CN103153721B - Battery altering robot - Google Patents

Battery altering robot Download PDF

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Publication number
CN103153721B
CN103153721B CN201280003179.5A CN201280003179A CN103153721B CN 103153721 B CN103153721 B CN 103153721B CN 201280003179 A CN201280003179 A CN 201280003179A CN 103153721 B CN103153721 B CN 103153721B
Authority
CN
China
Prior art keywords
battery
orienting lug
guide rail
revolving member
component
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.)
Expired - Fee Related
Application number
CN201280003179.5A
Other languages
Chinese (zh)
Other versions
CN103153721A (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
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nidec Sankyo Corp filed Critical Nidec Sankyo Corp
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
Anticipated expiration legal-status Critical

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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

A kind of battery altering robot, even if be equiped with battery at the lower position of vehicle, also can change the battery being installed in vehicle rightly.Battery altering robot for changing the battery being installed in vehicle comprises: the battery plug mechanism of extracting or inserting carrying out battery is held in the cylindrical component (64) that can be elevated; For the revolving member (85) that cylindrical component (64) is fixing; To the guide rail (94) that revolving member (85) guides; The orienting lug (95) engaged with guide rail (94); For the sliding component (87) that revolving member (85) is installed; To the guide rail that sliding component (87) guides; And the orienting lug (102) to engage with this guide rail.In this battery altering robot, some orienting lugs (95A, 95E) are configured at the downside of cylindrical component (64), and other orienting lugs (95B ~ 95D, 95F, 95G) are configured near the upside of orienting lug (102).

Description

Battery altering robot
Technical field
The present invention relates to a kind of battery altering robot for changing the battery being installed in vehicle.
Background technology
In the past, a kind of battery replacement device (such as with reference to patent documentation 1) for changing the battery being installed in electronic bus was proposed.Battery replacement device described in patent documentation 1 comprises: for the battery tray of mounting batteries; The vertical movement device that battery tray is elevated; Install and revolvable rotation platform for battery tray and vertical movement device; And for rotation platform installing and can movement in the horizontal direction move in parallel platform.
Prior art document
Patent documentation
Patent documentation 1: Japanese Patent spy table 2008-520173 publication
Summary of the invention
Invent technical matters to be solved
When electronic bus, the resettlement section of battery is generally installed in the downside at seat.That is, when electronic bus, mounting batteries is in lower position.Therefore, when changing the battery of electronic bus, need carry out extracting of battery in lower position or insert.
Therefore, even if technical matters of the present invention be to provide a kind of lower position at vehicle be equiped with battery, also can rightly to the battery altering robot that the battery being installed in vehicle is changed.
The technical scheme that 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 changing the battery being installed in vehicle, it is characterized in that, when vehicle and battery altering robot direction are in opposite directions set to fore-and-aft direction, and by when being set to left and right directions with fore-and-aft direction and the roughly orthogonal direction of above-below direction, 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 makes battery plug mechanism be elevated; Rotating mechanism, this rotating mechanism is axially make battery plug mechanism and lifting mechanism rotate with above-below direction; And horizontal mobile mechanism, this horizontal mobile mechanism makes battery plug mechanism, lifting mechanism and rotating mechanism move in the lateral direction, and lifting mechanism comprises: lift component, and this lift component moves in the vertical direction together with battery plug mechanism; And cylindrical component, lift component is held in and can be elevated by this cylindrical component, and rotating mechanism comprises: revolving member, and this revolving member thereon face side is fixed with cylindrical component and can rotates; Rotate guide rail, this rotation guide rail is configured at the lower face side of revolving member, and guides in rotation direction revolving member; And multiple rotation orienting lug, this multiple rotation orienting lug is configured at the lower face side of revolving member, multiple rotation orienting lug merges can carry out relative movement along rotating guide rail with rotation guide rail card, horizontal mobile mechanism comprises: sliding component, in the mode that can rotate, revolving member is installed in the upper surface side of this sliding component, be configured with in the upper surface side of sliding component and rotate guide rail and rotate orienting lug, and sliding component can move in the lateral direction; Direct acting guide rail, this direct acting guide rail is configured at the lower face side of sliding component, and guides in the lateral direction sliding component; And multiple direct acting orienting lug, this multiple direct acting orienting lug is configured at the lower face side of sliding component, multiple direct acting orienting lug and direct acting guide rail card merge and can carry out relative movement along direct acting guide rail, in rotating mechanism, as rotation orienting lug, comprise: at least one first rotates orienting lug, this first rotates near orienting lug downside of being configured at cylindrical component when extracting and/or insert battery or downside; And at least one second rotates orienting lug, this second rotates near orienting lug upside of being configured at direct acting orienting lug when extracting and/or insert battery or upside.
In battery altering robot of the present invention, when extracting or insert battery, at least one first rotates near orienting lug downside of being configured at cylindrical component or downside.Therefore, when extracting or insert battery, equipped with battery in battery plug mechanism and larger load is applied to cylindrical component, but when extracting or insert battery, can orienting lug be rotated with first of the lower face side being configured at revolving member and rotate the comparatively heavy load that guide rail directly bears the cylindrical component putting on the upper surface side being fixed on revolving member.Therefore, in the present invention, even if make the thinning rigidity reducing revolving member of revolving member, the distortion of revolving member can also be prevented.That is, in the present invention, revolving member slimming can be made.
In addition, the load being passed to revolving member from cylindrical component is passed to multiple rotation orienting lug by dispersion, but in battery altering robot of the present invention, when extracting or insert battery, at least one second rotates near orienting lug upside of being configured at direct acting orienting lug or upside, therefore, directly can bear with the direct acting orienting lug of lower face side and direct acting guide rail being configured at sliding component and be passed to by dispersion the load that second of the upper surface side being configured at sliding component rotates orienting lug.Therefore, in the present invention, even if make the thinning rigidity reducing sliding component of sliding component, the distortion of sliding component can also be prevented.That is, in the present invention, sliding component slimming can be made.
Like this, in the present invention, revolving member and sliding component slimming can be made.Therefore, in the present invention, the battery plug mechanism being configured at the upside of revolving member and sliding component can be reduced to lower position, even if be equiped with battery at the lower position of vehicle, also can extract rightly with battery plug mechanism or insert the battery being installed in vehicle.That is, in the present invention, even if be equiped with battery on the lower position of vehicle, also the battery being installed in vehicle can be changed rightly.
In the present invention, it is preferable that, second rotates orienting lug is configured in left-right direction when extracting and/or insert battery between multiple direct acting orienting lug.According to said structure, then direct acting orienting lug and direct acting guide rail can be utilized to support the part of bearing the effect of the load being passed to the second rotation orienting lug of sliding component in the both sides of left and right directions.Therefore, the distortion of sliding component can effectively be prevented.
In the present invention, it is preferable that, direct acting guide rail is configured at along the longitudinal direction when extracting and/or insert battery between multiple rotation orienting lug.According to said structure, then can by the partial configuration bearing the effect being passed to the load of rotating orienting lug of sliding component in direct acting guide rail both sides in the longitudinal direction.Therefore, the situation concentrating on direct acting guide rail side in the longitudinal direction with the part of bearing the effect being passed to the load of rotating orienting lug of sliding component compares, and can prevent the distortion of sliding component.
In the present invention, it is preferable that, rotate orienting lug and be fixed on revolving member, rotate guide rail and be fixed on sliding component.According to said structure, then rotate orienting lug and rotate 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 with first and rotate guide rail and directly bear the load putting on cylindrical component.
In the present invention, it is preferable that, rotating mechanism comprises the drive source that revolving member is rotated, and drive source is configured at the radial outside of revolving member.According to said structure, be not then configured with drive source in the downside of revolving member or upside, therefore, rotating mechanism slimming can be made.Therefore, battery plug mechanism can be reduced to lower position.
In the present invention, it is preferable that, rotating mechanism comprises: as the electrical motor of drive source; Be fixed on the profile of tooth belt wheel of the output shaft of electrical motor; And being set up in the flat-toothed belt of profile of tooth belt wheel and revolving member, a face of the formation teeth portion of flat-toothed belt abuts with the outer peripheral face of profile of tooth belt wheel, and another smooth face of flat-toothed belt abuts with the outer peripheral face of revolving member.According to said structure, then form teeth portion without the need to the outer peripheral face at revolving member, therefore, the structure of revolving member can be simplified.In addition, according to said structure, then effectively the power of electrical motor can be passed to flat-toothed belt via profile of tooth belt wheel.
In the present invention, it is preferable that, the outer peripheral face of revolving member is fixed in the local of flat-toothed belt.According to said structure, even if then do not form teeth portion at the outer peripheral face of revolving member, also can prevent flat-toothed belt from sliding on the outer peripheral face of revolving member, thus the power of electrical motor reliably can be passed to revolving member.
In the present invention, such as battery plug mechanism comprises movable part, this movable part towards the direction of close vehicle and can move away from the direction of vehicle, and move towards the direction near vehicle when extracting and/or insert battery to carry out extracting and/or inserting of battery, lifting mechanism comprises two cylindrical components of the both end sides being configured at the first direction orthogonal with the moving direction of movable part and above-below direction respectively, is configured with at least one and first rotates orienting lug near the respective downside of two cylindrical components or downside.
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 the battery being installed in vehicle can be changed rightly.
Accompanying drawing explanation
Fig. 1 is the block diagram of the battery change system of the battery altering robot using embodiment of the present invention.
Fig. 2 is the block diagram in the E portion from another angle measuring gauge diagram 1.
Fig. 3 is the enlarged drawing in the F portion of Fig. 2.
Fig. 4 represents the front view containing the state of battery in the battery container portion shown in Fig. 1.
Fig. 5 is the enlarged drawing in the G portion of Fig. 4.
Fig. 6 is the figure representing the battery plug mechanism shown in Fig. 2 and lifting mechanism from front.
Fig. 7 is the figure representing battery plug mechanism and lifting mechanism from the H-H direction of Fig. 6.
Fig. 8 is for the figure from the mounting batteries mechanism shown in front instruction diagram 6.
Fig. 9 is the figure for the mounting batteries mechanism from the side shown in instruction diagram 6.
Figure 10 is for the figure from the mounting batteries mechanism shown in upper surface instruction diagram 6.
Figure 11 is the amplification view of the roller shown in Fig. 8.
Figure 12 is for the figure from the battery travel mechanism shown in front instruction diagram 6.
Figure 13 is the figure for the battery travel mechanism from the side shown in instruction diagram 6.
The figure of state when Figure 14 is for illustrating that battery snap-in portion shown in Figure 13 moves towards the direction away from bus from the side.
Figure 15 is the enlarged drawing in the J portion of Figure 13.
Figure 16 is the enlarged drawing in the K portion of Figure 13.
Figure 17 is the enlarged drawing in the L portion of Figure 13.
Figure 18 is for the figure from the battery travel mechanism shown in upper surface instruction diagram 6.
Figure 19 (A) is the enlarged drawing in the M portion of Figure 18, and Figure 19 (B) is the enlarged drawing in the N portion of Figure 18.
Figure 20 is for the figure from the lifting mechanism shown in upper surface instruction diagram 6.
Figure 21 is the figure of the structure for illustration of the first bindiny mechanism shown in Fig. 6, Figure 21 (A) figure that to be the figure for the first bindiny mechanism is described from front, Figure 21 (B) be for the first bindiny mechanism is described from the P-P direction of Figure 21 (A).
Figure 22 is the figure of the structure for illustration of the second bindiny mechanism shown in Fig. 6, Figure 22 (A) figure that to be the figure for the second bindiny mechanism is described from front, Figure 22 (B) be for the second bindiny mechanism is described from the Q-Q direction of Figure 22 (A).
Figure 23 is the figure for state when making the retaining member shown in Fig. 6 tilt is described from front.
Figure 24 is for the figure from the rotating mechanism shown in front instruction diagram 2 and horizontal mobile mechanism.
Figure 25 is for the figure from the rotating mechanism shown in upper surface instruction diagram 2 and horizontal mobile mechanism.
Figure 26 is the figure for rotating mechanism and horizontal mobile mechanism are described from the R-R direction of Figure 25.
Figure 27 (A) is the enlarged drawing in the U portion of Figure 25, and Figure 27 (B) is the enlarged drawing in the V portion of Figure 25.
Figure 28 is for illustration of the figure of the testing agency shown in Figure 10 to the method for inspection of the general location of battery.
Figure 29 is for illustration of the figure of the testing agency shown in Figure 10 to the method for inspection of the position of battery.
Figure 30 is the figure of the installation method of testing agency for illustration of another embodiment of the present invention.
Figure 31 is the figure for illustration of effect when being provided with testing agency with the installation method shown in Figure 30.
Figure 32 (A) is the figure of the detection mark for another embodiment of the present invention is described from front, and Figure 32 (B) is the cutaway view in the W-W cross section of Figure 32 (A).
Detailed description of the invention
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 the battery change system 1 of the battery altering robot 5 using embodiment of the present invention.Fig. 2 is the block diagram in the E portion from another angle measuring gauge diagram 1.In the following description, mutually orthogonal three directions are set to X-direction, Y-direction and Z-direction respectively.In the present embodiment, Z-direction is consistent with above-below direction (vertical).In addition, in the following description, X-direction is set to fore-and-aft direction, Y-direction is set to left and right directions.
The battery altering robot 5 (hereinafter referred to as " robot 5 ") of present embodiment is the robot for changing the battery 3 being 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 " bus 2 ".The battery container portion 4 of accommodating multiple battery 3 is installed in bus 2.Battery container portion 4 is configured to expose at side 2a when the lid component (not shown) of a side 2a by being installed on bus 2 is pulled down.In addition, battery container portion 4 is configured 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 stops in the mode that its direct of travel is roughly consistent with left and right directions.
Robot 5 with the mode changing the battery 3 being contained in battery container portion 4 in the longitudinal direction with the side 2a of bus 2 in opposite directions.The battery 3 being contained in battery container portion 4 is extracted to move into not shown buffer station by this robot 5, and is taken out of to insert battery container portion 4 from buffer station by battery 3 complete for the charging being contained in buffer station.
(structure in battery and battery container portion)
Fig. 3 is the enlarged drawing in the F portion of Fig. 2.Fig. 4 represents the front view containing the state of battery 3 in the battery container portion 4 shown in Fig. 1.Fig. 5 is the enlarged drawing in the G portion of Fig. 4.
Battery container portion 4 comprises the sidewall 7 of battery the mounting table 6 and left and right of installing for battery 3, is formed the receiving space of battery 3 by battery mounting table 6 and sidewall 7.In the battery container portion 4 of present embodiment, be formed with the receiving space of multiple battery 3, multiple battery 3 can be accommodated.In addition, battery container portion 4 is configured to more cave in by inboard position towards the side 2a than bus 2, as shown in Figure 3, is formed with step 2b at battery mounting table 6 and the boundary between sidewall 7 and side 2a.
The detection mark 8 for indirectly detecting the position of battery 3 is formed at the front surface of battery mounting table 6.Detection mark 8 is formed at the both end sides of the left and right directions of battery mounting table 6 respectively.In addition, as shown in Figure 3, detection mark 8 is formed as the tabular more outstanding than the front surface of battery mounting table 6, and is formed as the general triangular that its width changes in the vertical direction.In addition, in the present embodiment, as shown in Figure 4, detection mark 8 is fixed on plate-like members 9, and plate-like members 9 is fixed on the front surface of battery mounting table 6, by this, is formed with detection mark 8 at the front surface of battery mounting table 6.
The front surface of battery 3 is formed the handle portion 11 for extracting battery 3 from battery container portion 4.In the present embodiment, handle portion 11 is formed with respectively in the left and right directions both end sides of the front surface of battery 3.Be formed with jut 12 at the lower surface of battery 3 in mode outstanding downward, this jut 12 is for carrying out the location of battery 3 on the direction orthogonal with extracting direction (with reference to Fig. 5) of being extracted by robot 5.In addition, battery 3 comprises: for battery 3 being fixed on the stationary member 13 (with reference to Fig. 4) in battery container portion 4; And for removing the releasing component 14 (with reference to Fig. 3) of battery 3 relative to the stationary state in battery container portion 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 the mode of movement in left-right direction can be held in battery 3.In addition, stationary member 13 is exerted a force by not shown force application component outside 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 being formed at battery container portion 4, by this, battery 3 is fixed on battery container portion 4.Stationary member 13 serves and in battery container portion 4, to carry out battery 3 along the longitudinal direction and the effect of the location of above-below direction.
Remove the inboard that component 14 is configured at handle portion 11.Remove component 14 so that the mode of movement along the longitudinal direction battery 3 can be held in.In addition, remove component 14 to be exerted a force by the front-surface side of not shown force application component towards battery 3.In the present embodiment, when removing component 14 and being pressed towards inboard, stationary member 13 medial movement to left and right direction, removes the fastening state of the connecting hole and stationary member 13 that are formed at the sidewall 7 in battery container portion 4, thus battery 3 can be extracted from battery container portion 4.
In addition, be provided with adaptor union at the back side of battery 3, this adaptor union can be connected with the adaptor union of the inboard being configured at battery container portion 4.In addition, be provided with locating dowel pin at the back side of battery 3, this locating dowel pin for carrying out the location of battery 3 on direction up and down in battery container portion 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 makes battery plug mechanism 17 be elevated; Rotating mechanism 19, this rotating mechanism 19 is axially battery plug mechanism 17 and lifting mechanism 18 are rotated with above-below direction; And horizontal mobile mechanism 20, this horizontal mobile mechanism 20 makes battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 move in the lateral direction.In addition, robot 5 comprises the testing agency 21 (with reference to Figure 10) for detecting detection mark 8.
Battery plug mechanism 17 comprises: mounting batteries mechanism 23, and this mounting batteries mechanism 23 has when extracting and insert battery 3 for the mounting batteries portion 22 that battery 3 is installed; And battery travel mechanism 25, this battery travel mechanism 25 has the battery snap-in portion 24 (with reference to Fig. 6) engaging with battery 3 when extracting and insert battery 3 and make battery 3 movement in mounting batteries portion 22.Mounting batteries portion 22 and battery snap-in portion 24 towards the direction of close bus 2 and can move away from the direction of bus 2.
In addition, battery plug mechanism 17 is held in the retaining member 26 being formed as roughly cubic tubular.Retaining member 26 comprises: the first retaining member 27 forming its lower end side; And form the second retaining member 28 of its upper end side.First retaining member 27 is formed as the chamfered groove shape of side opening, and the second retaining member 28 is formed as the chamfered groove shape of open lower side.Retaining member 26 is fixed together by the first retaining member 27 and the second retaining member 28 being combined in the vertical direction and is formed as the roughly cubic tubular of the both ends open of the moving direction in mounting batteries portion 22 and battery snap-in portion 24.
(structure of mounting batteries mechanism)
Fig. 6 is the figure representing the battery plug mechanism 17 shown in Fig. 2 and lifting mechanism 18 from front.Fig. 7 is the figure representing battery plug mechanism 17 and lifting mechanism 18 from the H-H direction of Fig. 6.Fig. 8 is for the figure from the mounting batteries mechanism 23 shown in front instruction diagram 6.Fig. 9 is the figure for the mounting batteries mechanism 23 from the side shown in instruction diagram 6.Figure 10 is for the figure from the mounting batteries mechanism 23 shown in upper surface instruction diagram 6.Figure 11 is the amplification view of the roller 32 shown in Fig. 8.
Except above-mentioned mounting batteries portion 22, mounting batteries mechanism 23 also comprises makes mounting batteries portion 22 towards the installing department travel mechanism 30 near the direction of bus 2 and the direction movement away from bus 2.
Mounting batteries portion 22 is formed as flat bulk flat in the vertical direction.The upper surface in mounting batteries portion 22 is provided with in revolvable mode the multiple rollers 31,32 abutted with the lower surface of battery 3.As shown in Figure 10, multiple roller 31 separates the interval configuration of regulation on the moving direction in mounting batteries portion 22, multiple roller 32 also and roller 31 interval that separates regulation on the moving direction in mounting batteries portion 22 identically configure.In addition, roller 31 and roller 32 configure with the state across predetermined distance on the direction orthogonal with the moving direction in mounting batteries portion 22.
Roller 31 is plain-barreled rolls.On the other hand, as shown in figure 11, roller 32 is rollers that outer peripheral face is formed with the trough of belt of the groove portion 32a towards inner circumferential side depression.Groove portion 32a can engage with the jut 12 of the lower surface being formed at battery 3, and when battery 3 is installed in the assigned position in mounting batteries portion 22, jut 12 engages with groove portion 32a.In the present embodiment, engaged with groove portion 32a by jut 12, battery 3 can be positioned mounting batteries portion 22 on the direction orthogonal with the moving direction in mounting batteries portion 22.
In installing department travel mechanism 30, as the structure for making mounting batteries portion 22 movement, comprising: electrical motor 33; The screw member such as ball-screw 34; And the nut member 35 to screw togather with screw member 34.In addition, in installing department travel mechanism 30, as the structure for guiding mounting batteries portion 22, comprising: the guide rail 36 being formed as linearity; And to engage with guide rail 36 and can along the orienting lug 37 of guide rail 36 relative movement.
Electrical motor 33 is fixed on the upper surface side of the rearward end in mounting batteries portion 22.Screw member 34 is held in the lower face side in mounting batteries portion 22 in revolvable mode.Electrical motor 33 is connected by belt wheel, driving band etc. with screw member 34.Nut member 35 is fixed on the first retaining member 27.In addition, guide rail 36 is fixed on the lower face side in mounting batteries portion 22, and orienting lug 37 is fixed on the first retaining member 27.Therefore, in the present embodiment, when electrical motor 33 rotates, mounting batteries portion 22 is guided by guide rail 36 and orienting lug 37 and linearly moves relative to the first retaining member 27.
(structure of battery travel mechanism)
Figure 12 is for the figure from the battery travel mechanism 25 shown in front instruction diagram 6.Figure 13 is the figure for the battery travel mechanism 25 from the side shown in instruction diagram 6.The figure of state when Figure 14 is for illustrating that the battery snap-in portion 24 shown in Figure 13 moves towards the direction away from bus 2 from the side.Figure 15 is the enlarged drawing in the J portion of Figure 13.Figure 16 is the enlarged drawing in the K portion of Figure 13.Figure 17 is the enlarged drawing in the L portion of Figure 13.Figure 18 is for the figure from the battery travel mechanism 25 shown in upper surface instruction diagram 6.Figure 19 (A) is the enlarged drawing in the M portion of Figure 18, and Figure 19 (B) is the enlarged drawing in the N portion of Figure 18.
Except above-mentioned battery snap-in portion 24, battery travel mechanism 25 also comprises: make battery snap-in portion 24 towards the engagement section travel mechanism 39 near the direction of bus 2 and the direction movement away from bus 2; And battery snap-in portion 24 is held in the mobile retaining member 40 that can move and also displaceably be held in the second retaining member 28.
Battery snap-in portion 24 comprises: the engaging claw 41 engaged with the handle portion 11 of battery 3; Make the cylinder 42 that engaging claw 41 moves up and down; And for the base portion 43 that cylinder 42 is installed.Engaging claw 41 is fixed on the drawer at movable side of cylinder 42, and the fixation side of cylinder 42 is fixed on the front end face of base portion 43.
Engaging claw 41 comprises: the fixed part 41a being fixed on cylinder 42; And the claw 41b to engage with handle portion 11.Claw 41b enters between the fore-end of handle portion 11 and the front surface of battery 3 from upside and engages with handle portion 11.When claw 41b engages with handle portion 11, claw 41b presses and removes component 14, with the fastening state of the connecting hole and stationary member 13 of removing the sidewall 7 being formed at battery container portion 4.Therefore, when claw 41b engages with handle portion 11, battery plug mechanism 17 can be utilized to extract or insert battery 3.
Mobile retaining member 40 is formed as strip elongated on the moving direction in battery snap-in portion 24.In addition, shape when mobile retaining member 40 is observed from the moving direction in battery snap-in portion 24 is in roughly H-shaped shape.
In engagement section travel mechanism 39, as the structure for making battery snap-in portion 24 and mobile retaining member 40 movement, comprising: electrical motor 44; The screw member such as ball-screw 45; The nut member 46 screwed togather with screw member 45; Belt wheel 47,48; And be set up in the driving band 49 of belt wheel 47,48.In addition, in engagement section travel mechanism 39, as the structure for guiding battery snap-in portion 24 and mobile retaining member 40, comprising: the guide rail 50 being formed as linearity; To engage with guide rail 50 and can along the orienting lug 51 of guide rail 50 relative movement, and, as the structure for guiding battery snap-in portion 24, comprising: the guide rail 52 being formed as linearity; And to engage with guide rail 52 and can along the orienting lug 53 of guide rail 52 relative movement.
Electrical motor 44 is fixed on the upper surface of the rearward end of the second retaining member 28.Screw member 45 is held in the upper surface part 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 on the rearward end of mobile retaining member 40.Belt wheel 47 is held in the rearward end of mobile retaining member 40 in revolvable mode, and belt wheel 48 is held in the leading section of mobile retaining member 40 in revolvable mode.
Driving band 49 is fixed on the base portion 43 in battery snap-in portion 24 by driving band stationary member 54, and is fixed on the upper surface part of the second retaining member 28 by driving band stationary member 55.Specifically, driving band 49 is fixed on base portion 43 and the second retaining member 28 by driving band stationary member 54,55, to make: when from the second retaining member 28 is outstanding, driving band stationary member 55 is configured near belt wheel 47 mobile retaining member 40 as shown in figure 16, as shown in figure 15, driving band stationary member 54 is configured near belt wheel 48, and, when mobile retaining member 40 is accommodated in that in the second retaining member 28, driving band stationary member 55 is configured near belt wheel 48 as shown in figure 14, driving band stationary member 54 is configured near belt wheel 47.
Guide rail 50 is fixed on the upper surface part of the second retaining member 28, and orienting lug 51 is fixed on the upper surface of mobile retaining member 40.Guide rail 52 is fixed on the lower surface of mobile retaining member 40, and orienting lug 53 is fixed on the upper end side of the base portion 43 in battery snap-in portion 24.
In the present embodiment, when electrical motor 44 rotates, utilize screw member 45 and nut member 46, make mobile retaining member 40 be guided by guide rail 50 and orienting lug 51 and linearly move relative to the second retaining member 28 together with battery snap-in portion 24.In addition, when electrical motor 44 rotates, utilize belt wheel 47,48 and driving band 49, battery snap-in portion 24 is guided by guide rail 52 and orienting lug 53 and relative to the linearly relative movement of mobile retaining member 40.
(the outline action of battery plug mechanism)
When carrying out extracting of battery 3 from bus 2, first, mounting batteries portion 22 moves towards the direction near bus 2 and gives prominence to side forward from retaining member 26.Then, battery snap-in portion 24 moves towards the direction near bus 2 and gives prominence to side forward from retaining member 26.Then, engage claw 41 decline and engage with the handle portion 11 of battery 3.Then, battery snap-in portion 24 moves towards the direction away from bus 2.When battery snap-in portion 24 moves specified amount and battery 3 is installed in mounting batteries portion 22, then, mounting batteries portion 22 and battery snap-in portion 24 synchronously move towards the direction away from bus 2.Then, when departing from from handle portion 11 when engaging claw 41 and rising, battery 3 has been extracted from bus 2.
In addition, when carrying out battery 3 towards the insertion of bus 2, first, mounting batteries portion 22 and battery snap-in portion 24 synchronously move towards the direction near bus 2.Then, battery snap-in portion 24 moves towards the direction near bus 2, to carry out the insertion of battery 3 towards bus 2.Subsequently, engaging claw 41 rises, and mounting batteries portion 22 and battery snap-in portion 24 move towards the direction away from bus 2, to complete the insertion of battery 3 towards bus 2.
The mounting batteries portion 22 of present embodiment and battery snap-in portion 24 be in order to carry out extracting and inserting of battery 3 when extracting and insert battery 3 towards the movable part of direction movement near bus 2.When being extracted from bus 2 by battery 3, as described later, testing agency 21 is utilized to detect the position etc. of battery 3.In addition, as shown in Fig. 8, Figure 10, the first retaining member 27 is fixed with the align member 56 for being fixed on the positioning the battery 3 extracted from bus 2.As shown in Figure 10, align member 56 is formed with the engaging recessed part 56a engaged with stationary member 13.In addition, as shown in Figure 12, Figure 18, 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 for exchanging data with the IC chip of the front surface being formed at battery 3.
(structure of lifting mechanism, the first bindiny mechanism and the second bindiny mechanism)
Figure 20 is for the figure from the lifting mechanism 18 shown in upper surface instruction diagram 6.Figure 21 is the figure of the structure for illustration of the first bindiny mechanism 61 shown in Fig. 6, Figure 21 (A) figure that to be the figure for the first bindiny mechanism 61 is described from front, Figure 21 (B) be for the first bindiny mechanism 61 is described from the P-P direction of Figure 21 (A).Figure 22 is the figure of the structure for illustration of the second bindiny mechanism 62 shown in Fig. 6, Figure 22 (A) figure that to be the figure for the second bindiny mechanism 62 is described from front, Figure 22 (B) be for the second bindiny mechanism 62 is described from the Q-Q direction of Figure 22 (A).Figure 23 is the figure for state when making the retaining member 26 shown in Fig. 6 tilt is described from front.
Lifting mechanism 18 comprises the first lifting mechanism 59 and the second lifting mechanism 60 of the both end sides being configured at the direction (below this direction be called " first direction ") orthogonal with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 and above-below direction respectively.First lifting mechanism 59 utilizes the first bindiny mechanism 61 to be connected with the end side of the first direction of the first retaining member 27.Second lifting mechanism 60 utilizes the second bindiny mechanism 62 to be connected with another side of the first direction of the first retaining member 27.First direction when observing relative to the moving direction from mounting batteries portion 22 and battery snap-in portion 24 to make retaining member 26 tilts, and individually can drive the first lifting mechanism 59 and the second lifting mechanism 60.In addition, the mode that first direction when retaining member 26 is can observe relative to the moving direction from mounting batteries portion 22 and battery snap-in portion 24 tilts is connected with the first lifting mechanism 59 and the second lifting mechanism 60.
First lifting mechanism 59 and the second lifting mechanism 60 comprise: the lift component 63 of movement in the vertical direction together with battery plug mechanism 17 and retaining member 26; Lift component 63 is held in the cylindrical component 64 that can be elevated; And the lift drive mechanism 65 that lift component 63 is elevated.Cylindrical component 64 is formed as column elongated in the vertical direction.As shown in Figure 6, the upper end forming the cylindrical component 64 of the first lifting mechanism 59 is connected component 66 with the upper end of the cylindrical component 64 forming the second lifting mechanism 60 and is connected, and is made up of the framework of gate two cylindrical components 64 and transom 66.
In lift drive mechanism 65, as the structure for making lift component 63 movement, comprising: electrical motor 67; The screw member such as ball-screw 68; And the nut member 69 to screw togather with screw member 68.In addition, in lift drive mechanism 65, as the structure for guiding lift component 63, comprising: the guide rail 70 being formed as linearity; And to engage with guide rail 70 and can along the orienting lug 71 of guide rail 70 relative movement.
Electrical motor 67 is fixed on the upper end side of cylindrical component 64.Screw member 68 is held 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 on lift component 63.Guide rail 70 is fixed on the side of cylindrical component 64, and orienting lug 71 is fixed on lift component 63.Therefore, in the present embodiment, when electrical motor 67 rotates, lift component 63 is guided by guide rail 70 and orienting lug 71 and moves up and down relative to cylindrical component 64.
As shown in figure 21, the first bindiny mechanism 61 comprises: the cylindrical member 73 being fixed on the roughly tubular of the end side of the first direction of the first retaining member 27; Be inserted through the shaft component 74 of the inner circumferential side of cylindrical member 73; And be fixed on the axle retaining member 75 of the lift component 63 of formation first lifting mechanism 59 both end sides of retainer shaft component 74.Shaft component 74 is held in axle retaining member 75 with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 for axial.
The inner peripheral surface of cylindrical member 73 is barrel surface, and shaft component 74 is formed as elongated cylindric.Tapered roller bearing 76 is configured with between the inner peripheral surface and the outer peripheral face of shaft component 74 of cylindrical member 73.Cylindrical member 73 can relatively rotate relative to shaft component 74, thus can carry out the relatively rotating by shaft component 74 centered by of retaining member 26 relative to the lift component 63 of the first lifting mechanism 59.
As shown in figure 22, the second bindiny mechanism 62 comprises: the axle retaining member 77 being fixed on another side of the first direction of the first retaining member 27; Its both end sides is held in the shaft component 78 of axle retaining member 77; Be fixed on the axle retaining member 79 of the lift component 63 of formation second lifting mechanism 60; Its both end sides is held in the shaft component 80 of axle retaining member 79; And be formed with the link component 81 of two the inserting hole 81a inserted respectively for shaft component 78 and shaft component 80.Shaft component 78 is held in axle retaining member 77 with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 for axial, and shaft component 80 is held in axle retaining member 79 with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 for axial.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 is formed as elongated cylindric.Tapered roller bearing 82 is configured with between the inner peripheral surface and the outer peripheral face of shaft component 78,80 of inserting hole 81a.Link component 81 can relatively rotate respectively relative to shaft component 78,80, thus link component 81 can relatively rotate centered by shaft component 80 relative to the lift component 63 of the second lifting mechanism 60 and link component 81 can relatively rotate centered by shaft component 78 relative to retaining member 26.Therefore, can carry out retaining member 26 relative to the second lifting mechanism 60 lift component 63 relatively rotate and towards the relative movement of first direction.
In the present embodiment, when electrical motor 67 rotates to make the amount of movement of the lift component 63 of the first lifting mechanism 59 equal with the amount of movement of the lift component 63 of the second lifting mechanism 60, retaining member 26 is keeping being elevated under the state with horizontal direction parallel.On the other hand, when only having an electrical motor to rotate in the electrical motor 67 of the first lifting mechanism 59 and the electrical motor 67 of the second lifting mechanism 60, or when electrical motor 67 rotates to make the amount of movement of the lift component 63 of the first lifting mechanism 59 different from the amount of movement of the lift component 63 of the second lifting mechanism 60, such as shown in Figure 23, retaining member 26 tilts relative to horizontal direction.
(structure of rotating mechanism and horizontal mobile mechanism)
Figure 24 is for the figure from the rotating mechanism 19 shown in front instruction diagram 2 and horizontal mobile mechanism 20.Figure 25 is for the figure from the rotating mechanism 19 shown in upper surface instruction diagram 2 and horizontal mobile mechanism 20.Figure 26 is the figure for rotating mechanism 19 and horizontal mobile mechanism 20 are described from the R-R direction of Figure 25.Figure 27 (A) is the enlarged drawing in the U portion of Figure 25, and Figure 27 (B) is the enlarged drawing in the V portion of Figure 25.
Rotating mechanism 19 comprises: install and the revolving member 85 that 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: install for battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 and can the sliding component 87 of movement in the lateral direction; And make the horizontal drive mechanism 88 of sliding component 87 movement.
Revolving member 85 is formed as roughly discoideus.Sliding component 87 is formed as taking left and right directions as the roughly rectangular tabular of 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 configured 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.The lower end of two cylindrical components 64 is fixed with at the upper surface of revolving member 85.Specifically, on the upper surface of revolving member 85, be fixed with the lower end of cylindrical component 64 respectively in the both end sides of the first direction orthogonal with the moving direction in mounting batteries portion 22 and battery snap-in portion 24.
In rotating drive mechanism 86, as the structure for making revolving member 85 rotate, comprise as the electrical motor 90 of drive source, belt wheel 91,92 and driving band 93.In addition, in rotating drive mechanism 86, as the structure for guiding towards rotation direction revolving member 85, comprising: guide rail 94; And to engage from upside with guide rail 94 and can along multiple orienting lugs 95 of guide rail 94 relative movement.The guide rail 94 of present embodiment rotates guide rail, and orienting lug 95 rotates orienting lug.
Electrical motor 90 and belt wheel 91,92 are configured at the radial outside of revolving member 85.Specifically, electrical motor 90 and belt wheel 91,92 are configured at revolving member 85 radial outside in the lateral direction.Electrical motor 90 is fixed on the upper surface side of sliding component 87 in its output shaft mode downward.The output shaft of electrical motor 90 is provided with reductor, this reductor is fixed with belt wheel 91.That is, the output shaft of electrical motor 90 is fixed with belt wheel 91 by reductor.Belt wheel 91 is the profile of tooth belt wheels being formed with teeth portion at outer peripheral face.Belt wheel 92 is configured with respectively in the front side of belt wheel 91 and rear side.Belt wheel 92 is configured at the upper surface side of sliding component 87, and is supported on sliding component 87 in revolvable mode.
Driving band 93 is the flat-toothed belts being formed with teeth portion in a face.Driving band 93 is set up in the outer peripheral face of belt wheel 91,92 and revolving member 85.In the present embodiment, abut with the outer peripheral face of belt wheel 91 with the face being formed with teeth portion of driving band 93, mode that the outer peripheral face of another smooth face not being formed with teeth portion of driving band 93 and belt wheel 92 and revolving member 85 abuts, have driving band 93 in the outer peripheral face erection of belt wheel 91,92 and revolving member 85.Belt wheel 92 is the tension wheels for applying tension force to driving band 93.
The slewing area of the revolving member 85 of present embodiment is roughly 180 °.Therefore, driving band 93 exists the part abutted all the time with the outer peripheral face of revolving member 85.In the present embodiment, the outer peripheral face of revolving member 85 is fixed in the local of the part abutted all the time with the outer peripheral face of revolving member 85 of driving band 93.In addition, in the present embodiment, when robot 5 relative to carry out battery 3 rotate 180 ° from the position that bus 2 was extracted or inserted to bus 2 time, battery 3 can be moved into buffer station or take out of from buffer station.
Guide rail 94 is formed as circular, and is fixed on the upper surface of sliding component 87.That is, guide rail 94 is configured at the lower face side of revolving member 85.Guide rail 94 is fixed on the upper surface of sliding component 87 in the mode that the center of curvature being formed as circular guide rail 94 when above-below direction is observed is roughly consistent with the center of curvature of revolving member 85.
Orienting lug 95 is fixed on the lower face side of revolving member 85.It is circular that multiple orienting lug 95 is configured to centered by the center of curvature of revolving member 85.In addition, multiple orienting lug 95 also equiangularly spacing configuration centered by the center of curvature of revolving member 85.In the present embodiment, seven orienting lug 95 also equiangularly spacing configurations centered by the center of curvature of revolving member 85.In the following description, when indivedual expression seven orienting lug 95, seven orienting lugs 95 are labeled as orienting lug 95A ~ 95G respectively.As shown in figure 25, orienting lug 95A ~ 95G configures in a circumferential direction successively.
In the present embodiment, when electrical motor 90 rotates, revolving member 85 is guided by guide rail 94 and orienting lug 95 and rotates relative to sliding component 87.In addition, when electrical motor 90 rotates, revolving member 85 rotates centered by its center of curvature.
In horizontal drive mechanism 88, as the structure for making sliding component 87 movement, comprise electrical motor 97, belt wheel 98,99 and driving band 100.In addition, in horizontal drive mechanism 88, as the structure for guiding to left and right direction sliding component 87, comprising: two guide rails 101 being formed as linearity; And to engage from upside with guide rail 101 and can along multiple orienting lugs 102 of guide rail 101 relative movement.The guide rail 101 of present embodiment is direct acting guide rail, and orienting lug 102 is direct acting orienting lugs.
Under two guide rails 101 are configured in the state separating predetermined distance along the longitudinal direction.In addition, guide rail 101 is fixed on the upper surface of multiple supporting members 103 (with reference to Fig. 1) of the spacing configuration separating regulation in the lateral direction.Supporting member 103 is configured 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 of the fore-and-aft direction distance equaled between another root guide rail 101 and center of curvature of revolving member 85 with the fore-and-aft direction distance between a guide rail 101 in two guide rails 101 and the center of curvature of revolving member 85 is configured with two guide rails 101.
Orienting lug 102 is fixed on the lower surface of sliding component 87.Specifically, be fixed with two stationary members 104 at the lower surface of sliding component 87 with the state separating predetermined distance along the longitudinal direction, be fixed with multiple orienting lug 102 at the lower surface that above-mentioned stationary member 104 is respective.Stationary member 104 is formed as bulk elongated in the lateral direction.The mode that stationary member 104 is configured at roughly the same position with the center of stationary member 104 and the center of curvature of revolving member 85 is in the lateral direction fixed on sliding component 87.In addition, the mode of the fore-and-aft direction distance equaled between another stationary member 104 and center of curvature of revolving member 85 with the fore-and-aft direction distance between a stationary member 104 in two stationary members 104 and the center of curvature of revolving member 85 is configured with two stationary members 104.
Multiple orienting lug 102 is fixed on the lower surface of stationary member 104 in the lateral direction with constant spacing.In the present embodiment, two stationary members 104 are fixed with four orienting lugs 102 respectively.In the following description, when indivedual expression eight orienting lug 102, eight orienting lugs 102 are labeled as orienting lug 102A ~ 102H respectively.As shown in figure 25, orienting lug 102A ~ 102D is fixed on a stationary member 104 and configures successively in the lateral direction, and orienting lug 102E ~ 102H is fixed on another stationary member 104 and configures successively in the lateral direction.In addition, orienting lug 102A, 102E and orienting lug 102D, 102H are configured to symmetrical relative to stationary member 104 line of centers in the lateral direction, and orienting lug 102B, 102F and orienting lug 102C, 102G are configured to symmetrical relative to stationary member 104 line of centers in the lateral direction.
Electrical motor 97 and belt wheel 98,99 are configured at the radial outside of revolving member 85.Specifically, electrical motor 97 and belt wheel 98,99 are configured at revolving member 85 radial outside in the lateral direction, and are configured at and are positioned at position with electrical motor 90 and belt wheel 91,92 opposite side across revolving member 85.Electrical motor 97 is fixed on the upper surface side of sliding component 87 towards the mode of fore-and-aft direction with its output shaft.The output shaft of electrical motor 97 is provided with reductor, this reductor is fixed with belt wheel 98.Belt wheel 98 is the profile of tooth belt wheels being formed with teeth portion at outer peripheral face.Belt wheel 99 is configured with respectively in the lower left side of belt wheel 98 and lower right side.Belt wheel 99 is supported on sliding component 87 in revolvable mode.
Driving band 100 is the flat-toothed belts being formed with teeth portion in a face.The supporting member 103 being configured at left end in multiple supporting member 103 is fixed in one end of driving band 100, and the other end of driving band 100 is fixed on the supporting member 103 being configured at right-hand member in multiple supporting member 103.In addition, driving band 100 is set up in belt wheel 98,99.The local being formed with a face of teeth portion 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, one of driving band 100 facing to downside, another of driving band 100 is facing to upside.Belt wheel 99 is the tension wheels for applying tension force to driving band 100.
In the present embodiment, when electrical motor 97 rotates, sliding component 87 is guided by guide rail 101 and orienting lug 102 and linearly moves to left and right direction.
Be provided with brush 106 at the two ends of the left and right directions of sliding component 87, this brush 106 is removed for the foreign matter such as rubbish, sand that will lodge on another face towards the driving band 100 of upside, the outside on the left and right directions of belt wheel 99 (not being formed with the face of teeth portion).Specifically, by brush retaining member 107, brush 106 is installed in one 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 is held in brush retaining member 107,108 in the mode that another face of its Mao Duanyu driving band 100 contacts, and when sliding component 87 moves to left and right direction, the foreign matters such as the rubbish on another face of driving band 100 are swept by brush 106 and remove.The brush 106 of present embodiment is the brush of platypelloid type, as shown in figure 27, is held in brush retaining member 107,108 with its thickness direction relative to the mode that left and right directions tilts slightly.Therefore, swept by brush 106 foreign matter fallen when sliding component 87 moves to left and right direction to fall from another side facing fore-and-aft direction of driving band 100 along with the movement of sliding component 87.
As shown in figure 25, orienting lug 95A is configured at the downside of the first lifting mechanism 59, and orienting lug 95E is configured at the downside of the second lifting mechanism 60.That is, orienting lug 95a is fixed on the lower face side of revolving member 85 in the downside of the cylindrical component 64 of formation first lifting mechanism 59, and orienting lug 95E is fixed on the lower face side of revolving member 85 in the downside of the cylindrical component 64 of formation second lifting mechanism 60.
In addition, in the present embodiment, when being extracted from bus 2 or insert bus 2 by battery 3, as shown in figure 25, orienting lug 95 is configured with.Namely, when battery 3 is extracted from bus 2 or is inserted bus 2, orienting lug 95B is configured near the upside of orienting lug 102A, and orienting lug 95C is configured near the upside of orienting lug 102B and orienting lug 102C, and orienting lug 95D is configured near the upside of orienting lug 102D.Specifically, orienting lug 95B is configured at the upside of orienting lug 102A and is configured at the inner side in direction all around, and orienting lug 95D is configured at the upside of orienting lug 102D and is configured at the inner side in direction all around.In addition, orienting lug 95C is configured at the upside of orienting lug 102B and orienting lug 102C and is configured at the outside of fore-and-aft direction, and the distance be configured between orienting lug 95C and orienting lug 102B equals the distance between orienting lug 95C and orienting lug 102C.
In addition, when being extracted from bus 2 or insert bus 2 by battery 3, orienting lug 95F is configured near the upside of orienting lug 102G, and orienting lug 95G is configured near the upside of orienting lug 102F.Specifically, orienting lug 95F is configured at the upside of orienting lug 102G and is configured at the outside in direction all around, and the local being configured to orienting lug 95F is overlapping in the vertical direction with the local of orienting lug 102G.In addition, orienting lug 95G is configured at the upside of orienting lug 102F and is configured at the outside in direction all around, and the local being configured to orienting lug 95G is overlapping in the vertical direction with the local of orienting lug 102F.
In addition, when battery 3 is extracted from bus 2 or is inserted bus 2, on left and right directions, orienting lug 95B is configured between orienting lug 102A and orienting lug 102B, orienting lug 95C is configured between orienting lug 102B and orienting lug 102C, orienting lug 95D is configured between orienting lug 102C and orienting lug 102D, and orienting lug 95F is configured between orienting lug 102G and orienting lug 102H, and orienting lug 95G is configured between orienting lug 102E and orienting lug 102F.
In addition, when battery 3 is extracted from bus 2 or is inserted bus 2, in the longitudinal direction, orienting lug 102A ~ 102D is configured between orienting lug 95B, 95D and orienting lug 95C, and orienting lug 102E ~ 102H is configured at orienting lug 95F, 95G and between orienting lug 95A, 95E.That is, when being extracted from bus 2 or insert bus 2 by battery 3, in the longitudinal direction, a guide rail 101 is configured between orienting lug 95B, 95D and orienting lug 95C, and another guide rail 101 is configured at orienting lug 95F, 95G and between orienting lug 95A, 95E.
In addition, when battery 3 is extracted from bus 2 or is inserted bus 2, with parallel with fore-and-aft direction when observing from above-below direction and make the center configuration of orienting lug 95C through revolving member 85 center of curvature line on mode be configured with orienting lug 95C.In addition, when being extracted from bus 2 or insert bus 2 by battery 3, in the longitudinal direction, the bus 2 changing battery 3 stops at the side of configuration orienting lug 95C.
Orienting lug 95A, 95E of present embodiment are that orienting lug is rotated in first of the downside being configured at cylindrical component 64 when extracting or insert battery 3.In addition, orienting lug 95B ~ 95D, 95G, 95F be configured at direct acting orienting lug and orienting lug 102A ~ 102D, 102F, 102G when extracting or insert battery 3 upside near second rotate orienting lug.
Battery change system 1 comprise for whether operator is entered be installed in sliding component 87 battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 left and right directions movable range in detect, to make the testing agency (not shown) of electrical motor 97 emergent stopping etc.This testing agency has the optical sensor being configured to illuminating part respect to one another and light accepting part.In the present embodiment, a component in illuminating part and light accepting part is installed in the left end side of sliding component 87, the upside of the supporting member 103 being configured at left end in multiple supporting member 103 is configured with another component in illuminating part and light accepting part, when being interdicted from the light of this illuminating part directive light accepting part, the left side of sliding component 87 detect operator enter battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 left and right directions movable range in.In addition, a component in illuminating part and light accepting part is installed in the right-hand member side of sliding component 87, the upside of the supporting member 103 being configured at right-hand member in multiple supporting member 103 is configured with another component in illuminating part and light accepting part, when being interdicted from the light of this illuminating part directive light accepting part, the right side of sliding component 87 detect operator enter battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 left and right directions movable range in.In addition, illuminating part comprises the multiple luminous elements arranged along the longitudinal direction, light accepting part comprises the multiple photo detectors arranged along the longitudinal direction, with can detect in the Zone Full of the fore-and-aft direction of sliding component 87 operator whether enter battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 left and right directions movable range in.In addition, to operator whether enter battery plug mechanism 17, lifting mechanism 18 and rotating mechanism 19 left and right directions movable range in the testing agency detected also can be camera.
(structure of testing agency and the position probing action of battery)
Figure 28 is the figure of the method for inspection of general location for illustration of the testing agency's 21 pairs of batteries 3 shown in Figure 10.Figure 29 is the figure of the method for inspection of position for illustration of the testing agency's 21 pairs of batteries 3 shown in Figure 10.
Testing agency 21 is the laser sensors comprising illuminating part and light accepting part, and wherein, above-mentioned illuminating part irradiates laser, and above-mentioned light accepting part receives and to irradiate and at the side 2a of bus 2, the front surface of battery mounting table 6 etc. by the laser reflected from this illuminating part.As shown in Figure 10, this testing agency 21 is installed on the upper surface of the front in mounting batteries portion 22.In addition, testing agency 21 is installed on mounting batteries portion 22 in the mode that illuminating part is adjacent in the horizontal direction with light accepting part.In the present embodiment, in mounting batteries portion 22, Liang Ge testing agency 21 is installed in the mode corresponding with two the detection marks 8 being formed at battery mounting table 6.
When in the measurement range that the reverberation reflected the laser irradiated from illuminating part is in regulation, testing agency 21 is in the state of conducting, and when the reverberation reflected laser is not in measurement range, testing agency 21 is 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 the battery 3 utilizing testing agency 21 to carry out such as is carried out as follows.First, when the bus 2 changing battery 3 stops at the stop position of regulation, such as, battery plug mechanism 17 is more standby by the position on front side of the direct of travel of bus 2 than battery container portion 4.In addition, now, as shown in the solid line of Figure 28, in opposite directions, and mounting batteries portion 22 retreats towards the direction away from bus 2 for the front surface in mounting batteries portion 22 and the side 2a of bus 2.In addition, now, such as, battery plug mechanism 17 position that is in roughly the same height in detection mark 8 and testing agency 21 is standby.
As shown in the dotted line of Figure 28, mounting batteries portion 22 advances from above-mentioned state towards bus 2, to irradiate and the testing agency 21 of the laser reflected at the side 2a of bus 2 is in the state of conducting until receive from the illuminating part of testing agency 21.Then, mounting batteries portion 22 moves in left-right direction towards battery container portion 4.
Mounting batteries portion 22 moves towards battery container portion 4, as shown in the long and two-short dash line of Figure 28, as the step 2b of a testing agency 21 through the boundary be formed between battery mounting table 6 and side 2a, the laser irradiated from the illuminating part of a testing agency 21 is 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 2a of bus 2 is reflected of the illuminating part of testing agency 21, be then in the state of disconnection in laser testing agency 21 when the front surface of battery mounting table 6 is reflected of the illuminating part from testing agency 21.Therefore, when a testing agency 21 is through step 2b, a testing agency 21 is in the state of disconnection.That is, the state being in disconnection according to a testing agency 21 detects step 2b.In addition, by detecting that the end of step 2b to the left and right directions of battery mounting table 6 is detected, by detecting that the general location of the end of the left and right directions of battery mounting table 6 to the battery 3 being installed in battery mounting table 6 detects.
In addition, when a testing agency 21 disconnects, if mounting batteries portion 22 moves in left-right direction towards battery container portion 4, then can detect relative to the inclination of left and right directions bus 2 when observing from above-below direction according to by the distance of one or the other testing agency 21 between any 2 testing agencies detected 21 and the side 2a of bus 2.
Then, as shown in Figure 29 (A), according to the testing result of the general location of battery 3, with two detection marks 8 and Liang Ge testing agency 21 separately from each other mode in opposite directions make mounting batteries portion 22 movement further to left and right direction.Now, according to the testing result of the inclination of the bus 2 detected as mentioned above, regulate to make the front surface of the front surface in mounting batteries portion 22 and battery mounting table 6 in opposite directions almost parallel relative to the inclination of left and right directions to battery plug mechanism 17 when observing from above-below direction.Specifically, the inclination by making revolving member 85 rotate regulating cell plug mechanism 17.
Then, mounting batteries portion 22 advances towards battery mounting table 6, to irradiate until receive and to be detected the state being in conducting with the testing agency 21 of laser that mark 8 reflects from the illuminating part of testing agency 21.Then, as shown in Figure 29 (B), Figure 29 (C), mounting batteries portion 22 moves in the lateral direction, to make the laser crosscut detection mark 8 in the lateral direction from the illuminating part of testing agency 21.More specifically, mounting batteries portion 22 moves in the lateral direction, distinguishes crosscut two detection marks 8 in the lateral direction to make the laser from each illuminating part of Liang Ge testing agency 21.
In the present embodiment, the detection range of testing agency 21 is configured to: if from the laser of the illuminating part of testing agency 21 be detected reflect with mark 8 time testing agency 21 be in the state of conducting, be then in the state of disconnection in laser testing agency 21 when the front surface of battery mounting table 6 is reflected of the illuminating part from testing agency 21.Therefore, by since the mode of laser crosscut detection mark 8 in the lateral direction of illuminating part of Autonomous test mechanism 21 mounting batteries portion 22 is moved in the lateral direction, and with testing agency 21 detection mark 8, the width of the detected part (i.e. the part of reflects laser, hereinafter referred to as " detected part ") of detection mark 8 can be detected.
In addition, the detection mark 8 of present embodiment is formed as the general triangular that its width changes in the vertical direction.Therefore, the width by the detected part to detection mark 8 detects the height detecting detection mark 8, and by detecting the height detecting the battery mounting table 6 being formed with detection mark 8 to the height of detection mark 8.In the present embodiment, detect and locate by detecting the height of battery mounting table 6 and be installed in the height of the battery 3 of battery mounting table 6.
In addition, by since the mode of laser crosscut detection mark 8 in the lateral direction of illuminating part of Autonomous test mechanism 21 mounting batteries portion 22 is moved, and with testing agency 21, detection mark 8 is detected, the center of the left and right directions of the detected part of detection mark 8 can be detected.In the present embodiment, such as according to this center, battery mounting table 6 position is in the lateral direction detected, by detecting battery mounting table 6 position in the lateral direction, can detect and locate and be installed in battery 3 position in the lateral direction of battery mounting table 6.
In addition, testing agency 21 can be utilized to detect the distance between the center of the left and right directions of the detected part of detection mark 8 and testing agency 21, in the present embodiment, such as, according to the distance between this center and testing agency 21, battery mounting table 6 position is in the longitudinal direction detected, by detecting battery mounting table 6 position in the longitudinal direction, can detect and locate and be installed in battery 3 position in the longitudinal direction of battery mounting table 6.
In addition, according to the height of the battery mounting table 6 detected by the testing agency of in Liang Ge testing agency 21 21 and the height of battery mounting table 6 that detected by another testing agency 21, battery mounting table 6 when observing from fore-and-aft direction is detected relative to the inclination of left and right directions.In addition, by detecting relative to the inclination of left and right directions battery mounting table 6 when observing from fore-and-aft direction, can detect that when observing from fore-and-aft direction, battery 3 is relative to the inclination of left and right directions.
In addition, the distance between the testing agency 21 detected by another testing agency 21 according to the Distance geometry between the testing agency 21 detected by the testing agency of in Liang Ge testing agency 21 21 and detection mark 8 and detection mark 8 detects relative to the inclination of left and right directions battery mounting table 6 when observing from above-below direction.In addition, by detecting relative to the inclination of left and right directions battery mounting table 6 when observing from above-below direction, can detect that when observing from above-below direction, battery 3 is relative to the inclination of left and right directions.
When to the position of battery 3 on all around direction, the height of battery 3, when observing from fore-and-aft direction battery 3 relative to left and right directions inclination and when observing from above-below direction, battery 3 detects relative to the inclination of left and right directions time, to the position of the left and right directions of battery plug mechanism 17, height and inclination regulate, roughly consistent in the lateral direction with the groove portion 32a of the roller 32 of the jut 12 with mounting batteries portion 22 that make the lower surface of battery 3, make lower surface and the roller 31 of battery 3, the upper surface of 32 is roughly consistent, and battery 3 is roughly consistent with the inclination of battery plug mechanism 17 relative to the inclination of left and right directions when making to observe from fore-and-aft direction, and battery 3 is roughly consistent with the inclination of battery plug mechanism 17 relative to the inclination of left and right directions when making to observe from above-below direction.
Specifically, the position of the left and right directions of horizontal mobile mechanism 20 pairs of battery plug mechanisms 17 is utilized to regulate, utilize the height of lifting mechanism 18 pairs of battery plug mechanisms 17 to regulate, and utilize rotating mechanism 19 to regulate relative to the inclination of left and right directions battery plug mechanism 17 when observing from above-below direction.In addition, by driving the first lifting mechanism 29 or the second lifting mechanism 60, or by the drive volume of change first lifting mechanism 59 and the drive volume of the second lifting mechanism 60, to regulate when observing from fore-and-aft direction battery plug mechanism 17 relative to the inclination of left and right directions.
After the position of the left and right directions to battery plug mechanism 17, height and inclination regulate, mounting batteries portion 22 and battery snap-in portion 24 move in the longitudinal direction, are extracted by battery 3 from bus 2.When mounting batteries portion 22 and battery snap-in portion 24 move in the longitudinal direction, successfully shift between battery mounting table 6 with mounting batteries portion 22 to make battery 3 and make to engage the mode that claw 41 engages rightly with handle portion 11, the testing result according to the position of the fore-and-aft direction of battery 3 sets mounting batteries portion 22 and battery snap-in portion 24 amount of movement in the longitudinal direction.After being extracted from bus 2 by battery 3, robot 5 rotates 180 ° so that battery 3 is moved into buffer station.In addition, robot 5 takes out of the battery 3 charged from buffer station, after rotation 180 °, insert battery 3 towards bus 2.
In addition, when observing from above-below direction battery mounting table 6 relative to inclination (inclination of the bus 2) Yin Bashi 2 of left and right directions stopping precision and change.In addition, when observing from fore-and-aft direction the ground that battery mounting table 6 stops relative to inclination (inclination of the bus 2) Yin Bashi 2 of left and right directions state and change.In addition, multiple battery 3 is equiped with in bus 2, and the weight of a battery 3 is hundreds of kilogram, therefore, according to the difference of the installation position of battery 3, if extract battery 3 when changing battery 3 successively from bus 2, then when observing from fore-and-aft direction, bus 2 can change relative to the inclination of left and right directions.
(main efficacy results of present embodiment)
As mentioned above, in the present embodiment, orienting lug 95A, 95E are fixed on the lower face side of revolving member 85 in the downside of cylindrical component 64.Therefore, when extracting or insert battery 3, equipped with battery 3 in mounting batteries portion 22 also applies larger load to cylindrical component 64, but in the present embodiment, when extracting or insert battery 3, can directly bear with orienting lug 95A, the 95E of lower face side and guide rail 94 being fixed on revolving member 85 the larger load putting on cylindrical component 64.Therefore, in the present embodiment, even if make the thinning rigidity reducing revolving member 85 of revolving member 85, the distortion of revolving member 85 can also be prevented.That is, in the present embodiment, revolving member 85 slimming can be made.
In addition, the load being passed to revolving member 85 from cylindrical component 64 is passed to multiple orienting lug 95A ~ 95G by dispersion, but in the present embodiment, when extracting or insert battery 3, orienting lug 95B is configured near the upside of orienting lug 102A, orienting lug 95C is configured near the upside of orienting lug 102B and orienting lug 102C, orienting lug 95D is configured near the upside of orienting lug 102D, and orienting lug 95F is configured near the upside of orienting lug 102G, orienting lug 95G is configured near the upside of orienting lug 102F, therefore, can with the orienting lug 102A ~ 102D of lower face side being configured at sliding component 87, 102F, 102G, stationary member 104 and guide rail 101 directly bear orienting lug 95B ~ 95D that dispersion is passed to the upper surface side being configured at sliding component 87, 95G, the load of 95F.Therefore, in the present embodiment, even if make the thinning rigidity reducing sliding component 87 of sliding component 87, the distortion of sliding component 87 can also be prevented.That is, in the present embodiment, sliding component 87 slimming can be made.
Like this, in the present embodiment, revolving member 85 and sliding component 87 slimming can be made.Therefore, in the present embodiment, the battery plug mechanism 17 being configured at the upside of revolving member 85 and sliding component 87 can be reduced to lower position.Especially, in the present embodiment, electrical motor 90 and belt wheel 91,92 are configured at the radial outside (namely electrical motor 90 and belt wheel 91,92 are not configured at downside or the upside of 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 with battery plug mechanism 17 battery 3 that is installed in bus 2 rightly or battery 3 be inserted bus 2.That is, in the present embodiment, even if on the lower position of bus 2 equipped with battery 3, also can change the battery 3 being installed in bus 2 rightly.
In addition, in the present embodiment, orienting lug 95A, 95E are fixed on 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 are also configured at the downside of cylindrical component 64 all the time.Therefore, even if revolving member 85 rotates, also can directly bear with orienting lug 95A, 95E and guide rail 94 load putting on cylindrical component 64.
In addition, when extracting or insert battery 3, on left and right directions, orienting lug 95B is configured between orienting lug 102A and orienting lug 102B, orienting lug 95C is configured between orienting lug 102B and orienting lug 102C, orienting lug 95D is configured between orienting lug 102C and orienting lug 102D, and orienting lug 95F is configured between orienting lug 102G and orienting lug 102H, and orienting lug 95G is configured between orienting lug 102E and orienting lug 102F.Therefore, when extracting or insert battery 3, can utilize that orienting lug 102A ~ 102H, stationary member 104 and guide rail 101 are passed to orienting lug 95B ~ 95D in the both sides of left and right directions to bearing of sliding component 87, the part of effect of load of 95G, 95F supports.Therefore, in the present embodiment, the distortion of sliding component 87 can effectively be prevented.
In the present embodiment, when extracting or insert battery 3, in the longitudinal direction, a guide rail 101 is configured between orienting lug 95B, 95D and orienting lug 95C, and another guide rail 101 is configured at orienting lug 95F, 95G and between orienting lug 95A, 95E.Therefore, can by the partial configuration bearing the effect of the load being passed to orienting lug 95 of sliding component 87 in guide rail 101 both sides in the longitudinal direction.Therefore, in the present embodiment, the situation concentrating on two guide rail 101 inner sides in the longitudinal direction with the part of bearing the effect of the load being passed to orienting lug 95 of sliding component 87 compares, and can prevent the distortion of sliding component 87.
In the present embodiment, abut with the outer peripheral face of belt wheel 91 with the face being formed with teeth portion of driving band 93, mode that the outer peripheral face of another smooth face not being formed with teeth portion of driving band 93 and belt wheel 92 and revolving member 85 abuts, be provided with driving band 93 the outer peripheral face of belt wheel 91,92 and revolving member 85 is added.Therefore, teeth portion is formed without the need to the outer peripheral face at revolving member 85.Therefore, in the present embodiment, the structure of revolving member 85 can be simplified.In addition, in the present embodiment, the teeth portion being fixed on the profile of tooth belt wheel 91 of the output shaft of electrical motor 90 engages with the teeth portion of driving band 93, therefore, the power of electrical motor 90 can be passed to driving band 93 effectively.
In the present embodiment, the outer peripheral face of revolving member 85 is fixed in the local of the part abutted all the time with the outer peripheral face of revolving member 85 of driving band 93.Therefore, in the present embodiment, even if do not form teeth portion at the outer peripheral face of revolving member 85, also can prevent driving band 93 from sliding on the outer peripheral face of revolving member 85, thus the power of electrical motor 90 reliably can be passed to revolving member 85.
(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 not changing the technology of the present invention thought.
In the above-described embodiment, be configured with an orienting lug 95A in the downside of the cylindrical component 64 of formation first lifting mechanism 59, be configured with an orienting lug 95E in the downside of the cylindrical component 64 of formation second lifting mechanism 60.In addition, such as also can configure plural orienting lug 95 in the downside of the cylindrical component 64 of formation first lifting mechanism 59, configure plural orienting lug 95 in the downside of the cylindrical component 64 of formation second lifting mechanism 60.
In the above-described embodiment, orienting lug 95A, 95E is configured at the downside of cylindrical component 64.In addition, such as, if can directly bear with orienting lug 95A, 95E and guide rail 94 load putting on cylindrical component 64, then orienting lug 95A, 95E is also configurable near the downside of cylindrical component 64.
In the above-described embodiment, orienting lug 95B ~ 95D, 95G, 95F are configured at when extracting or insert battery 3 near the upside of orienting lug 102A ~ 102D, 102F, 102G.In addition, such as also orienting lug 95B ~ 95D, 95G, 95F can be configured at the upside of orienting lug 102A ~ 102D, 102F, 102G, to make orienting lug 95B ~ 95D, 95G, 95F overlapping in the vertical direction with orienting lug 102A ~ 102D, 102F, 102G when extracting or insert battery 3.In this case, can directly bear with orienting lug 102A ~ 102D, 102F, 102G, stationary member 104 and guide rail 101 load being passed to orienting lug 95B ~ 95D, 95G, 95F by dispersion further.
In the above-described embodiment, guide rail 94 is fixed on sliding component 87, and orienting lug 95 is fixed on revolving member 85.In addition, such as also guide rail 94 can be fixed on revolving member 85, orienting lug 95 is fixed on sliding component 87.
In the above-described embodiment, the outer peripheral face of revolving member 85 is not formed with the teeth portion engaged with the teeth portion of driving band 93, but can forms at the outer peripheral face of revolving member 85 teeth portion engaged with the teeth portion of driving band 93 yet.In this case, the mode abutted with the outer peripheral face of the face being formed with teeth portion of driving band 93 and belt wheel 91 and revolving member 85 sets up driving band 93.In addition, in the above-described embodiment, driving band 93 is the flat-toothed belts being formed with teeth portion on one face, but driving band 93 also can be the flat-belt not being formed with teeth portion.Such as, driving band 93 also can be steel band etc.
In the above-described embodiment, guide rail 94 is formed as circular.In addition, such as, when the rotational angle of revolving member 85 is narrower and small, or when being fixed on the negligible amounts of orienting lug 95 of lower face side of revolving member 85, also the multiple guide rails being formed as arc-shaped can be arranged at as guiding position needed for revolving member 85 to replace guide rail 94.
In the above-described embodiment, testing agency 21 is installed on mounting batteries portion 22 in the mode that illuminating part is adjacent in the horizontal direction with light accepting part.In addition, such as, shown in Figure 30, also testing agency 21 can be installed on mounting batteries portion 22 with illuminating part and light accepting part in the upper overlapping mode of above-below direction (vertical).When mode configuration detection mechanism 21 adjacent in the horizontal direction with light accepting part with illuminating part, such as shown in Figure 31, there is the boundary between the front surface and detection mark 8 of battery mounting table 6, the laser that the front surface of battery mounting table 6 reflects is detected and interdicts with mark 8 and cannot be back to the such problem of light accepting part, but when the mode configuration detection mechanism 21 overlapping in the vertical direction with light accepting part with illuminating part, can prevent the above-described problem from occurring.
In the above-described embodiment, detection mark 8 is formed as from the outstanding tabular of the front surface of battery mounting table 6.In addition, such as, detection mark 8 also can be the recess caved in from the front surface of battery mounting table 6.Such as shown in Figure 32, also can form detection mark 8 by the through hole 6a of roughly equilateral triangle of antetheca and the reflecting plate 110 of rear surface of the antetheca that is fixed on battery mounting table 6 in the mode blocking through hole 6a running through battery mounting table 6.In this case, when making battery mounting table 6, through hole 6a is formed at the antetheca of battery mounting table 6 by the punch press process based on punching press, therefore, comparing with by being formed as the situation that flat detection mark 8 is fixed on the front surface of battery mounting table 6, the positional precision of detection mark 8 can be improved.
In the above-described embodiment, robot 5 is the robots for changing the battery 3 being installed in bus 2, but robot 5 also can be the robot for changing the battery 3 of the vehicle beyond the bus 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 mounting batteries portions (movable part)
24 battery snap-in portions (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 (direct acting guide rail)
102 orienting lugs (direct acting orienting lug)
X fore-and-aft direction
Y left and right directions
Z above-below direction

Claims (8)

1. a battery altering robot, for changing the battery being installed in vehicle, is characterized in that,
When described vehicle and described battery altering robot direction are in opposite directions set to fore-and-aft direction, and by when being set to left and right directions with fore-and-aft direction and the roughly orthogonal direction of above-below direction,
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 makes described battery plug mechanism be elevated;
Rotating mechanism, this rotating mechanism is axially make described battery plug mechanism and described lifting mechanism rotate with above-below direction; And
Horizontal mobile mechanism, this horizontal mobile mechanism makes described battery plug mechanism, described lifting mechanism and described rotating mechanism move in the lateral direction,
Described lifting mechanism comprises:
Lift component, this lift component moves in the vertical direction together with described battery plug mechanism; And
Cylindrical component, described lift component is held in and can be elevated by this cylindrical component,
Described rotating mechanism comprises:
Revolving member, is 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 configured at the lower face side of described revolving member, and guides described revolving member in rotation direction; And
Multiple rotation orienting lug, this multiple rotation orienting lug is configured at the lower face side of described revolving member, and multiple described rotation orienting lug and described rotation guide rail card merge and can carry out relative movement along described rotation guide rail,
Described horizontal mobile mechanism comprises:
Sliding component, is provided with described revolving member in the upper surface side of this sliding component in the mode that can rotate, and be configured with described rotation guide rail and described rotation orienting lug, and described sliding component can move in the lateral direction in the upper surface side of described sliding component;
Direct acting guide rail, this direct acting guide rail is configured at the lower face side of described sliding component, and guides described sliding component in the lateral direction; And
Multiple direct acting orienting lug, this multiple direct acting orienting lug is configured at the lower face side of described sliding component, and multiple described direct acting orienting lug and described direct acting guide rail card merge and can carry out relative movement along described direct acting guide rail,
In described rotating mechanism, as described rotation orienting lug, comprising:
At least one first rotates orienting lug, and this first rotates near orienting lug downside of being configured at described cylindrical component when extracting and/or insert described battery or downside; And
At least one second rotates orienting lug, and this second rotates near orienting lug upside of being configured at described direct acting orienting lug when extracting and/or insert described battery or upside.
2. battery altering robot as claimed in claim 1, is characterized in that,
Described second rotates orienting lug is configured in left-right direction when extracting and/or insert described battery between multiple described direct acting orienting lug.
3. battery altering robot as claimed in claim 1 or 2, is characterized in that,
Described direct acting guide rail is configured at along the longitudinal direction when extracting and/or insert described battery between multiple described rotation orienting lug.
4. battery altering robot as claimed in claim 1 or 2, is characterized in that,
Described rotation orienting lug is fixed on described revolving member,
Described rotation guide rail is fixed on 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 configured 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 on the profile of tooth belt wheel of the output shaft of described electrical motor; And be set up in the flat-toothed belt of described profile of tooth belt wheel and described revolving member,
The face being formed with teeth portion of described flat-toothed belt abuts with the outer peripheral face of described profile of tooth belt wheel, and another smooth face of described flat-toothed belt abuts with the outer peripheral face 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 local 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, this movable part towards the direction of close described vehicle and can move away from the direction of described vehicle, and move towards the direction near described vehicle when extracting and/or insert described battery to carry out extracting and/or inserting of described battery
Described lifting mechanism comprises two described cylindrical components of the both end sides being configured at the first direction orthogonal with the moving direction of described movable part and above-below direction respectively,
Near the respective downside of two described cylindrical components or downside, to be configured with described at least one first to rotate orienting lug.
CN201280003179.5A 2011-01-31 2012-01-31 Battery altering robot Expired - Fee Related CN103153721B (en)

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

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