CN103693022A - Battery replacement method based on PLC (Programmable Logic Control) for automatic battery replacement mechanism of electric automobile - Google Patents
Battery replacement method based on PLC (Programmable Logic Control) for automatic battery replacement mechanism of electric automobile Download PDFInfo
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- CN103693022A CN103693022A CN201310628839.5A CN201310628839A CN103693022A CN 103693022 A CN103693022 A CN 103693022A CN 201310628839 A CN201310628839 A CN 201310628839A CN 103693022 A CN103693022 A CN 103693022A
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Abstract
The invention belongs to the field of machine automation and particularly relates to a battery replacement method based on PLC (Programmable Logic Control) for an automatic battery replacement mechanism of an electric automobile. The method for replacing a group of batteries according to the technical sequence of a battery replacement process sequentially comprises the following steps: enabling the automobile to be in a standby state; taking out a battery from the automobile; enabling a battery bin to be in a standby state; putting a battery into the battery bin; enabling the battery bin to be in a standby state for the second time; taking out the battery from the battery bin; enabling the automobile to be in a standby state for the second time; putting a battery into the automobile. According to the steps, a manipulator can be used for accurately, rapidly and safely finishing the electric automobile battery replacement operation.
Description
Technical field
The invention belongs to mechanical automation field, be specifically related to a kind of electronlmobil of controlling based on PLC from moving the battery methods that changes of battery means.
Background technology
Along with people are more and more stronger to the consciousness of environmental protection, the problem of environmental pollution and resource receives much attention.Auto trade energy-saving and emission-reduction situation increasingly serious, development energy-efficient, environment-friendly automobiles become the inevitable choice of development of automobile industry.At present, the energy-efficient, environment-friendly automobiles of the new forms of energy that the electric energy of usining is representative, as power and energy-storage battery industry terminal applies product, have become the emerging strategic industry of national encourage growth.
The flying power of electronlmobil is the major issue that electronlmobil industry need to solve, the charging of the electric power storage battery of electronlmobil and change electric link and be related to the universal of whole ev industry and promote.Utilizing special battery altering equipment, realize battery pack that full automaticity exhausts electronlmobil and be directly replaced by fill in electrical changing station and be full of electric battery pack in unattended situation, is the technological development direction that electronlmobil fills electrical changing station.
Summary of the invention
For solving problem in background technology, the present invention propose a kind of can accurately, the electronlmobil of controlling based on PLC of fast speed, safety is from moving the battery methods that changes of battery means.
Concrete technical scheme of the present invention is:
The electronlmobil of controlling based on PLC, from moving the battery methods that changes of battery means, is changed a Battery pack and is comprised the following steps successively according to the process sequence that changes cell process: automobile standby, automobile electricity-fetching pond, battery compartment standby, battery compartment electric discharge pond, the standby of battery compartment secondary, battery compartment power taking pond, the standby of automobile secondary, automobile electric discharge pond;
1] automobile standby;
1.1) when electronlmobil sails into after assigned address, change battery means and automatically move, first, upper computer is sent to the instruction of automobile standby position robot coordinate data and automobile standby respectively coordinate data memory space and the instruction area of PLC;
1.2) what manipulator reception PLC sent starts to carry out after the instruction of automobile standby, and whether the PLC instruction that first detection of stored need to be carried out at instruction and the current manipulator of its instruction area is identical;
If identical, take out the coordinate data be stored in the automobile standby position manipulator in coordinate data memory space and need to complete the position coordinate of automobile standby command as manipulator;
If different, PLC in wait state until overtime warning;
1.3) manipulator moves to the action that automobile standby position completes automobile standby, simultaneously, the data automatic clear of PLC instruction area, upper computer detection is the coordinate data of position, automobile electricity-fetching pond manipulator of handling well and the instruction in automobile electricity-fetching pond to be sent to respectively after zero to coordinate data memory space and the instruction area of PLC to the data of PLC instruction area; And carry out the preparation in automobile electricity-fetching pond;
2] automobile electricity-fetching pond;
2.1) what manipulator reception PLC sent starts to carry out after the instruction in automobile electricity-fetching pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in position, the automobile electricity-fetching pond manipulator in coordinate data memory space and need to complete the position coordinate of automobile electricity-fetching pond instruction as manipulator;
If different, PLC in wait state until overtime warning;
2.2) manipulator moves to position, automobile electricity-fetching pond, battery to be changed is taken out in electronlmobil, after has moved in automobile electricity-fetching pond, the data automatic clear of PLC instruction area, upper computer detection is the coordinate data of battery compartment standby position manipulator of handling well and the instruction of battery compartment standby to be sent to respectively after zero to coordinate data memory space and the instruction area of PLC to the data of PLC instruction area; And carry out the preparation of battery compartment standby;
3] battery compartment standby;
3.1) what manipulator reception PLC sent starts to carry out after the instruction of battery compartment standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the battery compartment standby position manipulator in coordinate data memory space and need to complete the position coordinate of battery compartment standby command as manipulator;
If different, PLC in wait state until overtime warning;
3.2) manipulator moves to battery compartment standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of battery compartment electric discharge position, pond manipulator of handling well and the instruction in battery compartment electric discharge pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in battery compartment electric discharge pond;
4] battery compartment electric discharge pond;
4.1) manipulator receives starting that PLC sends and carries out after the instruction in battery compartment electric discharge pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, the coordinate data of taking out battery compartment electric discharge position, the pond manipulator being stored in coordinate data memory space need to complete as manipulator the position coordinate that battery compartment is put Battery Directive;
If different, PLC in wait state until overtime warning;
4.2) manipulator moves to battery compartment electric discharge position, pond, and the battery to be changed taking out from electronlmobil is put into battery compartment backed off after random battery compartment, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of battery compartment secondary standby position manipulator of handling well and the instruction of battery compartment secondary standby to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation of battery compartment secondary standby;
5] battery compartment secondary standby;
5.1) what manipulator reception PLC sent starts to carry out after the instruction of battery compartment secondary standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the battery compartment secondary standby position manipulator in coordinate data memory space and need to complete the position coordinate of battery compartment secondary standby command as manipulator;
If different, PLC in wait state until overtime warning;
5.2) manipulator moves to battery compartment secondary standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of position, battery compartment power taking pond manipulator of handling well and the instruction in battery compartment power taking pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in battery compartment power taking pond;
6] battery compartment power taking pond;
6.1) what manipulator reception PLC sent starts to carry out after the instruction in battery compartment power taking pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in position, the battery compartment power taking pond manipulator in coordinate data memory space and need to complete as manipulator the position coordinate that battery compartment is got Battery Directive;
If different, PLC in wait state until overtime warning;
6.2) manipulator moves to position, battery compartment power taking pond, and the new battery leaving in battery compartment is taken out to battery compartment, after has moved in battery compartment power taking pond, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of automobile secondary standby position manipulator of handling well and the instruction of automobile secondary standby to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation of automobile secondary standby;
7] automobile secondary standby
7.1) what manipulator reception PLC sent starts to carry out after the instruction of automobile secondary standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the automobile secondary standby position manipulator in coordinate data memory space and need to complete the position coordinate of automobile secondary standby command as manipulator;
If different, PLC in wait state until overtime warning;
7.2) manipulator moves to automobile secondary standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of automobile electric discharge position, pond manipulator of handling well and the instruction in automobile electric discharge pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in automobile electric discharge pond;
8] automobile electric discharge pond;
8.1) manipulator receives starting that PLC sends and carries out after the instruction in automobile electric discharge pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, the coordinate data of taking out automobile electric discharge position, the pond manipulator being stored in coordinate data memory space need to complete as manipulator the position coordinate that automobile is put Battery Directive;
If different, PLC in wait state until overtime warning;
8.2) manipulator moves to automobile electric discharge position, pond, and the new battery taking out in battery compartment is put into electronlmobil, after has moved in automobile electric discharge pond, the instruction automatic clear of PLC instruction storage area, manipulator exits electronlmobil and moves to initial standby position.
Above-mentioned steps 1.3) the corresponding concrete action of manipulator execution automobile standby command is: by the program setting of PLC, manipulator according to first pitching, again X-direction, again Z-direction, rotate again, the order of last Y direction moves and arrives automobile standby position from initial standby position, completes automobile standby action.
Above-mentioned steps 2.2) concrete action corresponding to manipulator execution automobile electricity-fetching pond instruction is: by the program setting of PLC, on manipulator, the propulsion cylinder of pickup device drive sucker first stretches in electronlmobil, then sucker holds battery, last propulsion cylinder is regained, battery is taken out in electronlmobil, complete the action of automobile electricity-fetching pond.
Above-mentioned steps 3.2) concrete action corresponding to manipulator execution battery compartment standby command is: by the program setting of PLC, according to first Y direction, rotate again, pitching again, the order of Z-direction, last X-direction arrives battery compartment standby position again, completes battery compartment standby action.
Above-mentioned steps 4.2) manipulator is carried out battery compartment and is put concrete action corresponding to Battery Directive and be: by the program setting of PLC, sucker on manipulator stretches in battery compartment, then sucker unclamps battery, last propulsion cylinder is regained sucker in battery compartment, completes battery compartment electric discharge pond action.
Above-mentioned steps 5.2) concrete action corresponding to manipulator execution battery compartment secondary standby command is: by the program setting of PLC, order according to first Y direction or Z-direction, luffing again arrives next battery compartment standby position, completes battery compartment secondary standby action.
Above-mentioned steps 6.2) manipulator is carried out battery compartment and is got concrete action corresponding to Battery Directive and be: by the program setting of PLC, sucker on manipulator first stretches in battery compartment, then sucker holds battery, finally sucker regained in battery compartment, completes the action of battery compartment power taking pond.
Above-mentioned steps 7.2) concrete action corresponding to manipulator execution automobile secondary standby command is: by the program setting of PLC, according to first X-direction, again Z-direction, rotate again, the ordinal shift of pitching again, last Y direction arrives next automobile standby position, completes automobile secondary standby action.
Above-mentioned steps 8.2) manipulator is carried out automobile and is put concrete action corresponding to Battery Directive and be: by the program setting of PLC, sucker on manipulator stretches in electronlmobil, then sucker unclamps battery, finally sucker is regained in electronlmobil, completes automobile electric discharge pond action.
The invention has the beneficial effects as follows:
1, PLC of the present invention controls each step and the realization of upper computer instruction interaction that manipulator completes, and the limber hook up of various instructions can form new technique, therefore, at manipulator, change in cell process and can revise flexibly each interactive instruction to change sequence of operation, operate more flexible.
2, PLC of the present invention controls each step and the realization of upper computer instruction interaction that manipulator completes, and the correct PLC of instruction could control manipulator and carry out relevant action, can guarantee that repeatedly mutual data confusion can not occur, and has guaranteed the safety of operation.
Accompanying drawing explanation
Fig. 1 is of the present invention from moving the structural representation of battery means.
Fig. 2 is the partial front elevation view of manipulator in the present invention.
Fig. 3 is the partial top view of manipulator of the present invention.
Fig. 4 is the partial left side view of manipulator of the present invention.
Fig. 5 is the front view of pickup device.
Fig. 6 is the birds-eye view of pickup device.
Reference numeral is as follows:
Wherein: 1-column, 2-manipulator, 21-X is to moving assembly, 211-the first slide block, 212-moving beam, 22-the first driving device, 221-the first driven unit, 222-the first gear, 223-the first tooth bar, 23-Y is to moving assembly, 231-Y direction guiding rail, 232-the second slide block, 233-cliding seat, 24-the second driving device, 241-the second driven unit, 242-the second gear, 243-the second tooth bar, 25-Z is to moving assembly, 251-Z direction guiding rail, 252-the 3rd slide block, 253-hanging beam, 26-the 3rd driving device, 261-the 3rd driven unit, 262-synchronous pulley, 263-Timing Belt, 27-pickup device, 271-picks up framework, 2711-top board, 2712-base plate, 2713-left side board, 2714-right side board, plate after 2715-, 272-sucker, 277-propulsion assembly, 2721-propulsion cylinder, 2722-connection bracket, 27221-the first connecting panel, 27222-the second connecting panel, 29-rotary components, 291-the 4th driven unit, 292-connecting panel, 30-tilting component, 301-upper bracket, 302-lower bracket, 303-the 5th driven unit, 3-rectangular frame, 4-X direction guiding rail.
The specific embodiment
Method provided by the invention is moved battery means certainly based on a kind of electronlmobil, as shown in Figure 1, this mechanism comprise four columns 1, be arranged on four rectangular frames 3 on column, two groups of X-direction guide rails 4 that are parallel to each other on the rectangular frame installed and be arranged on two groups of manipulators 2 between X-direction guide rail 4.
Now in conjunction with Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, the concrete structure manipulator 2 of this manipulator is described:
Wherein, manipulator comprise X-direction moving assembly 21, for first driving device 22, Y-direction moving assembly 23 of X-direction moving assembly 21 power is provided, for second driving device 24, Z-direction moving assembly 25 of Y-direction moving assembly 23 power is provided, for the 3rd driving device 26, rotary components 29, tilting component 30 and the pickup device 27 of Z-direction moving assembly 25 power are provided; Described X-direction moving assembly 21 is arranged on X-direction guide rail 4; Described Y-direction moving assembly 23 is arranged on X-direction moving assembly 21; Described Z-direction moving assembly 25 is arranged on Y-direction moving assembly 23;
Wherein, X-direction moving assembly 21 comprises two the first slide blocks 211 that are installed on respectively on two groups of X-direction guide rails 4 and is arranged on two moving beams 212 on the first slide block 211;
The first driving device 22 comprises the first driven unit 221, the first gear 222 and the first tooth bar 223; The first driven unit 221 is fixedly mounted on moving beam 212; The mouth of the first driven unit 221 is installed the first gear 222; The first gear 222 and the first tooth bar engagement 223; The first tooth bar 223 is fixedly mounted on rectangular frame 3 and is parallel with X-direction guide rail 4;
Wherein, the first driven unit 221 is comprised of servomotor and reductor, and servomotor and reductor are started working, and under the effect of the first gear 222 and the first tooth bar 223 and under the directional tagging of X-direction guide rail 4, moving beam 212 can move along directions X.
Wherein, Y-direction moving assembly 23 comprise be fixedly mounted on moving beam Y-direction guide rail 231, be installed on the second slide block 232 on Y-direction guide rail 231 and be arranged on the cliding seat 233 on the second slide block 232;
The second driving device 24 comprises the second driven unit 241, the second gear 242 and the second tooth bar 243; The second driven unit 241 is fixedly mounted on cliding seat 233; The mouth of the second driven unit 241 is installed the second gear 242; The second gear 242 and the second tooth bar 243 engagements; The second tooth bar 243 is arranged on moving beam 212 and is parallel with Y-direction guide rail 231; Wherein, the second driven unit 241 is comprised of servomotor and reductor; Servomotor and reductor are started working, and under the effect of the second gear 242 and the second tooth bar 243 and under the directional tagging of Y-direction guide rail 231, cliding seat 233 can move along Y-direction.
Wherein, Z-direction moving assembly 25 comprises the Z-direction guide rail 251 that is fixedly mounted on cliding seat 233, is installed on the 3rd slide block 252 on Z-direction guide rail 251 and is arranged on the hanging beam 253 on the 3rd slide block 252;
The 3rd driving device 26 comprises the 3rd driven unit 261, synchronous pulley 262 and Timing Belt 263; Described the 3rd driven unit 261 is fixedly mounted on cliding seat 233; The mouth of the 3rd driven unit 261 is installed synchronous pulley 262; Described synchronous pulley 262 is arranged on hanging beam 253 with Timing Belt 263 engagements; Wherein, the 3rd driven unit 261 is comprised of servomotor and reductor; Servomotor and reductor are started working, and under the effect of synchronous pulley 262 and Timing Belt 263 and under the directional tagging of Z-direction guide rail 251, hanging beam 253 can move along Z direction.
Tilting component 30 comprises upper bracket 301, lower bracket 302 and the 5th driven unit 303; Upper bracket 301 is connected with connecting panel 292; Lower bracket 302 is hinged with upper bracket 301 and be connected with the top board 2711 that picks up framework 271; The 5th driven unit 303 is fixedly mounted on upper bracket 301 and the mouth of the 5th driven unit 303 is connected with lower bracket 302, for driving lower bracket 302 to swing up and down.
Based on above-mentioned electronlmobil, from moving battery means, the electronlmobil that PLC of the present invention is controlled describes in detail from the battery methods that changes of moving battery means:
The present invention changes a Battery pack for a battery-driven car and comprises successively following eight steps according to the process sequence that changes cell process: automobile standby, automobile electricity-fetching pond, battery compartment standby, battery compartment electric discharge pond, the standby of battery compartment secondary, battery compartment power taking pond, the standby of automobile secondary, automobile electric discharge pond;
1] automobile standby;
1.1) when electronlmobil sails into after assigned address, change battery means and automatically move, first, upper computer is sent to the instruction of the coordinate data of automobile standby position manipulator and automobile standby respectively coordinate data memory space and the instruction area of PLC;
1.2) what manipulator reception PLC sent starts to carry out after the instruction of automobile standby, and whether the PLC instruction that first detection of stored need to be carried out at instruction and the current manipulator of its instruction area is identical;
If identical, take out the coordinate data be stored in the automobile standby position manipulator in coordinate data memory space and need to complete the position coordinate of automobile standby command as manipulator;
If different, PLC in wait state until overtime warning;
1.3) manipulator moves to the action that automobile standby position completes automobile standby, simultaneously, the data automatic clear of PLC instruction area, upper computer detection is the coordinate data of position, automobile electricity-fetching pond manipulator of handling well and the instruction in automobile electricity-fetching pond to be sent to respectively after zero to coordinate data memory space and the instruction area of PLC to the data of PLC instruction area; And carry out the preparation in automobile electricity-fetching pond;
Wherein, manipulator is carried out the corresponding concrete action of automobile standby command: first luffing under the drive of tilting component of the pickup device on manipulator, move, move and arrive automobile standby position again with Z-direction moving assembly under the drive of the 3rd transmission component along the order that is rotated, finally moves along Y-direction under the drive of the second driving device with Y-direction moving assembly under Z direction is moved, driven by rotary components from initial standby position again with X-direction assembly under the drive of the first driving device along directions X, complete automobile standby action.
2] automobile electricity-fetching pond;
2.1) what manipulator reception PLC sent starts to carry out after the instruction in automobile electricity-fetching pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in position, the automobile electricity-fetching pond manipulator in coordinate data memory space and need to complete the position coordinate of automobile electricity-fetching pond instruction as manipulator;
If different, PLC in wait state until overtime warning;
2.2) manipulator moves to position, automobile electricity-fetching pond, battery to be changed is taken out in electronlmobil, after has moved in automobile electricity-fetching pond, the data automatic clear of PLC instruction area, upper computer detection is the coordinate data of battery compartment standby position manipulator of handling well and the instruction of battery compartment standby to be sent to respectively after zero to coordinate data memory space and the instruction area of PLC to the data of PLC instruction area; And carry out the preparation of battery compartment standby;
Wherein, manipulator is carried out concrete action corresponding to automobile electricity-fetching pond instruction: on manipulator, the propulsion cylinder of pickup device drive sucker first stretches in electronlmobil, then sucker holds battery, last propulsion cylinder is regained, battery is taken out in electronlmobil, complete the action of automobile electricity-fetching pond.
3] battery compartment standby;
3.1) what manipulator reception PLC sent starts to carry out after the instruction of battery compartment standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the battery compartment standby position manipulator in coordinate data memory space and need to complete the position coordinate of battery compartment standby command as manipulator;
If different, PLC in wait state until overtime warning;
3.2) manipulator moves to battery compartment standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of battery compartment electric discharge position, pond manipulator of handling well and the instruction in battery compartment electric discharge pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in battery compartment electric discharge pond;
Wherein, manipulator is carried out concrete action corresponding to battery compartment standby command: on manipulator pickup device according to first with Y-direction moving assembly under the drive of the second driving device along being rotated under Y-direction is moved, driven by rotary components, arriving battery compartment standby position by the order of carrying out luffing under the drive of tilting component, moving, moving along directions X under the drive of the first driving device with X-direction moving assembly again along Z direction under the drive of the 3rd driving device with Z-direction moving assembly more again, complete battery compartment standby action.
4] battery compartment electric discharge pond;
4.1) manipulator receives starting that PLC sends and carries out after the instruction in battery compartment electric discharge pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, the coordinate data of taking out battery compartment electric discharge position, the pond manipulator being stored in coordinate data memory space need to complete as manipulator the position coordinate that battery compartment is put Battery Directive;
If different, PLC in wait state until overtime warning;
4.2) manipulator moves to battery compartment electric discharge position, pond, and the battery to be changed taking out from electronlmobil is put into battery compartment backed off after random battery compartment, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of battery compartment secondary standby position manipulator of handling well and the instruction of battery compartment secondary standby to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation of battery compartment secondary standby;
Wherein, manipulator execution battery compartment is put concrete action corresponding to Battery Directive and is: on manipulator, the propulsion assembly of pickup device first stretches into sucker in battery compartment, then sucker unclamps battery, last propulsion cylinder is regained sucker in battery compartment, completes battery compartment electric discharge pond action.
5] battery compartment secondary standby;
5.1) what manipulator reception PLC sent starts to carry out after the instruction of battery compartment secondary standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the battery compartment secondary standby position manipulator in coordinate data memory space and need to complete the position coordinate of battery compartment secondary standby command as manipulator;
If different, PLC in wait state until overtime warning;
5.2) manipulator moves to battery compartment secondary standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of position, battery compartment power taking pond manipulator of handling well and the instruction in battery compartment power taking pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in battery compartment power taking pond;
Wherein, manipulator is carried out concrete action corresponding to battery compartment secondary standby command: on manipulator, pickup device is according to first moving or move along Z direction under the drive of the 3rd driving device with Z-direction moving assembly along Y-direction under the drive of the second driving device with Y-direction moving assembly, by tilting component drive, carry out luffing again and arrive another rack standby position, complete battery compartment secondary standby action.
6] battery compartment power taking pond;
6.1) what manipulator reception PLC sent starts to carry out after the instruction in battery compartment power taking pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in position, the battery compartment power taking pond manipulator in coordinate data memory space and need to complete as manipulator the position coordinate that battery compartment is got Battery Directive;
If different, PLC in wait state until overtime warning;
6.2) manipulator moves to position, battery compartment power taking pond, and the new battery leaving in battery compartment is taken out to battery compartment, after has moved in battery compartment power taking pond, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of automobile secondary standby position manipulator of handling well and the instruction of automobile secondary standby to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation of automobile secondary standby;
Wherein, manipulator execution battery compartment is got concrete action corresponding to Battery Directive and is: on manipulator, the propulsion cylinder of pickup device drive sucker first stretches in battery compartment, then sucker holds battery, last propulsion cylinder is regained sucker in battery compartment, completes the action of battery compartment power taking pond.
7] automobile secondary standby
7.1) what manipulator reception PLC sent starts to carry out after the instruction of automobile secondary standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the automobile secondary standby position manipulator in coordinate data memory space and need to complete the position coordinate of automobile secondary standby command as manipulator;
If different, PLC in wait state until overtime warning;
7.2) manipulator moves to automobile secondary standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of automobile electric discharge position, pond manipulator of handling well and the instruction in automobile electric discharge pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in automobile electric discharge pond;
Wherein, manipulator is carried out concrete action corresponding to automobile secondary standby command: the pickup device on manipulator first with X-direction assembly under the drive of the first driving device along directions X move, again with Z-direction moving assembly under the drive of the 3rd transmission component along Z direction move, under the drive of rotary components, rotatablely move again, luffing under the drive of tilting component again, the ordinal shift that finally moves along Y-direction under the drive of the second driving device with Y-direction moving assembly arrive another automobile standby position, completes automobile secondary standby action.
8] automobile electric discharge pond;
8.1)) manipulator receives starting that PLC sends and carries out after the instruction in automobile electric discharge pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, the coordinate data of taking out automobile electric discharge position, the pond manipulator being stored in coordinate data memory space need to complete as manipulator the position coordinate that automobile is put Battery Directive;
If different, PLC in wait state until overtime warning;
8.2) manipulator moves to automobile electric discharge position, pond, and the new battery taking out in battery compartment is put into electronlmobil, after has moved in automobile electric discharge pond, the instruction automatic clear of PLC instruction storage area, manipulator exits electronlmobil and moves to initial standby position;
Wherein, manipulator execution automobile is put concrete action corresponding to Battery Directive and is: on manipulator, pickup device propulsion cylinder first stretches into sucker in electronlmobil, then sucker unclamps battery, last propulsion cylinder is regained sucker in electronlmobil, completes automobile electric discharge pond action.
In order to ensure the battery methods meeting the market requirement that changes provided by the invention; guarantee to change battery efficiency higher; electrical changing station adopt two PLC control respectively two groups of manipulators act on two battery compartment regions realize simultaneously change battery operated; for the general electronlmobil that has four batteries, only needing every group of manipulator to complete above-mentioned eight steps for twice is four Battery packs in replaceable complete electronlmobil like this.
For fear of two groups of manipulators, may occur the mutually problem of collision, so the present invention is all provided with enabled instruction in two PLC, the data storing of this wait instruction is in PLC.Its specific works state is described as follows:
First group of manipulator controlled by a PLC, and second group of manipulator controlled by the 2nd PLC; When the first manipulator is worked at electronlmobil place, the 2nd PLC controls the second manipulator in perch, when the first manipulator takes out battery in electronlmobil, while leaving electronlmobil arrival perch, the enabled instruction in a PLC is upgraded, after enabled instruction in upper computer detection to the PLC is upgraded, start to start the 2nd PLC, the 2nd PLC controls the second manipulator and goes to electronlmobil place to start working, in like manner, the 2nd PLC also can, by enabled instruction, start a PLC and start working.
Claims (9)
1. the electronlmobil of controlling based on PLC is from moving the battery methods that changes of battery means, it is characterized in that, change a Battery pack and comprise the following steps successively according to the process sequence that changes cell process: automobile standby, automobile electricity-fetching pond, battery compartment standby, battery compartment electric discharge pond, the standby of battery compartment secondary, battery compartment power taking pond, the standby of automobile secondary, automobile electric discharge pond;
1] automobile standby;
1.1) when electronlmobil sails into after assigned address, change battery means and automatically move, first, upper computer is sent to the instruction of automobile standby position robot coordinate data and automobile standby respectively coordinate data memory space and the instruction area of PLC;
1.2) what manipulator reception PLC sent starts to carry out after the instruction of automobile standby, and whether the PLC instruction that first detection of stored need to be carried out at instruction and the current manipulator of its instruction area is identical;
If identical, take out the coordinate data be stored in the automobile standby position manipulator in coordinate data memory space and need to complete the position coordinate of automobile standby command as manipulator;
If different, PLC in wait state until overtime warning;
1.3) manipulator moves to the action that automobile standby position completes automobile standby, simultaneously, the data automatic clear of PLC instruction area, upper computer detection is the coordinate data of position, automobile electricity-fetching pond manipulator of handling well and the instruction in automobile electricity-fetching pond to be sent to respectively after zero to coordinate data memory space and the instruction area of PLC to the data of PLC instruction area; And carry out the preparation in automobile electricity-fetching pond;
2] automobile electricity-fetching pond;
2.1) what manipulator reception PLC sent starts to carry out after the instruction in automobile electricity-fetching pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in position, the automobile electricity-fetching pond manipulator in coordinate data memory space and need to complete the position coordinate of automobile electricity-fetching pond instruction as manipulator;
If different, PLC in wait state until overtime warning;
2.2) manipulator moves to position, automobile electricity-fetching pond, battery to be changed is taken out in electronlmobil, after has moved in automobile electricity-fetching pond, the data automatic clear of PLC instruction area, upper computer detection is the coordinate data of battery compartment standby position manipulator of handling well and the instruction of battery compartment standby to be sent to respectively after zero to coordinate data memory space and the instruction area of PLC to the data of PLC instruction area; And carry out the preparation of battery compartment standby;
3] battery compartment standby;
3.1) what manipulator reception PLC sent starts to carry out after the instruction of battery compartment standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the battery compartment standby position manipulator in coordinate data memory space and need to complete the position coordinate of battery compartment standby command as manipulator;
If different, PLC in wait state until overtime warning;
3.2) manipulator moves to battery compartment standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of battery compartment electric discharge position, pond manipulator of handling well and the instruction in battery compartment electric discharge pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in battery compartment electric discharge pond;
4] battery compartment electric discharge pond;
4.1) manipulator receives starting that PLC sends and carries out after the instruction in battery compartment electric discharge pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, the coordinate data of taking out battery compartment electric discharge position, the pond manipulator being stored in coordinate data memory space need to complete as manipulator the position coordinate that battery compartment is put Battery Directive;
If different, PLC in wait state until overtime warning;
4.2) manipulator moves to battery compartment electric discharge position, pond, and the battery to be changed taking out from electronlmobil is put into battery compartment backed off after random battery compartment, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of battery compartment secondary standby position manipulator of handling well and the instruction of battery compartment secondary standby to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation of battery compartment secondary standby;
5] battery compartment secondary standby;
5.1) what manipulator reception PLC sent starts to carry out after the instruction of battery compartment secondary standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the battery compartment secondary standby position manipulator in coordinate data memory space and need to complete the position coordinate of battery compartment secondary standby command as manipulator;
If different, PLC in wait state until overtime warning;
5.2) manipulator moves to battery compartment secondary standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of position, battery compartment power taking pond manipulator of handling well and the instruction in battery compartment power taking pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in battery compartment power taking pond;
6] battery compartment power taking pond;
6.1) what manipulator reception PLC sent starts to carry out after the instruction in battery compartment power taking pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in position, the battery compartment power taking pond manipulator in coordinate data memory space and need to complete as manipulator the position coordinate that battery compartment is got Battery Directive;
If different, PLC in wait state until overtime warning;
6.2) manipulator moves to position, battery compartment power taking pond, and the new battery leaving in battery compartment is taken out to battery compartment, after has moved in battery compartment power taking pond, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of automobile secondary standby position manipulator of handling well and the instruction of automobile secondary standby to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation of automobile secondary standby;
7] automobile secondary standby
7.1) what manipulator reception PLC sent starts to carry out after the instruction of automobile secondary standby, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, take out the coordinate data be stored in the automobile secondary standby position manipulator in coordinate data memory space and need to complete the position coordinate of automobile secondary standby command as manipulator;
If different, PLC in wait state until overtime warning;
7.2) manipulator moves to automobile secondary standby position, meanwhile, and the instruction automatic clear of PLC instruction storage area; Upper computer detection is the coordinate data of automobile electric discharge position, pond manipulator of handling well and the instruction in automobile electric discharge pond to be sent to respectively to coordinate data memory space and the instruction area of PLC after zero to the data of PLC instruction storage area, and carries out the preparation in automobile electric discharge pond;
8] automobile electric discharge pond;
8.1) manipulator receives starting that PLC sends and carries out after the instruction in automobile electric discharge pond, and whether the PLC instruction that first instruction and the current PLC of detection of stored in its instruction area need to carry out is identical;
If identical, the coordinate data of taking out automobile electric discharge position, the pond manipulator being stored in coordinate data memory space need to complete as manipulator the position coordinate that automobile is put Battery Directive;
If different, PLC in wait state until overtime warning;
8.2) manipulator moves to automobile electric discharge position, pond, and the new battery taking out in battery compartment is put into electronlmobil, after has moved in automobile electric discharge pond, the instruction automatic clear of PLC instruction storage area, manipulator exits electronlmobil and moves to initial standby position.
2. the electronlmobil of controlling based on PLC according to claim 1 is from moving the battery methods that changes of battery means, it is characterized in that: described step 1.3) the corresponding concrete action of manipulator execution automobile standby command is: by the program setting of PLC, manipulator according to first pitching, again X-direction, again Z-direction, rotate again, the order of last Y direction moves and arrives automobile standby position from initial standby position, completes automobile standby action.
3. the electronlmobil of controlling based on PLC according to claim 1 is from moving the battery methods that changes of battery means, it is characterized in that: described step 2.2) concrete action corresponding to manipulator execution automobile electricity-fetching pond instruction is: by the program setting of PLC, on manipulator, the propulsion cylinder of pickup device drive sucker stretches in electronlmobil, then sucker holds battery, last propulsion cylinder is regained, battery is taken out in electronlmobil, complete the action of automobile electricity-fetching pond.
4. the electronlmobil of controlling based on PLC according to claim 1 is from moving the battery methods that changes of battery means, it is characterized in that: described step 3.2) concrete action corresponding to manipulator execution battery compartment standby command is: by the program setting of PLC, according to first Y direction, rotate again, pitching again, the order of Z-direction, last X-direction arrives battery compartment standby position again, completes battery compartment standby action.
5. the electronlmobil of controlling based on PLC according to claim 1 is from moving the battery methods that changes of battery means, it is characterized in that: described step 4.2) manipulator is carried out battery compartment and put concrete action corresponding to Battery Directive and be: by the program setting of PLC, sucker on manipulator stretches in battery compartment, then sucker unclamps battery, last propulsion cylinder is regained sucker in battery compartment, completes battery compartment electric discharge pond action.
6. the electronlmobil of controlling based on PLC according to claim 1 is from moving the battery methods that changes of battery means, it is characterized in that: described step 5.2) concrete action corresponding to manipulator execution battery compartment secondary standby command is: by the program setting of PLC, order according to first Y direction or Z-direction, luffing again arrives next battery compartment standby position, completes battery compartment secondary standby action.
7. the electronlmobil of controlling based on PLC according to claim 1 is from moving the battery methods that changes of battery means, it is characterized in that: described step 6.2) manipulator is carried out battery compartment and got concrete action corresponding to Battery Directive and be: by the program setting of PLC, sucker on manipulator first stretches in battery compartment, then sucker holds battery, finally sucker regained in battery compartment, completes the action of battery compartment power taking pond.
8. the electronlmobil of controlling based on PLC according to claim 1 is from moving the battery methods that changes of battery means, it is characterized in that: described step 7.2) concrete action corresponding to manipulator execution automobile secondary standby command is: by the program setting of PLC, according to first X-direction, again Z-direction, rotate again, the ordinal shift of pitching again, last Y direction arrives next automobile standby position, completes automobile secondary standby action.
9. the electronlmobil of controlling based on PLC according to claim 1 is from moving the battery methods that changes of battery means, it is characterized in that: described step 8.2) manipulator is carried out automobile and put concrete action corresponding to Battery Directive and be: by the program setting of PLC, sucker on manipulator stretches in electronlmobil, then sucker unclamps battery, finally sucker is regained in electronlmobil, completes automobile electric discharge pond action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310628839.5A CN103693022B (en) | 2013-11-28 | 2013-11-28 | The electric automobile of controlling based on PLC is from moving the battery methods that changes of battery means |
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| CN201310628839.5A CN103693022B (en) | 2013-11-28 | 2013-11-28 | The electric automobile of controlling based on PLC is from moving the battery methods that changes of battery means |
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| CN103693022B CN103693022B (en) | 2016-05-18 |
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| CN103693022B (en) | 2016-05-18 |
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