Current alternating robot system and method of electric bus

• US 8,660,692 B2
• Filed: 04/16/2012
• Issued: 02/25/2014
• Est. Priority Date: 11/18/2011
• Status: Expired due to Fees

• Current Assignee: Electric Power Research Institute of State Grid Zhejiang Electric Power Company, Shandong Luneng Intelligence Technology Co., Ltd, State Grid Corporation of China, State Grid Shandong Province Electric Power Company
• Original Assignee: Electric Power Research Institute of State Grid Zhejiang Electric Power Company, Shandong Luneng Intelligence Technology Co., Ltd, State Grid Corporation of China, State Grid Shandong Province Electric Power Company
• Inventors: Miao, Peiqing, Li, Bingqiang, Wang, Tongbin, Tan, Lin, Zhao, Jinlong, Li, Tongzhi, Yu, Liangmin, Du, Jun, Wang, Jinxing, Wang, Chuanqing, Li, Hongmei, Liu, Jidong, Zhao, Yan, Mu, Shiyou, Sun, Yutian, Wu, Guanbin, Gao, Yuming, Zhang, Huadong, Xu, Naiyuan, Sun, Yong
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Bendidi, Rachid
• Application Number:
  US13/877,076
• Publication Number:
  US 20130218333A1
• Time in Patent Office: 680 Days
• Field of Search: 700245-265, 41422201-22213, 414/467, 414/560, 901/1, 901/16, 701/22, 180/65.1, 180/68.5, 320/108, 320/109, 320/115
• US Class Current: 700/245
• CPC Class Codes: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: B60S 5/06 Supplying batteries to, or removing batteries from, vehicles exchanging batteries for electric propulsion of vehicles B60L53/80

Abstract

The system includes a robot body and a main robot control platform. The robot body includes a mechanical part and an electrical control part. The mechanical part includes a horizontal moving unit, an objective carrying platform unit and a bearing unit which are arranged in X, Y and Z cartesian coordinate directions. The objective carrying platform unit includes an objective carrying platform and a battery drive mechanism arranged on the objective carrying platform. A battery pushing mechanism is arranged on the battery drive mechanism. The electrical control part includes a data collection device connected with a main control computer system, a power drive mechanism, an I/O model and a wireless communication model I. The wireless communication model I, the wireless communication model II of a control backend and the wireless communication model III in the remote control device wirelessly communicate with each other.

Claims

1. A current alternating robot system of an electric bus comprises a robot body and a main robot control platform, wherein the robot body comprises a mechanical part and an electrical control part;

the mechanical part comprises a horizontal moving unit, an objective carrying platform unit and a bearing unit which are arranged in X, Y and Z cartesian coordinate directions;

the bearing unit is on the upper part of the horizontal moving unit, and the objective carrying platform unit is connected with the bearing unit;

the objective carrying platform unit comprises an objective carrying platform and a battery drive mechanism arranged on the objective carrying platform;

a battery pushing mechanism is arranged on the battery drive mechanism;

the electrical control part comprises a data collection device connected with a main control computer system, a power drive mechanism, an I/O model and a wireless communication model I;

the power drive mechanism is connected with the horizontal moving unit and the bearing unit in the mechanical part and a transmission device in the objective carrying platform;

and the main control platform of the robot establishes the wireless communication with the wireless communication model I of the robot body through a wireless communication model II, wherein the bearing unit comprises a gate structure which consists of an upper cross beam, a lower cross beam and two vertical columns;

two groups of horizontal guide wheels are arranged on the upper cross beam;

a sky rail which is installed on a charge rack is held between the two groups of the horizontal guide wheels;

a slide-touch wire channel through which equipment gets electricity and a horizontal addressing chip for addressing the working positions in horizontal direction are installed on the sky rail;

winches driven by at least one group of motors are arranged on the two vertical columns;

steel wire ropes are wound on the winches, and the lower ends of the steel wire ropes are connected on the objective carrying platform unit; and

a longitudinal addressing chip for addressing in vertical direction is arranged on at least one vertical column.

4. The current alternating robot system of the electric bus according to claim 1, wherein the I/O model comprises an emergency stop switch I and limiting switches, which are respectively connected with the PLC controller;

and the limiting switches are respectively arranged on the working zero positioning parts of the horizontal moving unit, the objective carrying platform unit and the bearing unit, and connected with the corresponding servo drivers by a manner of contacting.

5. The current alternating robot system of the electric bus according to claim 1, wherein the main robot control platform comprises a cabinet body;

an industrial personal computer II is installed on the inner bottom part of the cabinet body, the upper half part of the face of the cabinet body is provided with a resistive touch screen, the wireless communication model II is installed on the back surface of the cabinet body, an operation state indicating lamp and an emergency stop button are installed at the lower side of the touch screen on the cabinet body, the resistive touch screen and the wireless communication model II are connected with the industrial personal computer II, and the operation state indicating lamp and an emergency stop button are connected with the industrial personal computer II through a level conversion circuit board;

the back surface of the cabinet is provided with a cabinet body door, and a rain-roof lock is arranged on the cabinet body door;

the industrial personal computers are connected with the resistive touch screen through a VGA (Video Graphics Array) interface;

the wireless communication model II communicates with the industrial personal computer II through an internet access;

and the wireless communication model II and the wireless communication model I adopt an IEEE 802.11 standard wireless network of WiFi or a CDMA (Code Division Multiple Access) model or an EDGE (Enhanced Data Rate for GSM Evolution) model.

6. The current alternating robot system of the electric bus according to claim 1, wherein the robot system further comprises a robot wireless remote control device;

the robot wireless remote control device comprises a shell;

the shell is provided with a main switch, two two-dimensional rocking bars, a starting button, a stopping button and a servo electrifying button;

a main control plate and a wireless communication model III for transmitting the handing data, the head data, the tail data and the corrosion data are arranged in the shell;

the main switch, the two two-dimensional rocking bars, the starting button, the stopping button, the servo electrifying button and the wireless communication model III are connected with the main control plate;

the main control plate switches the direction information of the two-dimensional rocking bars into the electric signals and controls the movement of the current alternating robot through the receiving and sending commands of the wireless communication model III;

the shell is provided with a state indicating lamp, and the state indicating lamp is connected with the main control plate;

the shell is provided with an emergency stop button III, and the emergency stop button III is connected with the main control plate;

the shell is provided with a spare button;

the personal computer is provided with the wireless communication model I; and

the wireless communication model I, the wireless communication model II of a control backend and the wireless communication model III in the remote control device wirelessly communicate with each other.

2. A current alternating robot system of an electric bus comprises a robot body and a main robot control platform, wherein the robot body comprises a mechanical part and an electrical the mechanical part comprises a horizontal moving unit, an objective carrying platform unit and a bearing unit which are arranged in X, Y and Z cartesian coordinate directions;

the bearing unit is arranged on the upper part of the horizontal moving unit, and the objective carrying platform unit is connected with the bearing unit;

the objective carrying platform unit comprises an objective carrying platform and a battery drive mechanism arranged on the objective carrying platform;

a battery pushing mechanism is arranged on the battery drive mechanism;

the electrical control part comprises a data collection device connected with a main control computer system, a power drive mechanism, an I/O model and a wireless communication model I;

the power drive mechanism is connected with the horizontal moving unit and the bearing unit in the mechanical part and a transmission device in the objective carrying platform;

and the main control platform of the robot establishes the wireless communication with the wireless communication model I of the robot body through a wireless communication model II, wherein the objective carrying platform unit comprises a battery drive mechanism which is arranged on the objective carrying platform;

seen from downside to upside in turn beginning the objective carrying platform adopted as a reference surface, the battery drive mechanism comprises a horizontal rotary mechanism which is fixed on the objective carrying platform;

the battery drive mechanism further comprises a tilting included angle adjusting mechanism and the battery pushing mechanism which are arranged on the horizontal rotary mechanism in turn;

a support cross beam is arranged on the battery pushing mechanism, and the support cross beam is connected with a battery tray;

the battery pushing mechanism comprises a guide rail, a drive motor of the battery pushing mechanism, and an electromagnetic pushing hand;

the drive motor of the battery pushing mechanism is connected with the electromagnetic push hand through respective gear rack mechanisms;

two circular electromagnetic suction discs are installed on the pushing-hand working surface of the electromagnetic pushing hand and distributed on the two ends of the working surface, and the positions are relative to two circular irons on the inner battery box;

the pushing-hand working surface of the electromagnetic pushing hand is further provided with an unlocking mechanism which is matched with a locking mechanism on the inner battery box;

the guide rail is arranged on the upper surface of the battery pushing mechanism;

the position of the guide rail is matched with the position of the inner battery box, and the inner battery box is a box body in which the batteries arranged in groups;

the inner battery box is located a charging rack or a vehicle, so that the batteries can be stably fetched;

the two ends of the support cross beam are respectively provided with at least one ultrasonic distance measuring sensor and at least one pressure sensor;

the pressure sensor is located at the inner side of the ultrasonic distance measuring sensor;

the horizontal rotary mechanism comprises a connection rod-sliding block mechanism which is installed on the objective carrying platform, a rotary bottom plate I, and a bottom plate II;

the rotary bottom plate I and the bottom plate II are overlapped through a horizontal rotary shaft which is vertical to the bottom plate II;

the battery drive mechanism horizontally rotates around the centre of the rotary bottom plate I;

the tilting included angle adjusting mechanism comprises a gear arched rack device which is installed on one end of the objective carrying platform, and a tilting drive motor which is matched and connected with the tilting included angle adjusting mechanism; and

the tilting included angle adjusting mechanism is provided with a tilting rotary shaft, and the tilting rotary shaft is installed on the rotary bottom plate I.

3. A current alternating robot system of an electric bus comprises a robot body and a main robot control platform, wherein the robot body comprises a mechanical part and an electrical control part;

the mechanical part comprises a horizontal moving unit, an objective carrying platform unit and a bearing unit which are arranged in X, Y and Z cartesian coordinate directions;

the bearing unit is arranged on the upper of the horizontal moving unit, and the objective carrying platform unit is connected with the bearing unit;

the objective carrying platform unit comprises an objective carrying platform and a battery drive mechanism arranged on the objective carrying platform;

a battery pushing mechanism is arranged on the battery drive mechanism;

the electrical control part comprises a data collection device connected with a main control computer system, a power drive mechanism, an I/O model and a wireless communication model I;

the power drive mechanism is connected with the horizontal moving unit and the bearing unit in the mechanical part and a transmission device in the objective carrying platform;

and the main control platform of the robot establishes the wireless communication with the wireless communication model I of the robot body through a wireless communication model II, wherein the power drive mechanism comprises servo drivers of six motors;

the servo drivers of six motors are respectively connected with the servo drivers in the horizontal moving unit, the objective carry platform unit and the bearing unit and the servo drivers in the horizontal rotary mechanism, the tilting included angle adjusting mechanism and a locking device; and

a coder is arranged on a shaft of each servo driver, and the signal output ends of the coders are connected with a PLC controller.