CN103140393B

CN103140393B - Battery-replacing robot

Info

Publication number: CN103140393B
Application number: CN201280003163.4A
Authority: CN
Inventors: 矢泽隆之; 粟野启太; 赤羽贤俊
Original assignee: Nidec Sankyo Corp
Current assignee: Nidec Sankyo Corp
Priority date: 2011-01-31
Filing date: 2012-01-31
Publication date: 2015-07-15
Anticipated expiration: 2032-01-31
Also published as: JP5955784B2; WO2012105529A1; JPWO2012105529A1; CN103140393A

Abstract

The present application provides a battery-replacing robot (5) capable of appropriate replacing a battery (3) in a vehicle (2) even if said battery (3) is located at a comparatively low point in the vehicle (2). Said robot (5) is provided with: a battery insertion/removal mechanism (17) that removes and inserts batteries (3) from and into vehicles (2); a holding member (26) that holds said battery insertion/removal mechanism (17); and a raising/lowering mechanism (18) that raises and lowers said holding member (26). The battery insertion/removal mechanism (17) is provided with a movable part (22) that, in order to insert or remove a battery (3), moves towards the vehicle (2) and protrudes from the holding member (26) when inserting or removing a battery (3). The raising/lowering mechanism (18) is provided with a first raising/lowering mechanism (59) and a second raising/lowering mechanism (60) disposed respectively on both ends of the raising/lowering mechanism (18) with respect to a first direction that is orthogonal to both the direction in which the movable part (22) moves and the up-down direction.

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

For solving 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, comprising: battery plug mechanism, this battery plug mechanism carry out battery from vehicle extract and/or battery towards the insertion of vehicle; Retaining member, this retaining member keeps battery plug mechanism; And lifting mechanism, this lifting mechanism makes retaining member be elevated, 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 moving towards retaining member to give prominence to when extracting and/or insert battery towards the direction near vehicle in order to carry out extracting and/or inserting of battery, lifting mechanism comprises the first lifting mechanism and second lifting mechanism of the both end sides being configured at the first direction orthogonal with the moving direction of movable part and above-below direction respectively.

In battery altering robot of the present invention, battery plug mechanism is held in retaining member, and the lifting mechanism that this retaining member is elevated comprises the first lifting mechanism and second lifting mechanism of the both end sides being configured at the first direction orthogonal with the moving direction of the movable part forming battery plug mechanism and above-below direction respectively.That is, in the present invention, the mechanism for making retaining member be elevated is not configured with in the downside of battery plug mechanism.Therefore, in the present invention, battery plug mechanism can be reduced to lower position.Therefore, in the present embodiment, even if on the lower position of vehicle equipped with battery, also can extract with battery plug mechanism the battery that is installed in vehicle rightly or battery be inserted 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, in battery plug mechanism, such as, as movable part, comprising: mounting batteries portion, this mounting batteries portion supplies mounting batteries when extracting and/or insert battery; And battery snap-in portion, this battery snap-in portion when extracting and/or insert battery and Battery Card merge battery moved in mounting batteries portion.

In the present invention, it is preferable that, retaining member is formed as the roughly cubic tubular of the both end sides opening of the moving direction of movable part, mounting batteries portion is displaceably installed on the bottom surface side of the inner peripheral surface of retaining member, and battery snap-in portion is displaceably installed on the upper surface side of the inner peripheral surface of retaining member.According to said structure, then because retaining member is formed as roughly cubic tubular, therefore can improve the rigidity of retaining member.In addition, according to said structure, then the bottom surface sections of the retaining member being formed as roughly cubic tubular and upper surface part can be utilized to install mounting batteries portion and battery snap-in portion.

In the present invention, it is preferable that, the first lifting mechanism and the second lifting mechanism comprise: lift component, and this lift component is connected with retaining member and can moves in the vertical direction; And cylindrical component, lift component is held in and can be elevated by this cylindrical component, and the upper end forming the cylindrical component of the first lifting mechanism is connected component with the upper end of the cylindrical component forming the second lifting mechanism and is connected.According to said structure, even if be then configured with battery plug mechanism and retaining member between the cylindrical component and the cylindrical component forming the second lifting mechanism of formation first lifting mechanism, also can prevent cylindrical component from toppling over towards the inner side of first direction.

In the present invention, it is preferable that, individually can drive the first lifting mechanism and the second lifting mechanism, the mode that first direction when retaining member is can observe relative to the moving direction from movable part tilts is connected with the first lifting mechanism and the second lifting mechanism.According to said structure, then by individually driving the first lifting mechanism and the second lifting mechanism, battery when observing from the moving direction of movable part can be made consistent with the inclination of battery plug mechanism relative to the inclination of first direction.Therefore, the interference of the interference of the battery container portion of vehicle and battery when can prevent from changing battery, retaining member and battery.

In the present invention, it is preferable that, retaining member with its can relative to the first lifting mechanism in relative rotation mode be connected with the first lifting mechanism, and to relatively rotate relative to the second lifting mechanism with it and mode towards first direction relative movement is connected with the second lifting mechanism.According to said structure, then the first lifting mechanism and the second lifting mechanism can be connected with retaining member in the mode that can tilt relative to first direction when the moving direction of movable part is observed with more easy structure.

In the present invention, it is preferable that, battery altering robot comprises: the first bindiny mechanism, and retaining member is connected with the first lifting mechanism by this first bindiny mechanism; And second bindiny mechanism, retaining member is connected with the second lifting mechanism by this second bindiny mechanism, the end side of the retaining member on first direction is held in the first lifting mechanism by the first bindiny mechanism in the mode that can rotate, second bindiny mechanism comprises link component, this link component is held in another side and second lifting mechanism of the retaining member on first direction in the mode that can rotate, and link component is different relative to the center of turn of the second lifting mechanism from link component relative to the center of turn of retaining member.

According to said structure, then because the end side of the retaining member on first direction is held in the first lifting mechanism by the first bindiny mechanism in the mode that can rotate, therefore can prevent from producing in retaining member and make retaining member from the floating of retaining member during moment the direction that the first lifting mechanism floats the end side of the retaining member on first direction (float).In addition, according to said structure, then the second bindiny mechanism comprises link component, this link component is held in another side and second lifting mechanism of the retaining member on first direction in the mode that can rotate, and link component is different relative to the center of turn of the second lifting mechanism from link component relative to the center of turn of retaining member, therefore, even if retaining member can be connected with the second lift component relative to the mode of the second lifting mechanism towards first direction relative movement with retaining member, also link component can be utilized to suppress to produce in retaining member and make retaining member from the floating of retaining member during moment the direction that the second lifting mechanism floats another side of the retaining member on first direction (float).

Therefore, such as, even if movable part and mounting batteries portion move towards the direction near vehicle when extracting or insert battery and give prominence to from retaining member, and in mounting batteries portion equipped with battery, the part away from vehicle side of retaining member is made to result from retaining member from the moment (namely the upper end side of retaining member is towards the moment on the direction that vehicle is toppled over) the direction that the first lifting mechanism and the second lifting mechanism float, also can prevent the part away from vehicle side of retaining member from floating from the first lifting mechanism, and the part away from vehicle side of retaining member can be suppressed to float from the second lifting mechanism.

Consequently, such as, even if when extracting or insert battery from equipped with battery the mounting batteries portion that retaining member is given prominence to, also the upper end side of retaining member can be suppressed to result from retaining member towards the moment on the direction that side or the opposite side of first direction is toppled over, and the load putting on the first lifting mechanism is not easily collapsed with the balance of the load putting on the second lifting mechanism.Even if that is, when extracting or insert battery from equipped with battery the outstanding mounting batteries portion of retaining member, also can prevent from only applying superfluous load to a lifting mechanism in the first lifting mechanism and the second lifting mechanism.Therefore, even if make the propulsive effort of the first lifting mechanism and the second lifting mechanism reduce, also can utilize the first lifting mechanism and the second lifting mechanism that battery plug mechanism and retaining member are elevated rightly.That is, while make battery plug mechanism and retaining member be elevated rightly, the structure of the first lifting mechanism and the second lifting mechanism can be simplified.

In the present invention, it is preferable that, the first bindiny mechanism comprises: the first shaft component, and this first shaft component is held in the first lifting mechanism with the moving direction of movable part for axial; The roughly cylindrical member of tubular, this cylindrical member is fixed on retaining member and inserts for the first shaft component; And the both end sides of cylindrical member on the moving direction of movable part is configured at the tapered roller bearing between the outer peripheral face of the first shaft component and the inner peripheral surface of cylindrical member, second bindiny mechanism comprises: the second shaft component, and this second shaft component is held in the second lifting mechanism with the moving direction of movable part for axial; 3rd shaft component, the 3rd shaft component is held in retaining member with the moving direction of movable part for axial; Link component, link component is formed with two inserting holes inserted respectively for the second shaft component and the 3rd shaft component; The both end sides of the inserting hole on the moving direction of movable part is configured at the tapered roller bearing between the outer peripheral face of the second shaft component and the inner peripheral surface of inserting hole; And the both end sides of inserting hole on the moving direction of movable part is configured at the tapered roller bearing between the outer peripheral face of the 3rd shaft component and the inner peripheral surface of link component.According to said structure, even if then such as when extracting or insert battery from equipped with battery the outstanding mounting batteries portion of retaining member, in retaining member, produce larger moment, the tapered roller bearing of the both end sides of the moving direction being configured at movable part also can be utilized reliably to support retaining member.

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 second bindiny mechanism for another embodiment of the present invention is described from front.

Figure 31 is the figure of the installation method of testing agency for illustration of another embodiment of the present invention.

Figure 32 is the figure for illustration of effect when being provided with testing agency with the installation method shown in Figure 31.

Figure 33 (A) is the figure of the detection mark for another embodiment of the present invention is described from front, and Figure 33 (B) is the cutaway view in the W-W cross section of Figure 33 (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.That is, in the lateral direction under the state of predetermined distance, two detection marks 8 are formed at the front surface of battery mounting table 6.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 upper surface of the bottom surface sections of 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 upper surface of the bottom surface sections of 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.Like this, in the present embodiment, mounting batteries portion 22 is displaceably installed on the bottom surface side of the inner peripheral surface of retaining member 26.

(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.In the present embodiment, to engage the mode that claw 41 engages with each handle portion 11 in two one or two hands 11 being formed at battery 3, two engaging claws 41 and two cylinders 42 are configured under the state across predetermined distance 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, the lower end side pressing of claw 41b 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 lower surface of 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.Like this, in the present embodiment, battery snap-in portion 24 and mobile retaining member 40 are displaceably installed on the upper surface side of the inner peripheral surface of retaining member 26.

(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, give prominence to side forward from retaining member 26.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 19, 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.The first lifting mechanism 59 and the second lifting mechanism 60 individually can be driven in order to make retaining member 26 tilt (more specifically, in order to first direction when making retaining member 26 observe relative to the moving direction from mounting batteries portion 22 and battery snap-in portion 24 tilts) relative to horizontal direction.That is, the first lifting mechanism 59 and the second lifting mechanism 60 can individually be driven in order to make battery plug mechanism 17 tilt relative to horizontal direction.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: can the lift component 63 of movement in the vertical direction; 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.Specifically, the two sides of the cylindrical component 64 on the moving direction in mounting batteries portion 22 and battery snap-in portion 24 are fixed with guide rail 70 respectively.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.That is, shaft component 74 is held in the first lifting mechanism 59 by axle retaining member 75.The shaft component 74 of present embodiment is the first shaft component.

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.Tapered roller bearing 76 is configured at the both end sides of the cylindrical member 73 on the moving direction in mounting batteries portion 22 and battery snap-in portion 24 respectively.Cylindrical member 73 can relatively rotate relative to shaft component 74, thus retaining member 26 can relatively rotate centered by shaft component 74 relative to the lift component 63 of the first lifting mechanism 59.Like this, the first bindiny mechanism 61 with retaining member 26 can relative to the lift component 63 of the first lifting mechanism 59 in relative rotation mode retaining member 26 is connected with lift component 63.In addition, the end side of the retaining member 26 on first direction is held in the lift component 63 of the first lift component 59 in the mode that can rotate by the first bindiny mechanism 61.

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 bulk 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.That is, shaft component 78 is held in another side of the retaining member 26 on first direction by axle retaining member 77, and shaft component 80 is held in the second lifting mechanism 60 by axle retaining member 79.In addition, shaft component 78,80 was configured to from last time overlapping successively.The shaft component 80 of present embodiment is the second shaft component, and shaft component 78 is the 3rd shaft components.

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.Tapered roller bearing 82 is configured at the both end sides (i.e. the both end sides of inserting hole 81a) of the link component 81 on the moving direction in mounting batteries portion 22 and battery snap-in portion 24 respectively.

Link component 81 can relatively rotate relative to shaft component 78,80 respectively.Namely, link component 81 is held in retaining member 26 by shaft component 78 and axle retaining member 77 in the mode that can rotate, and be held in the lift component 63 of the second lifting mechanism 60 by shaft component 80 and axle retaining member 79 in the mode that can rotate, 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.That is, the second bindiny mechanism 62 can relatively rotate relative to the lift component 63 of the second lifting mechanism 60 with retaining member 26 and is connected with lift component 63 by retaining member 26 with the mode towards first direction relative movement.

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, as mentioned above, first bindiny mechanism 61 with retaining member 26 can relative to the lift component 63 of the first lifting mechanism 59 in relative rotation mode the lift component 63 of the first lifting mechanism 59 is connected with retaining member 26, second bindiny mechanism 62 can relatively rotate relative to the lift component 63 of the second lifting mechanism 60 with retaining member 26 and is connected with retaining member 26 by the lift component 63 of the second lifting mechanism 60 with the mode towards first direction relative movement, therefore, 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 (namely battery plug mechanism 17 tilts relative to horizontal direction) 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.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 electrical motor 90, 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 with guide rail 94 and can along multiple orienting lugs 95 of guide rail 94 relative movement.

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.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 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.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.Specifically, 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 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 with guide rail 101 and can along multiple orienting lugs 102 of guide rail 101 relative movement.

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.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.

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.

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.Mounting batteries portion 22 is fixed on the interval identical with the interval of two detection marks 8 in Liang Ge testing agency 21.

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, battery plug mechanism 17 is held in retaining member 26.In addition, in the present embodiment, retaining member 26 is connected with the first lifting mechanism 59 in the end side of the orthogonal first direction of the moving direction and above-below direction with mounting batteries portion 22 and battery snap-in portion 24, and is connected with the second lifting mechanism 60 in another side of first direction.That is, in the present embodiment, the mechanism for making retaining member 26 be elevated is not configured with in the downside of battery plug mechanism 17.Therefore, in the present embodiment, 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, consequently, the battery 3 being installed in bus 2 can be changed rightly.

In the present embodiment, retaining member 26 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.Therefore, it is possible to improve the rigidity of retaining member 26.In addition, because retaining member 26 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, therefore the bottom surface side of the inner peripheral surface of retaining member 26 can be utilized to install mounting batteries mechanism 23, and the upper surface side of the inner peripheral surface of retaining member 26 can be utilized to install battery travel mechanism 25.

In the present embodiment, 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.Therefore, even if be configured with battery plug mechanism 17 and retaining member 26 between the cylindrical component 64 and the cylindrical component 64 forming the second lifting mechanism 60 of formation first lifting mechanism 59, the inner side of the first direction that cylindrical component 64 also can be prevented orthogonal towards the moving direction and above-below direction with mounting batteries portion 22 and battery snap-in portion 24 is toppled over.

In the present embodiment, individually can drive the first lifting mechanism 59 and the second lifting mechanism 60, and retaining member 26 is connected with the first lifting mechanism 59 and the second lifting mechanism 60 in the mode that can tilt relative to first direction when observing from the moving direction in mounting batteries portion 22 and battery snap-in portion 24.Therefore, as mentioned above, according to battery 3 when observing from fore-and-aft direction relative to the testing result of the inclination of left and right directions, individually can drive the first lifting mechanism 59 and the second lifting mechanism 60, during to make to observe from fore-and-aft direction, battery 3 is consistent with the inclination of battery plug mechanism 17 relative to the inclination of left and right directions.Therefore, retaining member 26 and the interference of battery 3 and the interference of battery container portion 4 and battery 3 when battery 3 being inserted bus 2 when battery 3 can be prevented to extract from bus 2.

In the present embodiment, the end side of the retaining member 26 on first direction is held in the first lift component 59 by the first bindiny mechanism 61 in the mode that can rotate.Therefore, can prevent from producing in retaining member 26 and make retaining member 26 from the floating of retaining member 26 during moment the direction that the lift component 63 of the first lifting mechanism 59 floats the end side of the retaining member 26 on first direction (float).In addition, in the present embodiment, utilize the link component 81 being held in axle retaining member 77,79 in the mode that can rotate can relatively rotate relative to the lift component 63 of the second lifting mechanism 60 with retaining member 26 with the mode towards first direction relative movement, retaining member 26 to be connected with lift component 63.Therefore, even if can be connected with the second lift component 60 by retaining member 26 relative to the mode of the second lifting mechanism 60 towards first direction relative movement with retaining member 26, link component 81 also can be utilized to suppress to produce in retaining member 26 and make retaining member 26 from the floating of retaining member 26 during moment the direction that the lift component 63 of the second lifting mechanism 60 floats another side of the retaining member 26 on first direction (float).

Therefore, when extracting or insert battery 3, even if moving towards the direction near bus 2 from equipped with battery 3 the retaining member 26 mounting batteries portion 22 that side is outstanding forward, the part away from bus 2 side of retaining member 26 results from retaining member 26 from the moment (namely the upper end side of retaining member 26 is towards the moment on the direction that bus 2 is toppled over) the direction that lift component 63 floats, also can prevent the part away from bus 2 side of retaining member 26 from floating from the lift component 63 of the first lifting mechanism 59, and the part away from bus 2 side of retaining member 26 can be suppressed to float from the lift component 63 of the second lifting mechanism 60.

Consequently, in the present embodiment, even if when extracting or insert battery 3 from equipped with battery 3 the mounting batteries portion 22 that retaining member 26 is given prominence to, also the upper end side of retaining member 26 can be suppressed to result from retaining member 26 towards the moment on the direction that side or the opposite side of first direction is toppled over, and the balance put between the load of the first lifting mechanism 59 and the load putting on the second lifting mechanism 60 is not easily collapsed.That is, in the present embodiment, even if when extracting or insert battery 3 from equipped with battery 3 the mounting batteries portion 22 that retaining member 26 is given prominence to, also can prevent from only applying superfluous load to a lifting mechanism in the first lifting mechanism 59 and the second lifting mechanism 60.Therefore, in the present embodiment, even if make the propulsive effort of the first lifting mechanism 59 and the second lifting mechanism 60 reduce, also can utilize the first lifting mechanism 59 and the second lifting mechanism 60 that battery plug mechanism 17 and retaining member 26 are elevated rightly.That is, while make battery plug mechanism 17 and retaining member 26 be elevated rightly, the structure of the first lifting mechanism 59 and the second lifting mechanism 60 can be simplified.

In the present embodiment, the both end sides of the cylindrical member 73 between the inner peripheral surface and the outer peripheral face of shaft component 74 of cylindrical member 73 and on the moving direction in mounting batteries portion 22 and battery snap-in portion 24 is configured with tapered roller bearing 76 respectively.In addition, in the present embodiment, the both end sides of the link component 81 between the inner peripheral surface and the outer peripheral face of shaft component 78,80 of the inserting hole 81a of link component 81 and on the moving direction in mounting batteries portion 22 and battery snap-in portion 24 is configured with tapered roller bearing 82 respectively.Therefore, even if produce larger moment from equipped with battery 3 the mounting batteries portion 22 that retaining member 26 is given prominence at retaining member 26 when extracting or insert battery 3, tapered roller bearing 76,82 also can be utilized reliably to support retaining member 26.

(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, retaining member 26 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.In addition, such as, retaining member 26 also can be formed as thicker tabular.Such as, support in this case, for installing battery travel mechanism 25 is fixed on flat retaining member 26.

In the above-described embodiment, the first bindiny mechanism 61 with retaining member 26 can relative to the lift component 63 of the first lifting mechanism 59 in relative rotation mode retaining member 26 is connected with lift component 63.In addition, such as also can be identical with the second bindiny mechanism 62, the first bindiny mechanism 61 can relatively rotate relative to the lift component 63 of the first lifting mechanism 59 with retaining member 26 and is connected with lift component 63 by retaining member 26 with the mode towards first direction relative movement.

In the above-described embodiment, the second bindiny mechanism 62 comprises axle retaining member 79, shaft component 80 and link component 81.In addition, such as, shown in Figure 30 (A), the second bindiny mechanism 62 also can comprise: stationary member 110, and this stationary member 110 is fixed on the lift component 63 of formation second lifting mechanism 60; The guide rail 111 of linearity, first direction orthogonal for the moving direction and above-below direction with mounting batteries portion 22 and battery snap-in portion 24 is fixed on the upper surface of stationary member 110 as long side direction by this guide rail 111; Orienting lug 112, this orienting lug 112 engages with guide rail 111 and can along guide rail 111 relative movement; And block retaining member 113, this block retaining member 113 is held in shaft component 78 in the mode that can rotate and is fixed with orienting lug 112 in lower end, to replace axle retaining member 79, shaft component 80 and link component 81.Even if the second bindiny mechanism 62 in this case, also can be utilized to relatively rotate relative to the lift component 63 of the second lifting mechanism 60 with retaining member 26 with the mode towards first direction relative movement, retaining member 26 is connected with lift component 63.But, in this case, being difficult to guarantee the rigidity between guide rail 111 and orienting lug 112, therefore, in order to improve the rigidity of the second bindiny mechanism 62, using link component 81 to be ideal.

In addition, such as, shown in Figure 30 (B), the second bindiny mechanism 62 also can comprise: stationary member 120, and this stationary member 120 is fixed on another side on the first direction of the first retaining member 27; Stationary member 121, this stationary member 121 is fixed on the lift component 63 of formation second lifting mechanism 60; And roller 122, this roller 122 is installed on the upper surface side of stationary member 121 in revolvable mode, and abuts with the lower surface of stationary member 120.Even if the second bindiny mechanism 62 in this case, also can be utilized to relatively rotate relative to the lift component 63 of the second lifting mechanism 60 with retaining member 26 with the mode towards first direction relative movement, retaining member 26 is connected with lift component 63.

In the above-described embodiment, between cylindrical member 73 and shaft component 74, tapered roller bearing 76 is configured with.In addition, such as also can be fixed with shaft component 74 on cylindrical member 73, and be configured with tapered roller bearing 76 between shaft component 74 and axle retaining member 75.In addition, in the above-described embodiment, between the inserting hole 81a and shaft component 78,80 of link component 81, be configured with tapered roller bearing 82, but also shaft component 78,80 can be fixed on link component 81, and configure tapered roller bearing 82 between axle retaining member 77,79 and shaft component 78,80.

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 31, 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 32, 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 33, 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

22 mounting batteries portions (movable part)

24 battery snap-in portions (movable part)

26 retaining members

59 first lifting mechanisms

60 second lifting mechanisms

61 first bindiny mechanisms

62 second bindiny mechanisms

63 lift components

64 cylindrical components

66 transoms

73 cylindrical members

74 shaft components (the first shaft component)

78 shaft components (the 3rd shaft component)

80 shaft components (the second shaft component)

76,82 tapered roller bearings

81 link components

81a inserting hole

Claims

1. a battery altering robot, for changing the battery being installed in vehicle, is characterized in that, comprise:

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;

Retaining member, this retaining member keeps described battery plug mechanism; And

Lifting mechanism, this lifting mechanism makes described retaining member be elevated,

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, to give prominence to from described retaining member

Described lifting mechanism comprises the first lifting mechanism and second lifting mechanism 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.

2. battery altering robot as claimed in claim 1, is characterized in that,

In described battery plug mechanism, as described movable part, comprising:

Mounting batteries portion, this mounting batteries portion supplies described mounting batteries when extracting and/or insert described battery; And

Battery snap-in portion, this battery snap-in portion when extracting and/or insert described battery and described Battery Card merge described battery moved in described mounting batteries portion.

3. battery altering robot as claimed in claim 2, is characterized in that,

Described retaining member is formed as the roughly cubic tubular of the both end sides opening of the moving direction of described movable part,

Described mounting batteries portion is displaceably installed on the bottom surface side of the inner peripheral surface of described retaining member,

Described battery snap-in portion is displaceably installed on the upper surface side of the inner peripheral surface of described retaining member.

4. battery altering robot as claimed any one in claims 1 to 3, is characterized in that,

Described first lifting mechanism and described second lifting mechanism comprise:

Lift component, this lift component is connected with described retaining member and can moves in the vertical direction; And

Cylindrical component, described lift component is held in and can be elevated by this cylindrical component,

The upper end forming the described cylindrical component of described first lifting mechanism is connected component with the upper end of the described cylindrical component forming described second lifting mechanism and is connected.

5. battery altering robot as claimed any one in claims 1 to 3, is characterized in that,

Individually can drive described first lifting mechanism and described second lifting mechanism,

The mode that described first direction when described retaining member is can observe relative to the moving direction from described movable part tilts is connected with described first lifting mechanism and described second lifting mechanism.

6. battery altering robot as claimed in claim 5, is characterized in that,

Described retaining member with this retaining member can relative to described first lifting mechanism in relative rotation mode be connected with described first lifting mechanism, and to relatively rotate relative to described second lifting mechanism with this retaining member and mode towards described first direction relative movement is connected with described second lifting mechanism.

7. battery altering robot as claimed in claim 6, is characterized in that, comprising:

First bindiny mechanism, described retaining member is connected with described first lifting mechanism by this first bindiny mechanism; And

Second bindiny mechanism, described retaining member is connected with described second lifting mechanism by this second bindiny mechanism,

The end side of the described retaining member on described first direction is held in described first lifting mechanism by described first bindiny mechanism in the mode that can rotate,

Described second bindiny mechanism comprises link component, this link component is held in another side of the described retaining member on described first direction and described second lifting mechanism in the mode that can rotate, and described link component is different relative to the center of turn of described second lifting mechanism from described link component relative to the center of turn of described retaining member.

8. battery altering robot as claimed in claim 7, is characterized in that,

Described first bindiny mechanism comprises:

First shaft component, this first shaft component is held in described first lifting mechanism with the moving direction of described movable part for axial;

The roughly cylindrical member of tubular, this cylindrical member is fixed on described retaining member and inserts for described first shaft component; And

The both end sides of the described cylindrical member on the moving direction of described movable part is configured at the tapered roller bearing between the outer peripheral face of described first shaft component and the inner peripheral surface of described cylindrical member,

Described second bindiny mechanism comprises:

Second shaft component, this second shaft component is held in described second lifting mechanism with the moving direction of described movable part for axial;

3rd shaft component, the 3rd shaft component is held in described retaining member with the moving direction of described movable part for axial;

Described link component, described link component is formed with two inserting holes inserted respectively for described second shaft component and described 3rd shaft component;

The both end sides of the described inserting hole on the moving direction of described movable part is configured at the tapered roller bearing between the outer peripheral face of described second shaft component and the inner peripheral surface of described inserting hole; And

The both end sides of the described inserting hole on the moving direction of described movable part is configured at the tapered roller bearing between the outer peripheral face of described 3rd shaft component and the inner peripheral surface of described link component.