Battery swapping apparatus
The battery exchange device addresses misalignment issues by using a hand with a displacement absorbing unit to stabilize the suction process, ensuring efficient battery exchange despite angular positioning.
Patent Information
- Application Number
- JP2024052889
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-03-28
- Publication Date
- 2025-10-09
Smart Images
Figure 2025151453000001_ABST
Abstract
Description
[Technical Field]
[0001] The present disclosure relates to a battery exchange device. [Background technology]
[0002] Patent Document 1 discloses an automatic loading and unloading mechanism for loading and unloading a load onto a cart. The automatic loading and unloading mechanism includes a loading and unloading device that holds the load, and a pallet on which the load is placed. An engagement shaft is provided at one end of the pallet. The loading and unloading device includes engagement means that is provided on the cart so as to be able to move toward and away from it. The engagement means includes a hand with an engagement groove formed therein. When the hand moves in a direction intersecting the movement direction of the engagement means, the engagement shaft is inserted into and removed from the engagement groove of the hand. [Prior art documents] [Patent documents]
[0003] [Patent Document 1] Patent No. 3605044 Summary of the Invention [Problem to be solved by the invention]
[0004] However, the automatic loading and unloading mechanism described in Patent Document 1 is designed assuming that the movement direction of the load and the movement direction of the hand are completely aligned. If such a mechanism is used, for example, to replace a vehicle battery, and the battery is positioned at an angle to the hand and the sliding direction of the battery does not match the movement direction of the hand, the hand may shift sideways relative to the battery, the battery may rattle, or other problems may occur, making it difficult to perform a smooth battery replacement.
[0005] The present disclosure has been made to solve the above-mentioned problems, and has an object to provide a battery exchange device that can efficiently exchange batteries. [Means for solving the problem]
[0006] In order to solve the above problem, the battery replacement device of the present disclosure is a battery replacement device for replacing a vehicle battery, and includes a hand that is movable in a first horizontal direction perpendicular to the up-down direction, a displacement absorbing unit attached to the front end of the hand in the horizontal first direction, and an adsorption unit attached to the front end of the displacement absorbing unit in the horizontal first direction and adsorbing the battery, wherein the displacement absorbing unit is restricted from rotating around an axis in the up-down direction and a second horizontal direction perpendicular to the horizontal first direction, and absorbs displacement rotating around the axis in the up-down direction, displacement in the horizontal first direction, and displacement in the horizontal second direction. [Effects of the Invention]
[0007] According to the battery exchange device of the present disclosure, batteries can be exchanged efficiently. [Brief explanation of the drawings]
[0008] [Figure 1] 1 is a perspective view of a battery exchange system according to a first embodiment of the present disclosure. [Figure 2] 1 is a plan view of a battery exchange system according to a first embodiment of the present disclosure. [Figure 3] FIG. 2 is a plan view of a displacement absorbing section according to the first embodiment of the present disclosure. [Figure 4] FIG. 2 is a side view of a displacement absorbing section according to the first embodiment of the present disclosure. [Figure 5] FIG. 2 is a functional block diagram of a control device according to the first embodiment of the present disclosure. [Figure 6] 5 is a flowchart showing the procedure of a battery removal operation according to the first embodiment of the present disclosure. [Figure 7] 4A to 4C are diagrams illustrating a battery removal operation according to the first embodiment of the present disclosure. [Figure 8] 4A to 4C are diagrams illustrating a battery removal operation according to the first embodiment of the present disclosure. [Figure 9] 4A to 4C are diagrams illustrating a battery removal operation according to the first embodiment of the present disclosure. [Figure 10] FIG. 10 is a plan view of an insertion / removal mechanism according to a second embodiment of the present disclosure. [Figure 11] 10 is a flowchart showing the procedure of a battery removal operation according to a second embodiment of the present disclosure. [Figure 12] FIG. 11 is a side view of an insertion / removal mechanism according to a third embodiment of the present disclosure. [Figure 13] 10 is a flowchart showing the procedure of a battery removal operation according to a third embodiment of the present disclosure. [Figure 14] FIG. 10 is a perspective view of a displacement absorbing part according to a fourth embodiment of the present disclosure. [Figure 15] FIG. 1 is a hardware configuration diagram according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION
[0009] (First embodiment) Hereinafter, a battery exchange system 1 according to a first embodiment of the present disclosure will be described with reference to FIGS. As shown in FIGS. 1 and 2, the battery exchange system 1 includes a vehicle 2 and a battery exchange device 10.
[0010] (vehicle) The vehicle 2 is equipped with a battery 3. The vehicle 2 is driven by the power of the battery 3. The vehicle 2 of this embodiment is an autonomous forklift. In the following description, the front-to-rear direction of the vehicle 2 may be simply referred to as the front-to-rear direction, and the vehicle width direction of the vehicle 2 may be simply referred to as the vehicle width direction. The vehicle 2 includes a vehicle body 20, a traveling mechanism 25, a mast 26, a loading device 30, a vehicle control unit 4, and the battery 3.
[0011] (Body) The vehicle body 20 has a vehicle body main body 21, straddle legs 22, and a mounting compartment 40.
[0012] (Vehicle body) The vehicle body 21 extends in the vertical direction Dv. The rear surface 21a of the vehicle body 21 is curved in an arc shape so as to protrude rearward when viewed from above. A plate 23 extending horizontally is provided inside the vehicle body 21. A plurality of plates 23 are provided at intervals in the vertical direction Dv. A control device 60 (described later) and the like are placed on the plate 23.
[0013] (Straddle leg) Two straddle legs 22 are provided opposite each other in the vehicle width direction. The vehicle body 21 is placed on the two straddle legs 22. The straddle legs 22 extend in the front-rear direction and protrude forward beyond the vehicle body 21.
[0014] (Loading room) Two mounting chambers 40 are provided, one at the rear end of each straddle leg 22. That is, the two mounting chambers 40 are provided opposite each other in the vehicle width direction. The mounting chambers 40 extend in the front-to-rear direction. The mounting chambers 40 are open to the rear. The mounting chambers 40 are also open to the outside in the vehicle width direction. The battery 3 is inserted into the mounting chamber 40 from the rear.
[0015] A guide 41 is provided on the inner side of the mounting chamber 40 in the vehicle width direction. The guide 41 extends in the front-rear direction. The guide 41 prevents the battery 3 from falling inward in the vehicle width direction. In addition, a terminal 42 is provided on the front end surface of the mounting chamber 40. The front end surface of the battery 3 is connected to the terminal 42.
[0016] (Traveling mechanism) The traveling mechanism 25 is provided at the bottom of the vehicle body 20. The traveling mechanism 25 supports the vehicle 2 from below and allows the vehicle 2 to travel in a horizontal direction. The traveling mechanism 25 has rear wheels 25a and front wheels 25b. The rear wheels 25a are provided at the bottom of the vehicle body 21. The front wheels 25b are provided at the front end of each straddle leg 22.
[0017] (mast) The masts 26 are attached to the front of the vehicle body 21. The masts 26 extend in the vertical direction Dv. Two masts 26 are provided between the two straddle legs 22. The two masts 26 face each other in the vehicle width direction. The two masts 26 are movable forward and backward along the straddle legs 22. Each mast 26 has an outer mast 27 and an inner mast 28. The outer masts 27 are provided as a pair spaced apart in the vehicle width direction. The outer masts 27 extend in the vertical direction Dv. One inner mast 28 is provided inside each outer mast 27 in the vehicle width direction. The inner masts 28 are provided as a pair spaced apart in the vehicle width direction. The inner masts 28 are provided so as to be movable up and down in the vertical direction Dv relative to the outer masts 27. The inner masts 28 can be tilted by a tilt mechanism (not shown). This allows the inner mast 28 to assume a position extending perpendicular to the horizontal plane along a vertical line, or to assume a position inclined relative to the vertical line.
[0018] (Load handling equipment) The cargo handling device 30 is provided on the front side of the inner mast 28. The cargo handling device 30 has a lift bracket 31 and a fork 32.
[0019] (Lift bracket) The lift bracket 31 is attached so as to span the two inner masts 28 in the vehicle width direction. The lift bracket 31 can move in the up and down direction Dv along the inner masts 28.
[0020] (fork) The forks 32 are attached to the lift bracket 31. When viewed in the vehicle width direction, the forks 32 are formed in an L-shape. Two forks 32 are provided facing each other in the vehicle width direction. The forks 32 have a fork base 32a and fork claws 32b. The fork base 32a is fixed to the lift bracket 31. The fork base 32a extends downward from the lift bracket 31. The fork claws 32b extend forward from the lower end of the fork base 32a.
[0021] When the vehicle 2 transports cargo (not shown), the fork claws 32b are inserted into holes in a pallet (not shown) on which the cargo is placed. Then, when the cargo handling device 30 rises along the mast 26, the cargo is lifted. The vehicle 2 then moves, allowing the cargo to be transported to its destination.
[0022] (Vehicle control unit) The vehicle control unit 4 is provided inside the vehicle body 21 and placed on a plate 23. The vehicle control unit 4 controls various devices of the vehicle 2 (travel mechanism 25, cargo handling device 30, etc.).
[0023] (battery) The battery 3 is formed in the shape of a rectangular parallelepiped extending in one direction. The battery 3 is housed in the loading compartment 40 by being inserted from the rear. The power of the battery 3 in the loading compartment 40 is used to drive the traveling mechanism 25, the cargo handling device 30, etc. The front end of the battery 3 is connected to a terminal 42 of the loading compartment 40. In addition, an attraction plate 5 is provided on the rear end surface of the battery 3. The attraction plate 5 in this embodiment is formed of a metal such as iron, cobalt, or nickel.
[0024] The battery 3 of this embodiment is designed to be smaller and lighter than conventional batteries. Therefore, the battery 3 has a short lifespan and needs to be replaced frequently. When the remaining charge of the battery 3 becomes low, the vehicle 2 is parked in a parking area P located in front of the battery exchange apparatus 10.
[0025] (battery exchange device) The battery exchange device 10 exchanges the battery 3 in the loading compartment 40 with the battery 3 in a charger 13 described below. The battery exchange device 10 includes a casing 11, a vehicle 2 detection sensor, a charger 13, an insertion / removal mechanism 50, a battery moving mechanism 14, and a control device 60. In the following description, the front-to-rear direction of the battery exchange apparatus 10 among the horizontal directions will be referred to as the horizontal first direction D1, and the width direction of the battery exchange apparatus 10 will be referred to as the horizontal second direction D2. The horizontal first direction D1 and the horizontal second direction D2 are both perpendicular to the up-down direction Dv. In addition, the horizontal first direction D1 and the horizontal second direction D2 are perpendicular to each other.
[0026] (Casing) The casing 11 is disposed behind the parking area P. The casing 11 is, for example, a box-shaped container extending in the vertical direction Dv. The casing 11 is formed in a rectangular parallelepiped shape. An opening 11a that opens forward is formed on the front surface of the lower end of the casing 11. One opening 11a is formed on each side of the front surface of the casing 11 in the horizontal second direction D2. The openings 11a are used to insert and remove the battery 3. The casing 11 houses a vehicle detection sensor 12, a charger 13, an insertion / removal mechanism 50, a battery moving mechanism 14, and a control device 60.
[0027] (Vehicle detection sensor) The vehicle detection sensor 12 is provided on the front side of the casing 11. The vehicle detection sensor 12 detects a vehicle 2 parked in the parking area P.
[0028] (charger) A plurality of chargers 13 are provided inside the casing 11. The battery 3 is housed inside the charger 13. The charger 13 charges the battery 3 inside.
[0029] (insertion / removal mechanism) The insertion / removal mechanism 50 is provided inside the casing 11. One insertion / removal mechanism 50 is provided for each opening 11a. The insertion / removal mechanism 50 removes an empty battery 3 from the vehicle 2. The insertion / removal mechanism 50 also inserts a charged battery 3. The insertion / removal mechanism 50 includes a rail 51, a hand 52, a displacement absorbing unit 70, an adsorption unit 53, an elastic member 54, and a contact detection sensor 55.
[0030] (rail) The rail 51 extends in a first horizontal direction D1. The rail 51 is installed so as to be movable in the first horizontal direction D1 and the second horizontal direction D2. A leading edge 51a of the rail 51 on the front side in the first horizontal direction D1 is formed in an arc shape so as to fit along the rear surface 21a of the vehicle body 20.
[0031] (hand) The hand 52 is placed on a rail 51. The hand 52 extends in a horizontal first direction D1. The hand 52 is installed on the rail 51 so as to be movable in the horizontal first direction D1.
[0032] (Displacement absorption part) As shown in Figures 3 and 4, the displacement absorbing unit 70 is attached to the front end of the hand 52 in the first horizontal direction D1. The displacement absorbing unit 70 is restricted from rotating about an axis in the second horizontal direction D2. The displacement absorbing unit 70 also absorbs displacement caused by rotation about an axis in the up-down direction Dv, displacement in the first horizontal direction D1, and displacement in the second horizontal direction D2. The detailed structure of the displacement absorbing unit 70 of this embodiment will be described below.
[0033] The displacement absorbing section 70 of this embodiment is a link mechanism 70 A. The link mechanism 70 A includes a first link 71, a second link 72, a third link 73, a first pin 74, and a second pin 75. The first link 71 is attached to the tip of the hand 52. The first link 71 is formed in a flat plate shape that is perpendicular to the horizontal first direction D1. The first link 71 is fixed to the hand 52 by, for example, a bolt or the like. The second link 72 (an example of a link in the claims) is attached to the first link 71. The second link 72 extends from the center of the first link 71 in the horizontal second direction D2 to the front side in the horizontal first direction D1. The third link 73 is attached to the front end of the second link 72 in the horizontal first direction D1. The third link 73 is formed in a flat plate shape that is perpendicular to the horizontal first direction D1. The center of the third link 73 in the horizontal second direction D2 is connected to the second link 72.
[0034] The first pin 74 connects the first link 71 and the second link 72. The rear end of the second link 72 in the horizontal first direction D1 is attached to the hand 52 by the first pin 74 so as to be rotatable about a first axis O1 in the up-down direction Dv. The second pin 75 connects the second link 72 and the third link 73. The third link 73 is attached by the second pin 75 so as to be rotatable about a second axis O2 in the up-down direction Dv.
[0035] The second link 72 has a link base 72a and a link connection portion 72b. The link base 72a is formed in a flat plate shape extending in the vertical direction Dv. The link connection portions 72b are provided at both ends of the link base 72a in the vertical direction Dv. The link connection portions 72b are integral with the link base 72a. The link connection portion 72b extends in the horizontal first direction D1. A rear end of the link connection portion 72b in the horizontal first direction D1 is connected to the first link 71 by a first pin 74. A front end of the link connection portion 72b in the horizontal first direction D1 is connected to the third link 73 by a second pin 75.
[0036] When no external force is applied to the displacement absorbing unit 70, the displacement absorbing unit 70 is maintained in a fixed posture by the elastic member 54, which will be described later. This state in which no external force is applied to the displacement absorbing unit 70 will be described as an initial state A1. Furthermore, when an external force is applied to the displacement absorbing unit 70, for example, when the suction unit 53, which will be described later, comes into contact with the battery 3, the displacement absorbing unit 70 deforms from the initial state A1. This state in which the displacement absorbing unit 70 is deformed will be described as a deformed state A2. In the initial state A1, the first link 71 and the third link 73 extend in the horizontal second direction D2, and the second link 72 extends in the horizontal first direction D1, as shown by solid lines in Fig. 3. On the other hand, in the deformed state A2, the second link 72 rotates around the first axis O1, and the third link 73 rotates around the second axis O2, as shown by imaginary lines in Fig. 3.
[0037] (Adsorption part) The attraction portion 53 is attached to the front end portion of the displacement absorbing portion 70 in the horizontal first direction D1. The attraction portion 53 attracts the battery 3. In this embodiment, the attraction portion 53 is an electromagnet 53A that can switch between generating and stopping a magnetic force and attracts the battery 3 by magnetic force. A plurality of attraction portions 53 are attached to the front surface of the third link 73. Note that only one attraction portion 53 may be provided on the displacement absorbing portion 70. The attraction portion 53 is attached to the front end portion of the second link 72 in the horizontal first direction D1 via the third link 73 so as to be rotatable about the second axis O2 in the up-down direction Dv.
[0038] (elastic member) The elastic members 54 are disposed at both ends of the link base 72a in the horizontal first direction D1. The front elastic member 54 is sandwiched between the link base 72a and the first link 71. The rear elastic member 54 is sandwiched between the link base 72a and the third link 73. The elastic members 54 allow the displacement absorbing unit 70 to absorb displacement when the suction unit 53 is adsorbing the battery 3. Furthermore, when the battery 3 is released from the suction unit 53, the elastic members 54 restore the displacement absorbing unit 70 to its initial state A1 before the suction unit 53 adsorbed the battery 3. The elastic members 54 are, for example, rubber, sponge, or a spring.
[0039] (contact detection sensor) The contact detection sensor 55 detects that the suction unit 53 has come into contact with the battery 3. The contact detection sensor 55 of this embodiment detects contact between the suction unit 53 and the battery 3 by detecting a change in the current value of the electromagnet 53A. Note that the contact detection sensor 55 may also detect contact between the suction unit 53 and the battery 3 based on the position or torque of the hand 52. The contact detection sensor 55 may also be a switch sensor.
[0040] (Battery moving mechanism) The battery moving mechanism 14 moves the battery 3 between the insertion / removal mechanism 50 and the charger 13. The battery moving mechanism 14 removes the empty battery 3 that has been removed from the vehicle 2 by the insertion / removal mechanism 50, and inserts the empty battery 3 into the charger 13. The battery moving mechanism 14 also removes the charged battery 3 from the charger 13, and loads the charged battery 3 into the insertion / removal mechanism 50.
[0041] (Control device) The control device 60 is housed in the casing 11. The control device 60 controls various devices (such as the insertion / removal mechanism 50 and the battery moving mechanism 14) of the battery exchange device 10. As shown in FIG. 5 , the control device 60 has functional units, namely, an acquisition unit 61, a hand operation unit 62, and a suction operation unit 63.
[0042] The acquisition unit 61 acquires signals, information, commands, etc. from external devices. The acquisition unit 61 acquires signals from, for example, the vehicle detection sensor 12 and the contact detection sensor 55. The hand operation unit 62 moves the hand 52 in the horizontal first direction D1. The suction operation unit 63 attracts the battery 3 to the attraction unit 53. In this embodiment, the suction operation unit 63 controls the ON / OFF of the electromagnet 53A. When the contact detection sensor 55 detects contact between the attraction unit 53 and the battery 3, the suction operation unit 63 turns on the electromagnet 53A, causing the electromagnet 53A to generate a magnetic force.
[0043] (battery replacement) When the vehicle detection sensor 12 detects that the vehicle 2 has arrived at the parking area P, the battery exchange begins. First, the insertion / removal mechanism 50 removes the battery 3 from the vehicle 2, and the battery moving mechanism 14 inserts the removed battery 3 into the charger 13. Then, the battery moving mechanism 14 removes the charged battery 3 from the charger 13 and attaches it to the insertion / removal mechanism 50. The insertion / removal mechanism 50 inserts the charged battery 3 into the vehicle 2. In this way, the battery is replaced.
[0044] Here, if the vehicle 2 stops tilted relative to the battery exchange device 10, the battery 3 in the loading compartment 40 will be positioned tilted relative to the movement direction of the hand 52. According to the battery exchange device 10 of the present disclosure, even in such a case, the battery 3 can be smoothly removed.
[0045] (Battery removal operation) The procedure for extracting the battery 3 in this embodiment will be described below with reference to the flowchart in Fig. 6. Here, it is assumed that the battery 3 in the loading chamber 40 is arranged at an angle with respect to the moving direction of the hand 52, as shown in Fig. 7. In other words, the sliding direction of the battery 3 does not match the moving direction of the hand 52. It is also assumed that the rail 51 is pushed forward from the opening 11a of the casing 11 and abuts against the straddle leg 22 from behind.
[0046] First, the hand operating unit 62 moves the hand 52 forward in the horizontal first direction D1 and inserts the hand 52 into the loading chamber 40 (step S10). The hand 52 is inserted until the suction unit 53 comes into contact with the battery 3. As shown in FIG. 8 , when the suction unit 53 comes into contact with the battery 3 (step S11), the contact detection sensor 55 detects the contact between the suction unit 53 and the battery 3 and transmits a signal to the acquisition unit 61. When the acquisition unit 61 acquires the signal from the contact detection sensor 55, the suction operating unit 63 turns on the electromagnet 53A to generate a magnetic force of the electromagnet 53A (step S12). Then, the electromagnet 53A attracts the battery 3 by the magnetic force.
[0047] 9, the hand operating unit 62 pulls the hand 52 rearward in the horizontal first direction D1 (step S13). At this time, the battery 3 slides along the guide 41. At this time, as the hand 52 is pulled rearward in the horizontal first direction D1, the displacement absorbing unit 70 deforms from the initial state A1 to the deformed state A2. As a result, the displacement absorbing unit 70 absorbs any deviation of the suction unit 53 from the battery 3. Therefore, in step S13, the hand 52 can pull out the battery 3 without shifting the suction position of the suction unit 53. After that, the hand 52 returns to the initial position before starting the pulling operation (step S14), and the entire battery 3 is placed on the rail 51. After step S14, the hand operating unit 62 stops the movement of the hand 52 (step S15). Then, the suction operating unit 63 turns off the electromagnet 53A to stop the magnetic force of the electromagnet 53A (step S16). In step S16, the adhesion between the suction part 53 and the battery 3 is released. The battery 3 extraction operation is completed through the above procedure.
[0048] (Action and effect) According to the battery exchange device 10 of this embodiment, the following effects are achieved.
[0049] In this embodiment, the battery exchange device 10 is a battery exchange device 10 that exchanges a battery 3 of a vehicle 2. The battery exchange device 10 includes a hand 52, a displacement absorbing unit 70, and an adsorption unit 53. The hand 52 is movable in a first horizontal direction D1. The displacement absorbing unit 70 is attached to a front end of the hand 52 in the horizontal first direction D1. The adsorption unit 53 is attached to a front end of the displacement absorbing unit 70 in the horizontal first direction D1. The adsorption unit 53 adsorbs the battery 3. The displacement absorbing unit 70 is restricted from rotating about an axis in the up-down direction Dv and a horizontal second direction D2 that is perpendicular to the horizontal first direction D1. The displacement absorbing unit 70 absorbs displacement rotating about the axis in the up-down direction Dv, displacement in the horizontal first direction D1, and displacement in the horizontal second direction D2.
[0050] The battery exchange device 10 pulls out the battery 3 from the vehicle 2 by moving the hand 52 rearward in the horizontal first direction D1 while the suction portion 53 is holding the battery 3 by suction. At this time, for example, if the vehicle 2 stops tilted relative to the battery exchange device 10, the battery 3 will be positioned tilted relative to the hand 52, and the sliding direction of the battery 3 will not match the moving direction of the hand 52. In such a case, the suction part 53 will shift in the horizontal second direction D2 relative to the battery 3 during the operation to extract the battery 3. If the suction part 53 shifts while the hand 52 is moving, the suction force of the suction part 53 will decrease, and the battery 3 may come off from the suction part 53. Furthermore, for example, if there is an attachment on the surface of the suction plate 5, the attachment may cause the suction part 53 to be pulled off from the battery 3. In this embodiment, the displacement absorbing unit 70 absorbs displacement rotating around the axis in the vertical direction Dv and displacement in the horizontal direction. As a result, the displacement absorbing unit 70 absorbs deviation of the suction unit 53 during the operation of extracting the battery 3. Therefore, the battery exchange device 10 can suppress lateral deviation of the suction unit 53 relative to the battery 3 and maintain the suction force. Furthermore, during the operation of extracting the battery 3, the battery 3 may rotate around the axis of the horizontal second direction D2 (pitch angle) and rattle in the up-down direction Dv. In this embodiment, the displacement absorbing unit 70 is restricted from rotating around the axis (pitch angle) in the second horizontal direction D2. This prevents the battery 3 from wobbling. As a result, the axis of rotation of the yaw angle extending in the vertical direction Dv is always parallel to the suction plate 5 of the battery 3. This maintains good suction between the suction unit 53 and the battery 3, preventing malfunction of the battery exchange device 10 during suction. Consider a different case from this embodiment, in which the suction part 53 is attached to the hand 52 by a universal joint (not shown) and the universal joint has a rotation axis (not shown) in the second horizontal direction D2. In this case, the suction part 53 rotates around the rotation axis, and the contact point between the suction part 53 and the battery 3 (suction plate 5) may be located below the rotation axis. In this state, when the suction part 53 is pressed against the battery 3, the reaction force from the battery 3 causes the suction surface of the suction part 53 to face downward, and the battery 3 is no longer attracted. In contrast, in this embodiment, the suction part 53 is attached to the hand 52 by the displacement absorbing part 70 described above. The displacement absorbing part 70 is restricted from rotating around the axis (pitch angle) in the second horizontal direction D2. This restricts the suction part 53 from rotating around the axis (pitch angle) in the second horizontal direction D2. Therefore, the position of the contact point between the suction part 53 and the battery 3 (suction plate 5) in the up-down direction Dv is maintained, and the downward movement of the contact point between the suction part 53 and the battery 3 is restricted. Therefore, the suction between the suction part 53 and the battery 3 is maintained well. As described above, according to this embodiment, the battery exchange device 10 can maintain the adsorptive force and perform battery exchange efficiently.
[0051] In this embodiment, the displacement absorbing unit 70 is a link mechanism 70A having a second link 72 extending in the horizontal first direction D1. A rear end of the second link 72 in the horizontal first direction D1 is attached to the hand 52 so as to be rotatable about a first axis O1 in the vertical direction Dv. The suction unit 53 is attached to a front end of the second link 72 in the horizontal first direction D1 so as to be rotatable about a second axis O2 in the vertical direction Dv.
[0052] The displacement absorbing unit 70 absorbs displacement rotating about axes (first axis O1, second axis O2) in the vertical direction Dv and displacement in the horizontal direction by rotating the second link 72 at a yaw angle relative to the hand 52 while rotating the suction unit 53 at a yaw angle relative to the second link 72. In this way, the displacement absorbing unit 70 can absorb displacement by rotational movement about two rotation axes (first axis O1, second axis O2) without causing lateral displacement of the suction unit 53, unlike when there is only one rotation axis.
[0053] In this embodiment, the battery exchange device 10 further includes an elastic member 54. The elastic member 54 allows the displacement absorbing unit 70 to absorb displacement when the suction unit 53 is adsorbing the battery 3. Furthermore, when the battery 3 is separated from the suction unit 53, the elastic member 54 restores the displacement absorbing unit 70 to the initial state A1 before the suction unit 53 adsorbed the battery 3.
[0054] As a result, after the battery 3 is removed from the suction part 53, the displacement absorbing part 70 is automatically returned to the initial state A1 by the elastic member 54. This allows the battery exchange device 10 to immediately proceed to the next operation, thereby further improving the efficiency of battery exchange.
[0055] In this embodiment, the attraction unit 53 is an electromagnet 53A that can switch between generating and stopping a magnetic force and attracts the battery 3 by the magnetic force.
[0056] As a result, the battery exchange apparatus 10 can attract the battery 3 by generating the magnetic force of the electromagnet 53A, and can release the attraction of the battery 3 by stopping the magnetic force of the electromagnet 53A. Therefore, according to this embodiment, the battery exchange apparatus 10 can control the attraction and release of the battery 3 simply by controlling the ON / OFF of the electromagnet 53A.
[0057] In this embodiment, the battery exchange device 10 further includes a contact detection sensor 55 and a control device 60. The contact detection sensor 55 detects that the attraction portion 53 has come into contact with the battery 3. The control device 60 controls the electromagnet 53A. When the contact detection sensor 55 detects that the attraction portion 53 has come into contact with the battery 3, the control device 60 causes the electromagnet 53A to generate a magnetic force.
[0058] As a result, the battery exchange device 10 can turn on the electromagnetic force when the suction portion 53 comes into contact with the battery 3, thereby attracting the battery 3. This further improves the efficiency of battery exchange.
[0059] (Second embodiment) A battery exchange device 10 according to a second embodiment of the present disclosure will be described below with reference to Fig. 10 and Fig. 11. Among the configurations of the second embodiment, configurations common to the above-described embodiment will be denoted by the same names and symbols, and descriptions thereof will be omitted as appropriate.
[0060] 10, the suction portion 53 in this embodiment is a vacuum chuck 53B. The vacuum chuck 53B can come into close contact with the battery 3. When the battery 3 and the vacuum chuck 53B come into close contact with each other, an airtight space is formed between the battery 3 and the vacuum chuck 53B. The insertion / removal mechanism 50 further includes a vacuum line 56, a switching valve 57, a vacuum pump 58, and a pressure sensor 59.
[0061] (vacuum line) The vacuum line 56 is a pipe extending from the vacuum chuck 53B. The vacuum line 56 includes a first line 56a, a second line 56b, and a third line 56c. The first line 56a connects the vacuum chuck 53B and a switching valve 57. The second line 56b connects the switching valve 57 and a vacuum pump 58. The third line 56c extends from the switching valve 57 and is open to the atmosphere.
[0062] (Switching valve) The switching valve 57 switches the connection destination of the first line 56a between the second line 56b and the third line 56c.
[0063] (vacuum pump) The vacuum pump 58 is connected to the vacuum chuck 53B via the vacuum line 56. The vacuum pump 58 draws a vacuum into the sealed space between the vacuum chuck 53B and the battery 3. This creates a negative pressure in the sealed space. The vacuum chuck 53B adsorbs the battery 3 by the negative pressure thus generated.
[0064] (pressure sensor) The pressure sensor 59 measures the pressure in the sealed space between the vacuum chuck 53B and the battery 3. In this embodiment, the pressure sensor 59 is provided in the first line 56a.
[0065] (Battery removal operation) The procedure for extracting the battery 3 in this embodiment will be described below with reference to the flowchart in Figure 11. As in the first embodiment, this embodiment also assumes that the battery 3 in the loading chamber 40 is arranged at an angle with respect to the moving direction of the hand 52. In other words, the sliding direction of the battery 3 does not match the moving direction of the hand 52. Furthermore, it is assumed that the rail 51 is pushed forward from the opening 11a of the casing 11 and abuts against the straddle leg 22 from behind.
[0066] First, the hand operating unit 62 moves the hand 52 forward in the horizontal first direction D1 and inserts the hand 52 into the loading chamber 40 (step S20). The hand 52 is inserted until the suction unit 53 comes into contact with the battery 3. When the suction unit 53 comes into contact with the battery 3 (step S21), the contact detection sensor 55 detects contact between the suction unit 53 and the battery 3 and transmits a signal to the acquisition unit 61. When the acquisition unit 61 acquires the signal from the contact detection sensor 55, the suction operation unit 63 operates the vacuum pump 58 to start evacuation (step S22). This creates a negative pressure in the sealed space between the vacuum chuck 53B and the battery 3. The vacuum chuck 53B adsorbs the battery 3 by the negative pressure.
[0067] Thereafter, the hand operating unit 62 pulls the hand 52 rearward in the horizontal first direction D1 (step S23). At this time, the battery 3 slides along the guide 41. At this time, as the hand 52 is pulled rearward in the horizontal first direction D1, the displacement absorbing unit 70 deforms from the initial state A1 to the deformed state A2. As a result, any deviation of the suction unit 53 from the battery 3 is absorbed by the displacement absorbing unit 70. Therefore, in step S23, the hand 52 can pull out the battery 3 without shifting the suction position of the suction unit 53. Thereafter, when the hand 52 returns to the initial position before starting the pulling operation (step S24), the entire battery 3 is placed on the rail 51. After step S24, the hand operating unit 62 stops the movement of the hand 52 (step S25). Thereafter, the suction operating unit 63 stops the vacuum pump 58 to stop evacuation (step S26). In step S26, the suction between the suction unit 53 and the battery 3 is released. The battery 3 extraction operation is completed through the above procedure.
[0068] (Action and effect) The battery exchange device 10 of this embodiment has the same configuration as the above-described embodiment and provides the same operational effects as the above-described embodiment. In addition, the battery exchange device 10 of this embodiment provides the following operational effects.
[0069] In this embodiment, the battery exchange device 10 further includes a vacuum pump 58 connected to the suction unit 53. The suction unit 53 is a vacuum chuck 53B that can come into close contact with the battery 3. The sealed space formed by the battery 3 and the vacuum chuck 53B is evacuated by the vacuum pump 58, and the vacuum chuck 53B suctions the battery 3 by negative pressure.
[0070] As a result, the battery exchange apparatus 10 can suction the battery 3 by creating a negative pressure by drawing a vacuum in the sealed space between the battery 3 and the vacuum chuck 53B, and can release the suction from the battery 3 by stopping the suction. Therefore, according to this embodiment, the battery exchange apparatus 10 can control the suction and release of the battery 3 simply by controlling the start and stop of the suction. In addition, the vacuum chuck 53B can strongly suction the battery 3 by creating a negative pressure. Furthermore, if the attraction portion 53 is a magnet, the attraction plate 5 of the battery 3 needs to be a metal plate such as iron, but according to this embodiment, the vacuum chuck 53B can attract the battery 3 regardless of the material of the attraction plate 5 of the battery 3. Therefore, the attraction plate 5 can be made of plastic instead of metal, which allows the battery 3 to be made lighter.
[0071] In this embodiment, the battery exchange apparatus 10 further includes a pressure sensor 59 capable of measuring the pressure in the sealed space between the battery 3 and the vacuum chuck 53B.
[0072] According to this embodiment, the battery exchange apparatus 10 can monitor the pressure in the sealed space between the battery 3 and the vacuum chuck 53B. This makes it possible to confirm the presence or absence of suction force. Furthermore, the battery exchange apparatus 10 can detect contact between the battery 3 and the suction unit 53 by detecting a pressure change from atmospheric pressure to vacuum pressure. When the pressure sensor 59 is used as a sensor for detecting contact between the battery 3 and the suction unit 53, evacuation must be started before the suction unit 53 comes into contact with the battery 3. Therefore, the order of the above-described steps S21 and S22 is reversed in the flow of the battery extraction operation.
[0073] (Third embodiment) Hereinafter, a battery exchange device 10 according to a third embodiment of the present disclosure will be described with reference to Fig. 12 and Fig. 13. Among the configurations of the third embodiment, configurations common to the above-described embodiments will be denoted by the same names and symbols, and descriptions thereof will be omitted as appropriate.
[0074] 12, the attraction portion 53 of this embodiment is a permanent magnet 53 C. The insertion / removal mechanism 50 further includes a stopper 80 .
[0075] (Stopper) The stopper 80 is disposed below the hand 52 and placed on the rail 51. The stopper 80 is fixed so as not to be able to move relative to the rail 51. When the hand 52 returns to its initial position, the stopper 80 pushes the battery 3 back in the horizontal first direction D1, thereby pulling the battery 3 off.
[0076] The stopper 80 of this embodiment has a pair of end walls 81 facing each other in the horizontal first direction D1, and a spring 82 disposed between the pair of end walls 81. Of the pair of end walls 81, the rear end wall 81 is fixed to the rail 51 by, for example, a bolt. The spring 82 connects the pair of end walls 81 to each other in the horizontal first direction D1. The spring 82 is provided so as to be able to expand and contract in the horizontal first direction D1. When the front end wall 81 moves forward in the horizontal first direction D1, the spring 82 expands, and when the front end wall 81 moves rearward in the horizontal first direction D1, the spring 82 contracts.
[0077] (Battery removal operation) The procedure for extracting the battery 3 in this embodiment will be described below with reference to the flowchart in Fig. 13. As in the first embodiment, this embodiment also assumes that the battery 3 in the loading chamber 40 is arranged at an angle with respect to the moving direction of the hand 52. In other words, the sliding direction of the battery 3 does not match the moving direction of the hand 52. Furthermore, it is assumed that the rail 51 is pushed forward from the opening 11a of the casing 11 and abuts against the straddle leg 22 from behind.
[0078] First, the hand operating unit 62 moves the hand 52 forward in the horizontal first direction D1 and inserts the hand 52 into the loading chamber 40 (step S30). The hand 52 is inserted until the attraction unit 53 comes into contact with the battery 3. When the attraction unit 53 comes into contact with the battery 3, the permanent magnet 53C attracts the battery 3 by magnetic force (step S31).
[0079] Thereafter, when the acquisition unit 61 acquires a signal from the contact detection sensor 55, the hand operating unit 62 pulls the hand 52 rearward in the first horizontal direction D1 (step S32). At this time, the battery 3 slides along the guide 41. At this time, as the hand 52 is pulled rearward in the first horizontal direction D1, the displacement absorbing unit 70 deforms from the initial state A1 to the deformed state A2. As a result, the displacement absorbing unit 70 absorbs any deviation of the suction unit 53 from the battery 3. Therefore, in step S32, the hand 52 can pull out the battery 3 without shifting the suction position of the suction unit 53. Thereafter, when the hand 52 returns to the initial position before starting the pulling operation, the battery 3 comes into contact with the stopper 80 (step S33). In step S33, the battery 3 receives a reaction force from the stopper 80 in a direction that pushes it back forward in the first horizontal direction D1. At this time, as the hand 52 is pulled back rearward in the first horizontal direction D1, the spring 82 contracts. When the restoring force of the spring 82 becomes greater than the suction force, the suction between the battery 3 and the suction unit 53 is released. After that, the hand operating unit 62 stops the movement of the hand 52 (step S34). At the end of step S34, the hand 52 is in the initial position before starting the operation to extract the battery 3. The battery 3 extraction operation is completed through the above procedure.
[0080] (Action and effect) The battery exchange device 10 of this embodiment has the same configuration as the above-described embodiment and provides the same operational effects as the above-described embodiment. In addition, the battery exchange device 10 of this embodiment provides the following operational effects.
[0081] In this embodiment, the battery exchange device 10 further includes a stopper 80. The stopper 80 is fixed so as not to be movable relative to the rail 51. When the hand 52 returns to its initial position, the stopper 80 pushes back the battery 3 in the horizontal first direction D1, thereby peeling off the battery 3.
[0082] According to this embodiment, the battery 3 is automatically detached from the attraction part 53 simply by returning the hand 52 to its initial position. This further improves the efficiency of battery replacement. It also makes it easier to control battery replacement. Furthermore, it is possible to use a permanent magnet 53C, which cannot switch between generating and stopping magnetic force, as the attraction part 53, which leads to reduced manufacturing costs.
[0083] In this embodiment, the stopper 80 has a pair of end walls 81 facing each other in the horizontal first direction D1, and a spring 82 disposed between the pair of end walls 81. The spring 82 connects the pair of end walls 81 to each other in the horizontal first direction D1.
[0084] As a result, when the battery 3 comes into contact with the stopper 80, the spring 82 deforms, reducing the contact load between the battery 3 and the stopper 80. This allows the battery exchange device 10 to safely peel the battery 3 off the suction portion 53. The stopper 80 may have a dashpot with a spring instead of the spring 82.
[0085] (Fourth embodiment) A battery exchange device 10 according to a fourth embodiment of the present disclosure will be described below with reference to Fig. 14. Among the configurations of the third embodiment, configurations common to the above-described embodiments will be given the same names and symbols, and descriptions thereof will be omitted as appropriate.
[0086] As shown in FIG. 14 , in this embodiment, the displacement absorbing unit 70 includes two universal joints 90 connected in the horizontal first direction D1. Each universal joint 90 includes a first joint 91 and a second joint 92 disposed forward of the first joint 91 in the horizontal first direction D1. The first joint 91 and the second joint 92 are formed to have the same shape. A fitting groove 91a is formed in the first joint 91. A fitting groove 92a is also formed in the second joint 92. The fitting groove 91a of the first joint 91 is fitted into the fitting groove 92a of the second joint 92, thereby forming the universal joint 90. The second joint 92 is rotatable relative to the first joint 91 around an axis in the vertical direction Dv. In the rear universal joint 90, the second joint 92 is rotatable around a first axis O1 extending in the vertical direction Dv (yaw angle). In addition, in the front universal joint 90, the second joint 92 is installed so as to be rotatable about a second axis O2 extending in the up-down direction Dv.
[0087] Furthermore, the second joint 92 is rotatable relative to the first joint 91 about an axis extending in the second horizontal direction D2 (pitch angle). In the rear universal joint 90, the second joint 92 is installed rotatably about a third axis O3 extending in the second horizontal direction D2. In the front universal joint 90, the second joint 92 is installed rotatably about a fourth axis O4 extending in the second horizontal direction D2. However, in this embodiment, the insertion / removal mechanism 50 further includes a rotation restricting member 95 that supports the universal joint 90 from below. In this way, the rotation restricting member 95 restricts the second joint 92 from rotating about the axis extending in the second horizontal direction D2 (pitch angle). The rotation restricting member 95 is fixed to the hand 52 and is provided so as to be movable integrally with the hand 52. The rotation restricting member 95 is, for example, a plate component that extends from the rear end of the hand 52 in the horizontal first direction D1 toward the front side in the horizontal first direction D1.
[0088] In this embodiment, the attraction portion 53 is an electromagnet 53A, and only one attraction portion 53 is attached. Note that a plurality of attraction portions 53 may be provided.
[0089] (Battery removal operation) In this embodiment, the operation of extracting the battery 3 is performed in the same procedure as in the first embodiment. In this embodiment as well, the displacement of the suction part 53 relative to the battery 3 is absorbed by the displacement absorbing part 70, and the hand 52 can extract the battery 3 without displacing the suction position of the suction part 53.
[0090] (Action and effect) The battery exchange device 10 of this embodiment has the same configuration as the above-described embodiment and provides the same operational effects as the above-described embodiment. In addition, the battery exchange device 10 of this embodiment provides the following operational effects.
[0091] In this embodiment, the displacement absorbing unit 70 includes two universal joints 90 connected in the horizontal first direction D1. Each universal joint 90 has a first joint 91 and a second joint 92 disposed forward of the first joint 91 in the horizontal first direction D1. The second joint 92 is installed rotatably about an axis in the up-down direction Dv relative to the first joint 91.
[0092] The displacement absorbing unit 70 absorbs displacement rotating about axes (first axis O1, second axis O2) in the vertical direction Dv and displacement in the horizontal direction by rotating the two universal joints 90 through a yaw angle. In this way, the displacement absorbing unit 70 can absorb displacement by rotational movement about two rotation axes (first axis O1, second axis O2) without causing lateral displacement of the adsorption unit 53, unlike when there is only one rotation axis. In addition, the displacement absorbing unit 70 can be manufactured simply by connecting two universal joints 90. This reduces the manufacturing cost of the displacement absorbing unit 70.
[0093] In this embodiment, the insertion / removal mechanism 50 further includes a rotation restricting member 95 that restricts rotation of the second joint 92 about an axis extending in the second horizontal direction D2 (pitch angle).
[0094] This makes it possible for the battery exchange apparatus 10 to prevent the second joint 92 from rotating at a pitch angle and sagging downward.
[0095] (Hardware configuration) The control device 60 of the above-described embodiments is implemented in a computer 1100 shown in Fig. 15. Fig. 15 is a schematic block diagram showing the configuration of the computer 1100 according to each embodiment. The computer 1100 includes a processor 1110, a main memory 1120, a storage 1130, and an interface 1140.
[0096] The operations of the above-mentioned functional units of the control device 60 are stored in the form of a program in the storage 1130. The processor 1110 reads the program from the storage 1130, loads it into the main memory 1120, and executes the above-mentioned processing in accordance with the program. The processor 1110 also allocates a storage area in the main memory 1120 in accordance with the program.
[0097] The program may be for realizing some of the functions to be performed by the computer 1100. For example, the program may be combined with other programs already stored in the storage 1130 or other programs implemented in other devices to perform the functions. Furthermore, the computer 1100 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include a PAL (Programmable Array Logic), a GAL (Generic Array Logic), a CPLD (Complex Programmable Logic Device), and an FPGA (Field Programmable Gate Array). In this case, some or all of the functions to be performed by the processor 1110 may be realized by the integrated circuit.
[0098] Examples of storage 1130 include a magnetic disk, a magneto-optical disk, and a semiconductor memory. Storage 1130 may be an internal medium directly connected to the bus of computer 1100, or an external medium connected to computer 1100 via interface 1140 or a communication line. Furthermore, when this program is distributed to computer 1100 via a communication line, computer 1100 that receives the program may load the program into main memory 1120 and execute the above-mentioned processing. Storage 1130 may also be a non-transitory tangible storage medium.
[0099] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in storage 1130.
[0100] (Other embodiments) The above describes in detail the embodiments of the present disclosure with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present disclosure.
[0101] In the above embodiment, the vehicle 2 is an autonomous forklift, but the present invention is not limited to this. The vehicle 2 may be any vehicle 2 that can be equipped with a battery 3. For example, the vehicle 2 may be a manned forklift or an electric cart.
[0102] <Additional Notes> The battery exchange device 10 described in each embodiment can be understood, for example, as follows.
[0103] (1) The battery exchange device 10 according to the first aspect is a battery exchange device 10 for exchanging the battery 3 of a vehicle 2, and comprises a hand 52 movable in a horizontal first direction D1 perpendicular to an up-down direction Dv, a displacement absorbing unit 70 attached to the front end of the hand 52 in the horizontal first direction D1, and an adsorption unit 53 attached to the front end of the displacement absorbing unit 70 in the horizontal first direction D1 and adsorbing the battery 3, wherein the displacement absorbing unit 70 is restricted from rotating around an axis in the up-down direction Dv and a horizontal second direction D2 perpendicular to the horizontal first direction D1, and absorbs displacement rotating around the axis in the up-down direction Dv, displacement in the horizontal first direction D1, and displacement in the horizontal second direction D2. Examples of the vehicle 2 include a forklift and an electric cart.
[0104] The battery exchange device 10 pulls out the battery 3 from the vehicle 2 by moving the hand 52 rearward in the horizontal first direction D1 while the suction portion 53 is holding the battery 3 by suction. In this embodiment, the displacement absorbing unit 70 absorbs displacement rotating about the axis in the vertical direction Dv and displacement in the horizontal direction. As a result, the displacement absorbing unit 70 absorbs deviation of the suction unit 53 during the operation of extracting the battery 3. Therefore, the battery exchange device 10 can suppress lateral deviation of the suction unit 53 relative to the battery 3 and maintain the suction force. In this embodiment, the displacement absorbing portion 70 is restricted from rotating around the axis in the second horizontal direction D2 (pitch angle), which reduces rattling of the battery 3. This allows the suction of the suction portion 53 and the battery 3 to be maintained in a good condition. Furthermore, in this embodiment, the position of the contact point between the suction part 53 and the battery 3 in the vertical direction Dv is maintained, and the contact point between the suction part 53 and the battery 3 is prevented from descending.
[0105] (2) A second aspect of the battery exchange device 10 is the battery exchange device 10 of (1), wherein the displacement absorption unit 70 is a link mechanism 70A having a link extending in the horizontal first direction D1, and the rear end of the link in the horizontal first direction D1 is attached to the hand 52 so as to be rotatable around the axis of the vertical direction Dv, and the suction unit 53 is attached to the front end of the link in the horizontal first direction D1 so as to be rotatable around the axis of the vertical direction Dv. An example of the link is the second link 72 described above.
[0106] The displacement absorbing unit 70 absorbs displacement rotating about the axis in the vertical direction Dv and displacement in the horizontal direction by rotating the link at a yaw angle relative to the hand 52 while rotating the suction unit 53 at a yaw angle relative to the link. In this way, the displacement absorbing unit 70 can absorb displacement by rotation about two rotation axes without causing lateral displacement of the suction unit 53, unlike when there is only one rotation axis.
[0107] (3) A third aspect of the battery exchange device 10 is the battery exchange device 10 of (1), wherein the displacement absorption unit 70 includes two universal joints 90 connected in the horizontal first direction D1, and each universal joint 90 may include a first joint 91 and a second joint 92 that is arranged in front of the first joint 91 in the horizontal first direction D1 and is rotatable around an axis in the vertical direction Dv relative to the first joint 91.
[0108] The displacement absorbing unit 70 absorbs displacement rotating about an axis in the vertical direction Dv and displacement in the horizontal direction by rotating the two universal joints 90 through a yaw angle. In this way, the displacement absorbing unit 70 can absorb displacement by rotational movement about two rotation axes without causing lateral displacement of the adsorption unit 53, unlike when there is only one rotation axis. In addition, the displacement absorbing unit 70 can be manufactured simply by connecting two universal joints 90. This reduces the manufacturing cost of the displacement absorbing unit 70.
[0109] (4) A fourth aspect of the battery exchange device 10 may be any one of the battery exchange devices 10 of (1) to (3), and may further include an elastic member 54 that allows the displacement absorbing portion 70 to absorb displacement when the suction portion 53 is suctioning the battery 3, and that restores the displacement absorbing portion 70 to its initial state A1 before the suction portion 53 suctioned the battery 3 when the battery 3 is separated from the suction portion 53.
[0110] As a result, after the battery 3 is removed from the suction part 53, the displacement absorbing part 70 is automatically returned to the initial state A1 by the elastic member 54. Therefore, the battery exchange device 10 can immediately proceed to the next operation thereafter.
[0111] (5) The battery exchange device 10 of the fifth aspect is any one of the battery exchange devices 10 of (1) to (4), and the attraction portion 53 may be an electromagnet 53A that can switch between generating and stopping magnetic force and attracts the battery 3 by magnetic force.
[0112] As a result, the battery exchange device 10 can attract the battery 3 by generating the magnetic force of the electromagnet 53A, and can release the attraction of the battery 3 by stopping the magnetic force of the electromagnet 53A. Therefore, according to this embodiment, the battery exchange device 10 can control the attraction and release of the battery 3 simply by controlling the ON / OFF of the electromagnet 53A.
[0113] (6) A sixth aspect of the battery exchange device 10 is the battery exchange device 10 of (5), further comprising a contact detection sensor 55 that detects that the suction portion 53 has come into contact with the battery 3, and a control device 60 that controls the electromagnet 53A, and when the contact detection sensor 55 detects contact between the suction portion 53 and the battery 3, the control device 60 may generate a magnetic force of the electromagnet 53A.
[0114] As a result, when the suction portion 53 comes into contact with the battery 3, the battery exchange device 10 can turn on the electromagnetic force and suction the battery 3.
[0115] (7) A seventh aspect of the battery exchange device 10 is any one of the battery exchange devices 10 of (1) to (4), further comprising a vacuum pump 58 connected to the suction portion 53, the suction portion 53 being a vacuum chuck 53B capable of coming into close contact with the battery 3, and the sealed space formed by the battery 3 and the vacuum chuck 53B being evacuated by the vacuum pump 58, so that the vacuum chuck 53B adsorbs the battery 3 by negative pressure.
[0116] As a result, the battery exchange apparatus 10 can suction the battery 3 by creating a negative pressure by drawing a vacuum in the sealed space between the battery 3 and the vacuum chuck 53B, and can release the suction from the battery 3 by stopping the suction. Therefore, according to this embodiment, the battery exchange apparatus 10 can control the suction and release of the battery 3 simply by controlling the start and stop of the suction. In addition, the vacuum chuck 53B can strongly suction the battery 3.
[0117] (8) The battery exchange device 10 of an eighth aspect is the battery exchange device 10 of (7), and may further include a pressure sensor 59 capable of measuring the pressure inside the sealed space.
[0118] According to this aspect, the battery exchange device 10 can monitor the pressure in the sealed space. This makes it possible to check whether or not there is an adsorption force. Furthermore, the battery exchange device 10 can detect contact between the battery 3 and the adsorption part 53 by detecting a pressure change from atmospheric pressure to vacuum pressure.
[0119] (9) The battery exchange device 10 of the ninth aspect may be any one of the battery exchange devices 10 of (1) to (8), and may further include a rail 51 extending in the horizontal first direction D1 and on which the hand 52 is installed so as to be movable relative to the horizontal first direction D1, and a stopper 80 fixed so as not to be movable relative to the rail 51, and which pushes the battery 3 back in the horizontal first direction D1 when the hand 52 returns to its initial position, thereby pulling out the battery 3.
[0120] According to this embodiment, simply by returning the hand 52 to the initial position, the battery 3 is automatically detached from the suction part 53. This further improves the efficiency of battery replacement.
[0121] (10) The battery exchange device 10 of a tenth aspect is the battery exchange device 10 of (9), wherein the attraction portion 53 may be a permanent magnet 53C.
[0122] Since the permanent magnet 53C is available at low cost, the manufacturing cost of the battery exchange device 10 can be reduced according to this embodiment compared to when the attraction unit 53 is the electromagnet 53A or the vacuum chuck 53B. [Explanation of symbols]
[0123] 1 Battery Swap System 2 vehicles 3 Battery 4 Vehicle control unit 5 Adsorption plate 10 Battery exchange device 11 Casing 11a opening 12 Vehicle detection sensor 13 Charger 14 Battery moving mechanism 20 Body 21 Body 21a Rear 22 Straddle Leg 23 Plate 25 Running mechanism 25a rear wheel 25b front wheel 26 Mast 27 Outer Mast 28 Inner Mast 30 Cargo handling equipment 31 Lift bracket 32 Fork 32a fork base 32b Fork claw 40 Loading compartment 41 Guide 42 terminals 50 Insertion / Removal Mechanism 51 Rail 51a Tip edge 52 hands 53 Adsorption part 53A electromagnet 53B Vacuum Chuck 53C permanent magnet 54 Elastic member 55 Contact detection sensor 56 Vacuum Line 56a 1st Line 56b Second Line 56c 3rd line 57 Switching valve 58 Vacuum Pump 59 Pressure Sensor 60 Control device 61 Acquisition Department 62 Hand operation unit 63 Suction operation part 70 Displacement absorption section 70A Link Mechanism 71 Link 1 72 Second Link (Link) 72a Link base 72b Link connection 73 Third Link 74 First pin 75 2nd pin 80 Stopper 81 End Wall 82 Spring 90 Universal joint 91 First Joint 91a Engagement groove 92 Second Joint 92a Engraving groove 95 Rotation restriction member 1100 Computer 1110 processor 1120 main memory 1130 Storage 1140 Interface A1 Initial state A2 Deformed state Dv vertical direction D1 Horizontal 1st direction D2 Horizontal 2nd direction O1 1st axis O2 2nd axis O3 3rd axis O4 4th axis P Parking area
Claims
1. A battery exchange device for exchanging a battery of a vehicle, a hand movable in a first horizontal direction perpendicular to the up-down direction; a displacement absorbing unit attached to a front end of the hand in the horizontal first direction; an adsorption portion attached to a front end portion of the displacement absorbing portion in the first horizontal direction and adapted to adsorb the battery; Equipped with The displacement absorbing portion is restricted from rotating about an axis in the vertical direction and a horizontal second direction perpendicular to the horizontal first direction, and absorbs displacement rotating about the axis in the vertical direction, displacement in the horizontal first direction, and displacement in the horizontal second direction. Battery replacement device.
2. The displacement absorbing portion is a link mechanism having a link extending in the horizontal first direction, a rear end of the link in the first horizontal direction is attached to the hand so as to be rotatable about an axis in the up-down direction; the suction portion is attached to a front end of the link in the horizontal first direction so as to be rotatable about an axis in the vertical direction; The battery exchange device according to claim 1 .
3. The displacement absorbing portion is two universal joints connected in the horizontal first direction, Each of the universal joints is A first joint; a second joint disposed forward of the first joint in the horizontal first direction and rotatable about an axis in the up-down direction relative to the first joint; having The battery exchange device according to claim 1 .
4. The battery pack further includes an elastic member that allows the displacement absorbing unit to absorb displacement when the suction unit is adsorbing the battery, and that restores the displacement absorbing unit to its initial state before the suction unit adsorbed the battery when the battery is separated from the suction unit. The battery exchange device according to any one of claims 1 to 3.
5. the attraction unit is an electromagnet that can switch between generating and stopping a magnetic force and attracts the battery by the magnetic force; The battery exchange device according to any one of claims 1 to 3.
6. a contact detection sensor that detects that the suction portion has come into contact with the battery; a control device for controlling the electromagnet; Furthermore, When the contact detection sensor detects contact between the attraction portion and the battery, the control device causes the electromagnet to generate a magnetic force. The battery exchange device according to claim 5 .
7. further comprising a vacuum pump connected to the suction unit; the suction portion is a vacuum chuck that can come into close contact with the battery, a sealed space formed by the battery and the vacuum chuck is evacuated by the vacuum pump, and the vacuum chuck adsorbs the battery by negative pressure; The battery exchange device according to any one of claims 1 to 3.
8. Further provided is a pressure sensor capable of measuring the pressure in the sealed space. The battery exchange device according to claim 7.
9. a rail extending in the horizontal first direction and on which the hand is installed so as to be movable in the horizontal first direction; a stopper that is fixed to the rail so as not to be able to move relatively to the rail, and that pushes back the battery in the first horizontal direction when the hand returns to its initial position, thereby peeling off the battery; The battery exchange device according to any one of claims 1 to 3.
10. The attraction portion is a permanent magnet. The battery exchange device according to claim 9.
Citation Information
Patent Citations
Loaded object automatic loading and unloading mechanism
JP3605044B2