 100 is fixed in the supporting member that is disposed at right-hand member 103 in a plurality of supporting members 103.In addition, driving band 100 is set up in belt wheel 98,99.The part of a face of the tooth section of being formed with of driving band 100 engages with the outer peripheral face of belt wheel 98, the outside on the left and right directions of belt wheel 99, and one of driving band 100 facing to downside, and another of driving band 100 is facing to upside.Belt wheel 99 is for driving band 100 being applied the tension wheel of tension force.
In the present embodiment, when electrical motor 97 rotation, sliding component 87 is guided and linearity ground movement to left and right direction by guide rail 101 and orienting lug 102.
At the two ends of the left and right directions of sliding component 87, brush 106 is installed, this brush 106 is used for lodging in the outside on the left and right directions of belt wheel 99 the foreign matters removals such as the rubbish on another face (not being formed with the face of tooth section) of the driving band 100 of upside, sand.Particularly, by brush retaining member 107, brush 106 is installed at an end of the left and right directions of sliding component 87, by brush retaining member 108, brush 106 is installed at the other end of the left and right directions of sliding component 87.
Brush 106 remains in brush retaining member 107,108 in the modes of another face contact of its Mao Duanyu driving band 100, and when sliding component 87 moved to left and right direction, the foreign matters such as rubbish on another face of driving band 100 were brushed 106 and swept and remove.The brush 106 of present embodiment is the brush of platypelloid type, and as shown in figure 27, the mode that tilts slightly with respect to left and right directions with its thickness direction remains in brush retaining member 107,108.Therefore, being brushed 106 when sliding component 87 moves to left and right direction sweeps the foreign matter that falls and is accompanied by the movement of sliding component 87 and falls from another side that faces fore-and-aft direction of driving band 100.
As shown in figure 25, orienting lug 95A is disposed at the downside of the first lifting mechanism 59, and orienting lug 95E is disposed at the downside of the second lifting mechanism 60.That is, orienting lug 95a is fixed in the lower face side of revolving member 85 at the downside of the cylindrical component 64 that consists of the first lifting mechanism 59, and orienting lug 95E is fixed in the lower face side of revolving member 85 at the downside of the cylindrical component 64 that consists of the second lifting mechanism 60.
In addition, in the present embodiment, when with battery 3 when bus 2 is extracted or insert bus 2, as shown in figure 25, dispose orienting lug 95.Namely, when with battery 3 when bus 2 is extracted or insert bus 2, orienting lug 95B be disposed at orienting lug 102A upside near, orienting lug 95C be disposed at orienting lug 102B and orienting lug 102C upside near, orienting lug 95D be disposed at orienting lug 102D upside near.Particularly, orienting lug 95B is disposed at the upside of orienting lug 102A and is disposed at the inboard of direction all around, and orienting lug 95D is disposed at the upside of orienting lug 102D and is disposed at the inboard of direction all around.In addition, orienting lug 95C is disposed at the upside of orienting lug 102B and orienting lug 102C and is disposed at the outside of fore-and-aft direction, and is configured to distance between orienting lug 95C and orienting lug 102B and equals distance between orienting lug 95C and orienting lug 102C.
In addition, when with battery 3 when bus 2 is extracted or insert bus 2, orienting lug 95F be disposed at orienting lug 102G upside near, orienting lug 95G be disposed at orienting lug 102F upside near.Particularly, orienting lug 95F is disposed at the upside of orienting lug 102G and is disposed at the outside of direction all around, and it is overlapping on above-below direction to be configured to the part of the part of orienting lug 95F and orienting lug 102G.In addition, orienting lug 95G is disposed at the upside of orienting lug 102F and is disposed at the outside of direction all around, and it is overlapping on above-below direction to be configured to the part of the part of orienting lug 95G and orienting lug 102F.
In addition, when with battery 3 when bus 2 is extracted or insert bus 2, on left and right directions, orienting lug 95B is disposed between orienting lug 102A and orienting lug 102B, orienting lug 95C is disposed between orienting lug 102B and orienting lug 102C, orienting lug 95D is disposed between orienting lug 102C and orienting lug 102D, and orienting lug 95F is disposed between orienting lug 102G and orienting lug 102H, and orienting lug 95G is disposed between orienting lug 102E and orienting lug 102F.
In addition, when with battery 3 when bus 2 is extracted or insert bus 2, on fore-and-aft direction, orienting lug 102A～102D is disposed between orienting lug 95B, 95D and orienting lug 95C, and orienting lug 102E～102H is disposed between orienting lug 95F, 95G and orienting lug 95A, 95E.That is, when with battery 3 when bus 2 is extracted or insert bus 2, on fore-and-aft direction, a guide rail 101 is disposed between orienting lug 95B, 95D and orienting lug 95C, another guide rail 101 is disposed between orienting lug 95F, 95G and orienting lug 95A, 95E.
In addition, when with battery 3 when bus 2 is extracted or insert bus 2, dispose orienting lug 95C in mode parallel with fore-and-aft direction when observing from above-below direction and that the center configuration of orienting lug 95C is being passed on the line of center of curvature of revolving member 85.In addition, when with battery 3 when bus 2 is extracted or insert bus 2, on fore-and-aft direction, the bus 2 of changing battery 3 stops at the side of configuration orienting lug 95C.
Orienting lug 95A, the 95E of present embodiment is the first rotation orienting lug that is disposed at the downside of cylindrical component 64 when extracting or insert battery 3.In addition, orienting lug 95B～95D, 95G, 95F be disposed at when extracting or insert battery 3 straight action-oriented piece orienting lug 102A～102D, 102F, 102G upside near second rotate orienting lug.
Battery change system 1 comprises in movable range for the left and right directions that whether operator is entered the battery plug mechanism 17, lifting mechanism 18 and the rotating mechanism 19 that are installed in sliding component 87 and detecting, so that the testing agency (not shown) of electrical motor 97 emergent stoppings etc.This testing agency has the optical sensor that is configured to illuminating part respect to one another and light accepting part.In the present embodiment, a member in the left end side of sliding component 87 is equipped with illuminating part and light accepting part, another member during the upside of the supporting member that is disposed at left end 103 in a plurality of supporting members 103 disposes illuminating part and light accepting part, when the light from this illuminating part directive light accepting part is interdicted, in the left side of sliding component 87 detects the movable range of left and right directions that the operator entered battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19.In addition, a member in the right-hand member side of sliding component 87 is equipped with illuminating part and light accepting part, another member during the upside of the supporting member that is disposed at right-hand member 103 in a plurality of supporting members 103 disposes illuminating part and light accepting part, when the light from this illuminating part directive light accepting part is interdicted, in the right side of sliding component 87 detects the movable range of left and right directions that the operator entered battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19.In addition, illuminating part comprises a plurality of luminous elements of arranging along fore-and-aft direction, whether light accepting part comprises a plurality of photo detectors of arranging along fore-and-aft direction, entered can detect the operator in the Zone Full of the fore-and-aft direction of sliding component 87 in the movable range of left and right directions of battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19.In addition, whether the operator being entered the testing agency of detecting in the movable range of left and right directions of battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 can be also camera.
(structure of testing agency and the action of the position probing of battery)
Figure 28 is the figure be used to the method for inspection of the general location that 21 pairs of batteries 3 of testing agency shown in Figure 10 are described.Figure 29 is the figure be used to the method for inspection of the position that 21 pairs of batteries 3 of testing agency shown in Figure 10 are described.
Testing agency 21 is the laser sensors that comprise illuminating part and light accepting part, and wherein, above-mentioned illuminating part irradiates laser, and above-mentioned light accepting part receives the laser that irradiates and be reflected at the front surface of the side of bus 2 2a, battery mounting table 6 etc. from this illuminating part.As shown in figure 10, this testing agency 21 is installed on the upper surface of the front of battery installing department 22.In addition, testing agency 21 with illuminating part and light accepting part in the horizontal direction adjacent mode be installed on battery installing department 22.In the present embodiment, at battery installing department 22, two testing agencies 21 to be installed with the corresponding mode of mark 8 with two detections that are formed at battery mounting table 6.
When the reverberation that the laser that irradiates from illuminating part is reflected was in the measurement range of regulation, testing agency 21 was in the state of conducting, and when the reverberation that laser is reflected was not in measurement range, testing agency 21 was in the state of disconnection.In addition, in testing agency 21, when testing agency 21 is in the state of conducting, can the distance between testing agency 21 and reverberation be detected.
The position probing of utilizing the battery 3 that testing agency 21 carries out is following carrying out for example.At first, when the bus 2 of changing battery 3 stops at the stop position of regulation, for example, battery plug mechanism 17 than battery container section 4 more by the position standby of the direct of travel front side of bus 2.In addition, at this moment, as shown in the solid line of Figure 28, the side 2a of the front surface of battery installing department 22 and bus 2 in opposite directions, and battery installing department 22 retreats towards the direction away from bus 2.In addition, at this moment, for example, the position standby that is in roughly the same height with mark 8 and testing agency 21 is detecting in battery plug mechanism 17.
As shown in the dotted line of Figure 28, battery installing department 22 2 advances from above-mentioned state towards bus, until receive the state that irradiates and be in the testing agency 21 of the laser of the side of bus 2 2a reflection conducting from the illuminating part of testing agency 21.Then, battery installing department 22 moves along left and right directions towards battery container section 4.
Battery installing department 22 moves towards battery container section 4, as shown in the long and two-short dash line of Figure 28, when the step 2b that is formed at the boundary between battery mounting table 6 and side 2a passed in a testing agency 21, the laser that irradiates from the illuminating part of a testing agency 21 was reflected at the front surface of battery mounting table 6.In the present embodiment, the detection range of testing agency 21 is configured to: if be in the state of conducting from laser testing agency 21 when the side of bus 2 2a is reflected of the illuminating part of testing agency 21, be in the state of disconnection in the laser testing agency 21 when the front surface of battery mounting table 6 is reflected from the illuminating part of testing agency 21.Therefore, when step 2b passed in a testing agency 21, a testing agency 21 was in the state of disconnection.That is the state that, is in disconnection according to a testing agency 21 detects step 2b.In addition, by detecting step 2b, the end of the left and right directions of battery mounting table 6 is detected, the end of the left and right directions by detecting battery mounting table 6 is detected the general location of the battery 3 that is installed in battery mounting table 6.
In addition, when a testing agency 21 disconnects, if battery installing department 22 moves along left and right directions towards battery container section 4, can be according to being detected with respect to the inclination of left and right directions by the distance of one or the other testing agency 21 between the side 2a of any 2 detected testing agencies 21 and bus 2 bus 2 when observing from above-below direction.
Then, as shown in Figure 29 (A), according to the testing result of the general location of battery 3, with two detections with mark 8 and two testing agencies 21 separately from each other in opposite directions mode battery installing department 22 is moved further to left and right direction.At this moment, according to the testing result of the inclination of detected bus 2 as mentioned above, when observing from above-below direction battery plug mechanism 17 regulate with respect to the inclination of left and right directions so that the front surface almost parallel of the front surface of battery installing department 22 and battery mounting table 6 in opposite directions.Particularly, by making revolving member 85 rotate the inclination of regulating cell plug mechanism 17.
Then, battery installing department 22 advances towards battery mounting table 6, irradiates and be detected until receive from the illuminating part of testing agency 21 state that is in conducting with the testing agency 21 of the laser of mark 8 reflection.Then, as shown in Figure 29 (B), Figure 29 (C), battery installing department 22 moves up at right and left, so that detect with mark 8 from laser crosscut on left and right directions of the illuminating part of testing agency 21.More specifically, battery installing department 22 moves up at right and left so that from the laser of each illuminating part of two testing agencies 21 on left and right directions respectively two detections of crosscut with marks 8.
In the present embodiment, the detection range of testing agency 21 is configured to: if from the detected state that is in conducting with mark 8 reflex time testing agencies 21 of the laser of the illuminating part of testing agency 21, be in the state of disconnection in the laser testing agency 21 when the front surface of battery mounting table 6 is reflected from the illuminating part of testing agency 21.Therefore, by since from the laser of illuminating part that detects mechanism 21 mode that crosscut detects with mark 8 on left and right directions, battery installing department 22 is moved up at right and left, and detect with mark 8 with testing agency 21, can detect the width of the detected part (being the part of reflector laser, hereinafter referred to as " detected part ") that detects with mark 8.
In addition, the detection of present embodiment forms with mark 8 general triangular that its width changes on above-below direction.Therefore, can be by the width that detects with the detected part of mark 8 be detected to detect the height that detects with mark 8, and can be by detecting to detect and be formed with the height that the battery mounting table 6 of mark 8 is used in detection detecting height with mark 8.In the present embodiment, detect to detect the height of the battery 3 of locating and be installed in battery mounting table 6 by the height to battery mounting table 6.
In addition, by since from the laser of illuminating part that detects mechanism 21 mode that crosscut detects with mark 8 on left and right directions, battery installing department 22 is moved, and detect with mark 8 with 21 pairs of detections of testing agency, can detect the center of the left and right directions that detects the detected part of using mark 8.In the present embodiment, for example according to this center, the position of battery mounting table 6 on left and right directions detected, by the position of battery mounting table 6 on left and right directions detected, can detect the position of battery 3 on left and right directions of locating and be installed in battery mounting table 6.
In addition, can utilize 21 pairs of detections of testing agency to detect with the center of the left and right directions of the detected part of mark 8 and the distance between testing agency 21, in the present embodiment, for example, according to the distance between this center and testing agency 21, the position of battery mounting table 6 on fore-and-aft direction detected, by the position of battery mounting table 6 on fore-and-aft direction detected, can detect the position of battery 3 on fore-and-aft direction of locating and be installed in battery mounting table 6.
In addition, according to detecting with respect to the inclination of left and right directions by the height of a detected battery mounting table 6 of testing agency 21 in two testing agencies 21 with by the height of another detected battery mounting table 6 of testing agency 21 battery mounting table 6 when observing from fore-and-aft direction.In addition, detect by the inclination of battery mounting table 6 when observing from fore-and-aft direction with respect to left and right directions, can detect when observing from fore-and-aft direction battery 3 with respect to the inclination of left and right directions.
In addition, according to by the detected testing agency 21 an of testing agency 21 in two testing agencies 21 and detect with the distance between mark 8 with by detected testing agency 21 of another testing agency 21 and detection and detect with respect to the inclination of left and right directions with the battery mounting table 6 when observing from above-below direction of the distance between mark 8.In addition, detect by the inclination of battery mounting table 6 when observing from above-below direction with respect to left and right directions, can detect when observing from above-below direction battery 3 with respect to the inclination of left and right directions.
when to the position of battery 3 on direction all around, the height of battery 3, when observing from fore-and-aft direction, battery 3 is when battery 3 detects with respect to the inclination of left and right directions with respect to the inclination of left and right directions and when observing from above-below direction, position to the left and right directions of battery plug mechanism 17, height and inclination are regulated, so that the jut 12 of the lower surface of battery 3 is roughly consistent on left and right directions with the slot part 32a of the roller 32 of battery installing department 22, make lower surface and the roller 31 of battery 3, 32 upper surface is roughly consistent, and make battery 3 when observing from fore-and-aft direction roughly consistent with the inclination of battery plug mechanism 17 with respect to the inclination of left and right directions, and make battery 3 when observing from above-below direction roughly consistent with the inclination of battery plug mechanism 17 with respect to the inclination of left and right directions.
Particularly, utilize the position of the left and right directions of 20 pairs of horizontal mobile mechanisms battery plug mechanism 17 to regulate, utilize the height of 18 pairs of lifting mechanisms battery plug mechanism 17 to regulate, and battery plug mechanism 17 regulate when utilizing 19 pairs of rotating mechanisms to observe from above-below direction with respect to the inclination of left and right directions.In addition, by driving the first lifting mechanism 29 or the second lifting mechanism 60, perhaps the driving amount by changing the first lifting mechanism 59 and the driving amount of the second lifting mechanism 60 are regulated battery plug when observing from fore-and-aft direction mechanism 17 with respect to the inclination of left and right directions.
To position, the height of the left and right directions of battery plug mechanism 17 and after tilting to regulate, battery installing department 22 and battery snap-in section 24 move up in front and back, and battery 3 is extracted from bus 2.When battery installing department 22 and battery snap-in section 24 move up in front and back, engage so that battery 3 successfully shifts and makes the mode that claw 41 and handle portion 11 engage rightly between battery mounting table 6 and battery installing department 22, according to the testing result of the position of the fore-and-aft direction of battery 3 to battery installing department 22 and battery snap-in section 24 amount of movement on fore-and-aft direction set.After battery 3 was extracted from bus 2, robot 5 rotated 180 ° so that battery 3 is moved into buffer station.In addition, robot 5 is taken out of the battery 3 that has charged from buffer station, inserts battery 3 towards bus 2 after rotating 180 °.
When observing from above-below direction in addition,, battery mounting table 6 is with respect to inclination (inclination of bus 2) the stopping precision of Yin Bashi 2 of left and right directions and change.The state on the ground that when observing from fore-and-aft direction in addition,, battery mounting table 6 stops with respect to inclination (inclination of the bus 2) Yin Bashi 2 of left and right directions and changing.In addition, be equiped with a plurality of batteries 3 in bus 2, and the weight of a battery 3 is the hundreds of kilogram, therefore, difference according to the installation position of battery 3, if extract successively battery 3 from bus 2 when changing battery 3, when observing from fore-and-aft direction, bus 2 can change with respect to the inclination of left and right directions.
(the main effect of present embodiment)
As mentioned above, in the present embodiment, orienting lug 95A, 95E are fixed in the lower face side of revolving member 85 at the downside of cylindrical component 64.Therefore, when extracting or insert battery 3, equipped with battery 3 and cylindrical component 64 is applied larger load on battery installing department 22, but in the present embodiment, when extracting or insert battery 3, can directly bear the larger load that puts on cylindrical component 64 with orienting lug 95A, 95E and the guide rail 94 of the lower face side that is fixed in revolving member 85.Therefore, in the present embodiment, even if make revolving member 85 attenuation reduce the rigidity of revolving member 85, also can prevent the distortion of revolving member 85.That is, in the present embodiment, can make revolving member 85 slimmings.
in addition, the load that is passed to revolving member 85 from cylindrical component 64 is dispersed and is passed to a plurality of orienting lug 95A～95G, but in the present embodiment, when extracting or insert battery 3, orienting lug 95B be disposed at orienting lug 102A upside near, orienting lug 95C be disposed at orienting lug 102B and orienting lug 102C upside near, orienting lug 95D be disposed at orienting lug 102D upside near, and orienting lug 95F be disposed at orienting lug 102G upside near, orienting lug 95G be disposed at orienting lug 102F upside near, therefore, can be with the orienting lug 102A～102D of the lower face side that is disposed at sliding component 87, 102F, 102G, stationary member 104 and guide rail 101 directly bear the orienting lug 95B～95D that disperses to be passed to the upper surface side that is disposed at sliding component 87, 95G, the load of 95F.Therefore, in the present embodiment, even if make sliding component 87 attenuation reduce the rigidity of sliding component 87, distortion that also can anti-skidding member 87.That is, in the present embodiment, can make sliding component 87 slimmings.
Like this, in the present embodiment, can make revolving member 85 and sliding component 87 slimmings.Therefore, in the present embodiment, can will be disposed at the battery plug mechanism 17 of upside of revolving member 85 and sliding component 87 be reduced to lower position.Especially, in the present embodiment, electrical motor 90 and belt wheel 91,92 are disposed at the radial outside (being downside or the upside that electrical motor 90 and belt wheel 91,92 are not disposed at revolving member 85) of revolving member 85, therefore, battery plug mechanism 17 can be reduced to lower position.Therefore, in the present embodiment, even if on the lower position of bus 2 equipped with battery 3, also can extract rightly the battery 3 that is installed in bus 2 or battery 3 is inserted buses 2 with battery plug mechanism 17.That is, in the present embodiment, even if on the lower position of bus 2 equipped with battery 3, also can change rightly the battery 3 that is installed in bus 2.
In addition, in the present embodiment, orienting lug 95A, 95E are fixed in the lower face side of revolving member 85 and rotate together with revolving member 85, and therefore, even if revolving member 85 rotates, orienting lug 95A, 95E also are disposed at the downside of cylindrical component 64 all the time.Therefore, even if revolving member 85 rotates, also can directly bear the load that puts on cylindrical component 64 with orienting lug 95A, 95E and guide rail 94.
In addition, when extracting or insert battery 3, on left and right directions, orienting lug 95B is disposed between orienting lug 102A and orienting lug 102B, orienting lug 95C is disposed between orienting lug 102B and orienting lug 102C, orienting lug 95D is disposed between orienting lug 102C and orienting lug 102D, and orienting lug 95F is disposed between orienting lug 102G and orienting lug 102H, and orienting lug 95G is disposed between orienting lug 102E and orienting lug 102F.Therefore, when extracting or insert battery 3, the part of effect that can utilize orienting lug 102A～102H, stationary member 104 and guide rail 101 in the both sides of left and right directions, bearing of sliding component 87 to be passed to the load of orienting lug 95B～95D, 95G, 95F supports.Therefore, in the present embodiment, the distortion of anti-skidding member 87 effectively.
In the present embodiment, when extracting or insert battery 3, on fore-and-aft direction, a guide rail 101 is disposed between orienting lug 95B, 95D and orienting lug 95C, and another guide rail 101 is disposed between orienting lug 95F, 95G and orienting lug 95A, 95E.Therefore, bearing of sliding component 87 can be passed to the partial configuration of effect of load of orienting lug 95 in the both sides of guide rail 101 on fore-and-aft direction.Therefore, in the present embodiment, the situation that the part of effect that is passed to the load of orienting lug 95 with bearing of sliding component 87 concentrates on the inboard of two guide rails 101 on fore-and-aft direction relatively, distortion that can anti-skidding member 87.
In the present embodiment, in the mode of the outer peripheral face butt of another smooth face of the tooth section of not being formed with of the outer peripheral face butt of face of the tooth section of being formed with of driving band 93 and belt wheel 91, driving band 93 and belt wheel 92 and revolving member 85, at belt wheel 91,92 and the added driving band 93 that is provided with of outer peripheral face of revolving member 85.Therefore, need not to form tooth section at the outer peripheral face of revolving member 85.Therefore, in the present embodiment, can simplify the structure of revolving member 85.In addition, in the present embodiment, be fixed in the tooth section engagement of the tooth section of profile of tooth belt wheel 91 of output shaft of electrical motor 90 and driving band 93, therefore, the power of electrical motor 90 can be passed to driving band 93 effectively.
In the present embodiment, driving band 93 and outer peripheral face revolving member 85 are fixed in the outer peripheral face of revolving member 85 in the part of the part of butt all the time.Therefore, in the present embodiment, even if do not form tooth section at the outer peripheral face of revolving member 85, can prevent that also driving band 93 from sliding on the outer peripheral face of revolving member 85, thereby the power of electrical motor 90 can be passed to revolving member 85 reliably.
(other embodiment)
Above-mentioned embodiment is the example in the preferred embodiment of the present invention, but the present invention is not limited thereto, and can carry out various distortion and implement in the scope that does not change the technology of the present invention thought.
In the above-described embodiment, dispose an orienting lug 95A at the downside of the cylindrical component 64 that consists of the first lifting mechanism 59, dispose an orienting lug 95E at the downside of the cylindrical component 64 that consists of the second lifting mechanism 60.In addition, for example also can be at the plural orienting lug 95 of downside configuration of the cylindrical component 64 that consists of the first lifting mechanism 59, at the plural orienting lug 95 of downside configuration of the cylindrical component 64 that consists of the second lifting mechanism 60.
In the above-described embodiment, orienting lug 95A, 95E are disposed at the downside of cylindrical component 64.In addition, for example, if can directly bear the load that puts on cylindrical component 64 with orienting lug 95A, 95E and guide rail 94, orienting lug 95A, 95E also configurable downside in cylindrical component 64 near.
In the above-described embodiment, orienting lug 95B～95D, 95G, 95F be disposed at when extracting or insert battery 3 orienting lug 102A～102D, 102F, 102G upside near.In addition, for example also orienting lug 95B～95D, 95G, 95F can be disposed at the upside of orienting lug 102A～102D, 102F, 102G, overlapping on above-below direction to make orienting lug 95B～95D, 95G, 95F and orienting lug 102A～102D, 102F, 102G when extracting or insert battery 3.In this case, can further directly bear with orienting lug 102A～102D, 102F, 102G, stationary member 104 and guide rail 101 and be dispersed the load that is passed to orienting lug 95B～95D, 95G, 95F.
In the above-described embodiment, guide rail 94 is fixed in sliding component 87, and orienting lug 95 is fixed in revolving member 85.In addition, for example also guide rail 94 can be fixed in revolving member 85, orienting lug 95 is fixed in sliding component 87.
In the above-described embodiment, be not formed with the tooth section with the tooth section engagement of driving band 93 on the outer peripheral face of revolving member 85, but can form at the outer peripheral face of revolving member 85 the tooth section with the tooth section engagement of driving band 93 yet.In this case, set up driving band 93 in the mode of the outer peripheral face butt of face of the tooth section of being formed with of driving band 93 and belt wheel 91 and revolving member 85.In addition, in the above-described embodiment, driving band 93 is to be formed with the flat-toothed belt of tooth section on a face, but driving band 93 can be also the flat-belt that is not formed with tooth section.For example, driving band 93 can be also steel band etc.
In the above-described embodiment, guide rail 94 forms circular.In addition, for example, in the situation that the rotational angle of revolving member 85 is narrower and small, perhaps in the situation that be fixed in the negligible amounts of orienting lug 95 of the lower face side of revolving member 85, also can be arranged at as guiding revolving member 85 required position to replace guide rail 94 forming circular-arc a plurality of guide rails.
In the above-described embodiment, testing agency 21 with illuminating part and light accepting part in the horizontal direction adjacent mode be installed on battery installing department 22.In addition, for example shown in Figure 30, also testing agency 21 can be installed on battery installing department 22 with illuminating part and light accepting part in the upper overlapping mode of above-below direction (vertical).In the situation that with illuminating part and light accepting part adjacent mode configuration detection mechanism 21 in the horizontal direction, for example shown in Figure 31, exist the boundary of using 8 of marks in front surface and the detection of battery mounting table 6, the laser that reflects on the front surface of battery mounting table 6 is detected can't be back to the such problem of light accepting part with mark 8 blockings, but when during overlapping mode configuration detection mechanism 21, preventing the above-described problem from occurring on above-below direction with illuminating part and light accepting part.
In the above-described embodiment, detection forms from the outstanding tabular of the front surface of battery mounting table 6 with mark 8.In addition, for example, detecting with mark 8 can be also the recess that the front surface from battery mounting table 6 caves in.For example shown in Figure 32, also can be formed by the through hole 6a of the roughly equilateral triangle of the antetheca that runs through battery mounting table 6 and the reflecting plate 110 of rear surface that is fixed in the antetheca of battery mounting table 6 in the mode of stopping up through hole 6a and detect use mark 8.In this case, when making battery mounting table 6, can form through hole 6a at the antetheca of battery mounting table 6 by the stamping-out processing based on punching press, therefore, with will form flat detection be fixed in mark 8 battery mounting table 6 front surface situation relatively, can improve the positional precision of detection use mark 8.
In the above-described embodiment, robot 5 is robots of changing for to the battery 3 that is installed in bus 2, but robot 5 can be also the robot of changing for to the battery 3 of the vehicle beyond the buses such as truck, private car 2.
(nomenclature)
2 buses (vehicle)
3 batteries
5 battery altering robots
17 battery plug mechanisms
18 lifting mechanisms
19 rotating mechanisms
20 horizontal mobile mechanisms
22 battery installing departments (movable part)
24 battery snap-in sections (movable part)
63 lift components
64 cylindrical components
85 revolving members
87 sliding components
90 electrical motors (drive source)
91 belt wheels (profile of tooth belt wheel)
93 driving bands (flat-toothed belt)
94 guide rails (rotation guide rail)
95 orienting lugs (rotation orienting lug)
95A, 95E orienting lug (rotate orienting lug, first and rotate orienting lug)
95B～95D, 95G, 95F orienting lug (rotate orienting lug, second and rotate orienting lug)
101 guide rails (directly moving guide rail)
102 orienting lugs (straight action-oriented piece)
The X fore-and-aft direction
The Y left and right directions
The Z above-below direction

Claims (8)

1. a battery altering robot, be used for the battery that is installed in vehicle is changed, it is characterized in that,
When described vehicle and described battery altering robot direction in opposite directions are made as fore-and-aft direction, and will roughly the direction of quadrature is made as left and right directions with fore-and-aft direction and above-below direction the time,
Described battery altering robot comprises:
Battery plug mechanism, this battery plug mechanism carry out described battery from described vehicle extract and/or described battery towards the insertion of described vehicle;
Lifting mechanism, this lifting mechanism make the lifting of described battery plug mechanism;
Rotating mechanism, this rotating mechanism with above-below direction for described battery plug mechanism and described lifting mechanism are rotated; And
Horizontal mobile mechanism, this horizontal mobile mechanism make described battery plug mechanism, described lifting mechanism and described rotating mechanism move up at right and left,
Described lifting mechanism comprises:
Lift component, this lift component moves up at upper and lower together with described battery plug mechanism; And
Cylindrical component, this cylindrical component is held in the energy lifting with described lift component,
Described rotating mechanism comprises:
Revolving member be fixed with described cylindrical component in the upper surface side of this revolving member, and this revolving member can rotate;
Rotate guide rail, this rotation guide rail is disposed at the lower face side of described revolving member, and on rotation direction, described revolving member is guided; And
A plurality of rotation orienting lugs, these a plurality of rotation orienting lugs are disposed at the lower face side of described revolving member, and a plurality of described rotation orienting lugs and described rotation guide rail card merge and can relatively move along described rotation guide rail,
Described horizontal mobile mechanism comprises:
Sliding component is equipped with described revolving member in the upper surface side of this sliding component in the mode that can rotate, dispose described rotation guide rail and described rotation orienting lug in the upper surface side of described sliding component, and described sliding component can move up at right and left;
Straight moving guide rail, this directly moves guide rail and is disposed at the lower face side of described sliding component, and on left and right directions, described sliding component is guided; And
A plurality of straight action-oriented pieces, these a plurality of straight action-oriented pieces are disposed at the lower face side of described sliding component, and a plurality of described straight action-oriented pieces and described straight moving guide rail card merge and can relatively move along described straight moving guide rail,
In described rotating mechanism, as described rotation orienting lug, comprising:
At least one first rotates orienting lug, this first rotate orienting lug be disposed at when extracting and/or insert described battery the downside of described cylindrical component or downside near; And
At least one second rotates orienting lug, this second rotate orienting lug be disposed at when extracting and/or insert described battery the upside of described straight action-oriented piece or upside near.
2. battery altering robot as claimed in claim 1, is characterized in that,
Described second rotates orienting lug is disposed between a plurality of described straight action-oriented pieces along left and right directions when extracting and/or insert described battery.
3. battery altering robot as claimed in claim 1 or 2, is characterized in that,
Described straight moving guide rail is disposed between a plurality of described rotation orienting lugs along fore-and-aft direction when extracting and/or insert described battery.
4. battery altering robot as claimed in claim 1 or 2, is characterized in that,
Described rotation orienting lug is fixed in described revolving member,
Described rotation guide rail is fixed in described sliding component.
5. battery altering robot as claimed in claim 1 or 2, is characterized in that,
Described rotating mechanism comprises the drive source that described revolving member is rotated,
Described drive source is disposed at the radial outside of described revolving member.
6. battery altering robot as claimed in claim 5, is characterized in that,
Described rotating mechanism comprises: as the electrical motor of described drive source; Be fixed in the profile of tooth belt wheel of the output shaft of described electrical motor; And the flat-toothed belt that is set up in described profile of tooth belt wheel and described revolving member,
A face of the tooth section of being formed with of described flat-toothed belt and the outer peripheral face butt of described profile of tooth belt wheel, another smooth face of described flat-toothed belt and the outer peripheral face butt of described revolving member.
7. battery altering robot as claimed in claim 6, is characterized in that,
The outer peripheral face of described revolving member is fixed in the part of described flat-toothed belt.
8. battery altering robot as claimed in claim 1 or 2, is characterized in that,
Described battery plug mechanism comprises movable part, the direction that this movable part can reach away from described vehicle towards the direction near described vehicle moves, and move towards the direction near described vehicle when extracting and/or insert described battery in order to carry out extracting and/or inserting of described battery
Described lifting mechanism comprises two described cylindrical components that are disposed at respectively with the both end sides of the first direction of the moving direction of described movable part and above-below direction quadrature,
Two described cylindrical components separately downside or downside near dispose at least one and described first rotate orienting lug.
CN201280003179.5A 2011-01-31 2012-01-31 Battery altering robot Expired - Fee Related CN103153721B (en)

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JP2011018756 2011-01-31
JP2011-018756 2011-01-31
PCT/JP2012/052062 WO2012105528A1 (en) 2011-01-31 2012-01-31 Battery-replacing robot

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