CN104118404A - Robot for replacing batteries - Google Patents
Robot for replacing batteries Download PDFInfo
- Publication number
- CN104118404A CN104118404A CN201410310444.5A CN201410310444A CN104118404A CN 104118404 A CN104118404 A CN 104118404A CN 201410310444 A CN201410310444 A CN 201410310444A CN 104118404 A CN104118404 A CN 104118404A
- Authority
- CN
- China
- Prior art keywords
- battery
- lifting table
- guide rail
- push
- expansion plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Manipulator (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A robot for replacing batteries comprises a frame, a traveling mechanism, a lifting mechanism, battery racks and a push-and-pull mechanism. The traveling mechanism is arranged on the outer side of the bottom of the frame. The battery racks are arranged at intervals. A lifting platform can be connected with the frame in a sliding mode, and the lifting platform is located on one side of each battery rack. The push-and-pull mechanism comprises a retractable plate, a guide rail and a cantilever. The retractable plate is arranged on the lifting platform, stretches and retracts in the direction perpendicular to the lifting direction of the lifting platform, and moves along with lifting of the lifting platform. One end of the guide rail is fixed to the retractable plate, and the guide rail can move along with lifting of the lifting platform. The cantilever can move in the extending direction of the guide rail. A push-and-pull device is fixed to the cantilever. The push-and-pull device moves forwards or backwards in the extending direction of the guide rail along with the cantilever and can ascend or descend along with the lifting platform. The robot for replacing batteries can be used for replacing the batteries of an automobile at a time. The number of times for replacing the batteries and the number of times for the robot to move back and forth between a battery charging rack and the automobile are reduced, time is saved, and the battery replacing efficiency is improved.
Description
Technical field
The present invention relates to automatic robot, particularly relate to a kind of robot with battery of changing.
Background technology
Current electronlmobil is generally all provided with multiple batteries.When the electric weight of battery is used up, when need to changing battery, great majority replacing battery apparatus can not disposablely complete the replacing of all batteries on car.Often need repeatedly from charging rack, to take out battery, obtain new battery from new battery carrier, walking back and forth makes to change that battery efficiency is lower, required time is longer.And, traditional replacing battery apparatus, volume is large, quality weight, motion is slowly.
Summary of the invention
Based on this, be necessary to provide a kind of and put without repeatedly going and back running, the replacing robot with battery in power taking pond.
A kind of robot with battery of changing, for changing automobile batteries, comprising:
Framework;
Traveling gear, is located at the outside of the bottom of described framework, and described traveling gear is used for driving described framework walking;
Multiple spaced battery carriers, one end of described battery carrier is fixed at a side of described framework, and multiple described battery carrier is arranged in parallel,
Lifting mechanism, be located in described framework, described lifting mechanism comprises lifting table, and described lifting table is slidably connected with described framework, described lifting table place plane is all parallel with each described battery carrier place plane, and described lifting table is positioned at a side of described battery carrier;
Push-pull mechanism, comprising:
Expansion plate, is located on described lifting table, and described expansion plate is flexible along the lifting direction perpendicular to described lifting table, and described expansion plate can be with described lifting table dipping and heaving; Guide rail, one end is fixed on described expansion plate, and described guide rail and described battery carrier are oppositely arranged, and described guide rail can be with described lifting table dipping and heaving, and described guide rail can be flexible with described expansion plate;
Cantilever, is slidably located on described guide rail, and described cantilever can move along the bearing of trend of described guide rail, and described cantilever is flexible with described expansion plate; And
Push-pull device at fixed, is fixed on described cantilever;
Wherein, described push-pull device at fixed advances or retreats along the bearing of trend of described guide rail with described cantilever, and rises or decline with described lifting table.
In an embodiment, described push-pull device at fixed is provided with aligned portions therein, and described aligned portions, for aiming at the location division on battery, makes described push-pull device at fixed aim at described battery.
In an embodiment, the surface of described expansion plate is provided with multiple rollers therein, and the axis of symmetry of multiple described rollers is parallel to each other.
In an embodiment, also comprise swing type mechanism therein, described swing type mechanism comprises revolution matrix and swing bearing, and described revolution matrix is fixedly connected with described framework, and described swing bearing and described revolution matrix are rotatably connected.
In an embodiment, described traveling gear comprises walking matrix and multiple road wheel therein, and described swing bearing and described walking matrix are rotatably connected, and multiple described road wheels are all located on the bottom surface of described walking matrix.
In an embodiment, the surface of described battery carrier is provided with roller therein.
In an embodiment, described lifting table and described expansion plate connect near one end of described lifting table near one end and the described battery carrier of battery carrier therein.
In an embodiment, the number of described battery carrier is greater than the half of the number of described automobile batteries therein.
In an embodiment, described framework framework is provided with the guide groove perpendicular to the bearing of trend of described guide rail therein, and the two ends of described lifting table are contained in described guide groove, and described lifting table is along described guide groove lifting.
In an embodiment, described expansion plate can outwards stretch and form extension away from one end of described battery carrier therein, and described extension may extend to the outside of described framework, makes described push-pull device at fixed near described battery.
Above-mentioned replacing robot with battery can carry polylith battery, changes battery and robot and can once change polylith battery to automobile.Can reduce the number of times that replacing battery and robot are walked up and down between battery charging rack and automobile, save time, improve the efficiency of changing battery.
Even, above-mentioned replacing robot with battery at least can carry the half of the number of batteries of the required use of automobile, in the time that automobile is changed to battery, two change robot with battery can be simultaneously in the both sides of automobile, the disposable electric demand of changing of an automobile that completes, without walking up and down between battery charging rack and automobile, save time, improve the efficiency of changing battery.
And, above-mentioned replacing robot with battery pass through cantilever and battery holder structure, make the simple in structure of whole replacing robot with battery, oad is less, makes the motion of above-mentioned replacing robot with battery comparatively convenient, easy to use.
Above-mentioned replacing robot with battery makes the above-mentioned replacing robot with battery can divertical motion by revolving structure, without realize break-in campaign by turning round, improves and changes robot with battery kinematic accuracy.
Brief description of the drawings
Fig. 1 is the perspective view of the replacing robot with battery of an embodiment;
Fig. 2 is the front view of the replacing robot with battery shown in Fig. 1;
Fig. 3 is the right elevation of the replacing robot with battery shown in Fig. 1;
Fig. 4 is the birds-eye view of the replacing robot with battery shown in Fig. 1;
Fig. 5 is the structural representation of the push-pull device at fixed shown in Fig. 1;
Fig. 6 is the push-pull device at fixed partial interior structure appreciiable block diagram shown in Fig. 5;
Fig. 7 is the cross-sectional view of the active hand shown in Fig. 5;
Fig. 8 is the structural representation of the transfer bar mechanism shown in Fig. 6 in one of them state;
Fig. 9 is the structural representation of the transfer bar mechanism shown in Fig. 6 in another state.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing, provide preferred embodiments of the present invention.But the present invention can realize in many different forms, be not limited to embodiment described herein.On the contrary, providing the object of these embodiments is make the disclosure of the present invention understand more comprehensively thorough.
It should be noted that, when element is called as " being fixed on " another element, it can be directly on another element or also can have an element placed in the middle.When an element is considered to " connection " another element, it can be directly connected to another element or may have centering elements simultaneously.Term as used herein " vertical ", " level ", " left side ", " right side " and similar statement just for illustrative purposes, do not represent it is unique embodiment.
Unless otherwise defined, all technology that use are herein identical with the implication that belongs to the common understanding of those skilled in the art of the present invention with scientific terminology.The term using in specification sheets of the present invention herein, just in order to describe the object of concrete embodiment, is not intended to be restriction the present invention.Term as used herein " and/or " comprise one or more relevant Listed Items arbitrarily with all combinations.
Refer to Fig. 1 and Fig. 2, the replacing robot with battery of present embodiment is used for changing automobile batteries (figure is mark not).Change robot with battery 10 and comprise body 110, traveling gear 120, lifting mechanism 130, battery carrier 140, push-pull mechanism 150, swing type mechanism 160 and lockable mechanism 200.
Body 110 comprises framework (figure is mark not) and two adapter plates 111.Two adapter plates 111 are fixed on the relative both sides of framework.On adapter plate 111, offer the guide groove 112 perpendicular to ground.
Be appreciated that adapter plate 111 can omit, body 110 can be a framework.Battery carrier 140 is directly fixed in framework.
Traveling gear 120 is located at the outside of the bottom of body 110.Traveling gear 120 is for driving body 110 to walk.Traveling gear 120 can be adjusted the position between body 110 and battery in left and right.Traveling gear 120 completes the aligning task of changing position, automobile batteries left and right.Specifically in the present embodiment, traveling gear 120 comprises walking matrix 121 and multiple road wheel 122.Walking matrix 121 is connected with the bottom of body 110.Multiple road wheels 122 are all located on the side of walking matrix 121.
Lifting mechanism 130 is located in framework, and lifting mechanism 130 comprises lifting table 131.Lifting table 131 is along guide groove 112 liftings.Lifting mechanism 130 is for changing the lifting carrying of cell process.Specifically in the present embodiment, on two adapter plates 111, all offer guide groove 112, the two ends of lifting table 131 are contained in guide groove 112, ensure that lifting table 131 can keep vertical motion, prevent that lifting table 131 is shifted.
Be appreciated that lifting mechanism 130 can also comprise lifting drive (not shown).Lifting mechanism 130 can also adopt guidepost or guide runner.
Battery carrier 140 is multiple.Multiple battery carriers 140 intervals arrange.One end of battery carrier 140 is fixed therein on an adapter plate 111.Each battery carrier 140 place planes are all parallel with lifting table 131 place planes, and battery carrier 140 is positioned at a side of lifting table 131.Battery carrier 140 can bear the weight of polylith battery and ensure battery location.The surface of battery carrier 140 is provided with roller 141.Layout roller 141 can be convenient to the push-and-pull of battery.Specifically in the present embodiment, lifting table 131 connects near one end of lifting table 131 near one end and the battery carrier 140 of battery carrier 140.
The number of battery carrier 140 is greater than the half of the number of automobile battery used.Change battery position because the both sides of automobile are equipped with, change robot with battery for two and can change battery to automobile simultaneously.
Please refer to Fig. 3 and Fig. 4, push-pull mechanism 150 comprises expansion plate 152, guide rail 151, cantilever 153, push-pull device at fixed 154 and aligned portions (not shown).
Expansion plate 152 is located on lifting table 131.Expansion plate 152 is flexible along the lifting direction perpendicular to lifting table 140, and expansion plate 152 can be with lifting table 131 dipping and heaving.The surface of expansion plate 152 is provided with multiple rollers 1521.The axis of symmetry of multiple rollers 1521 is parallel to each other.Roller 1521 can be convenient to moving on expansion plate 152 of battery.Expansion plate 152 can outwards stretch and form extension (not shown) away from one end of battery carrier 140.Extension may extend to the outside of framework, near battery.Lifting table 131 and expansion plate 152 connect near one end of lifting table 131 near one end and the battery carrier 140 of battery carrier 140.One end of guide rail 151 is fixed on expansion plate 152.Guide rail 151 is oppositely arranged with battery carrier 140, and guide rail 151 can be with lifting table 130 dipping and heaving, and guide rail 151 can be flexible with expansion plate 152.Particularly, guide rail 151 is located on another adapter plate 111 with respect to battery carrier 140.Expansion plate 152 is located on guide rail 151, and expansion plate 152 is flexible along the bearing of trend of guide rail 151.Expansion plate 152 can outwards stretch and form extension (not shown) away from one end of battery carrier 140, and extension may extend to the outside of framework, makes extension near battery.
Cantilever 153 is slidably located on guide rail 151, and cantilever 153 can move along the bearing of trend of guide rail 151.And when guide rail 151 is flexible with expansion plate 152, cantilever 153 is also flexible with expansion plate 152.
Be fixed on expansion plate 152.Cantilever 153 moves along the bearing of trend of guide rail 151 with the flexible of expansion plate 152, and cantilever 153 also can be with lifting table 131 dipping and heaving.Expansion plate 152 is provided with extension (not shown).In the time that cantilever 153 moves to the two ends of guide rail 151, cantilever 153 can continue to move on extension, and extension can be convenient to cantilever 153 and seesaw.
Push-pull device at fixed 154 is fixed on cantilever 153, and push-pull device at fixed 154 advances or retreats along the bearing of trend of guide rail 151.
Push-pull device at fixed 154 for by battery from release in battery compartment (not shown) and take out, and battery is deposited in battery compartment and locking.
Refer to Fig. 5 and Fig. 6, push-pull device at fixed 154 comprises housing 100, engine installation 200, active hand 300, transfer bar mechanism 400, first signal bar 500, secondary signal bar 600 and changes electric car 700.
Housing 100 is connected with engine installation 200, and engine installation 200 is for driving housing 100 crank motions.In the present embodiment, engine installation 200 is servomotor.
Initiatively hand 300 is installed on housing 100, and initiatively hand 300 is for being connected with battery, by battery from release pull-out in battery compartment, and by battery lock in battery compartment.
Transfer bar mechanism 400 is contained in housing 100.
First signal bar 500 and secondary signal bar 600 on the pointing direction of active hand 300 with housing 100 sliding block joints.
Housing 100 is installed on and changes on electric car 700, and housing 100 is changing on electric car 700 and sliding under the driving of engine installation 200.
As shown in Figure 7, it is the cross-sectional view of active hand 300.Initiatively hand 300 comprises: motor 310, shell 320, coupler 330, gear wheel shaft 340, lock lobe 350.Shell 320 passes and is fixed on housing 100 and arranges.Coupler 330 is connected with gear wheel shaft 340 and is contained in shell 320.Lock lobe 350 runs through shell 320 and engages with gear wheel shaft 340.Motor 310 is connected with coupler 330 through shell 320.
As shown in Figure 8 and Figure 9, it is respectively the structural representation of transfer bar mechanism 400 under two different conditions.Transfer bar mechanism 400 comprises: push rod 412, guide flange 414, first connecting rod 422, second connecting rod 424, the first attaching parts 426, the second attaching parts 428, projection 430, crank 440, pipe link 450, rocking bar 460, disc cam 470 and torsion spring 480.
Guide flange 414 is fixed on housing 100, and push rod 412 is through guide flange 414 sliding block joint with it, and push rod 412-end stretches out outside housing 100, and the other end is positioned at housing 100, and push rod 412 is identical with the pointing direction of active hand 300.The first attaching parts 426 is fixedly connected with one end that push rod 412 is positioned at housing 100.One end of first connecting rod 422 and the first attaching parts 426 are rotationally connected, and one end of the other end and second connecting rod 424 is rotationally connected, and the other end of second connecting rod 424 and the second attaching parts 428 are rotationally connected.The second attaching parts 428 is fixed on the inwall of housing 100.Torsion spring 480 is fixed in housing 100, its two ends respectively with inwall and second connecting rod 424 butts of housing 100.Projection 430 is located on second connecting rod 424.
The middle part of crank 440 and cam 470 is all rotationally connected with housing 100.Change and on electric car 700, offer through hole 710, one end of crank 440 stretches out in outside housing 100 and is contained in the through hole 710 that changes electric car 700, pipe link 450 two ends are rotationally connected with crank 440 and rocking bar 460 respectively, rocking bar 460 is fixedly connected with cam 470, crank 440, pipe link 450, rocking bar 460, cam 470 form crank motion, cam 470 and projection 430 butts.
In the present embodiment, the quantity of first connecting rod 422, second connecting rod 424, projection 430 and torsion spring 480 is respectively two, and is symmetrically distributed in the both sides of push rod 412 axis.
In the present embodiment, projection 430 is bearing.Projection 430 adopts design bearing, in the time that projection 430 and cam 470 are connected, can reduce the friction force in power transmission process, makes to realize and being connected better between the two.
In the present embodiment, offer the depression corresponding with projection 430 472 on cam 470, projection 430 is contained in depression 472.
In the present embodiment, the quantity of transfer bar mechanism 400 is two, and is distributed in the initiatively both sides of hand 300.
Push-pull device at fixed 154 working processs are divided into the drawing process from taking out in battery compartment by battery, and deposit battery in pushing course in battery compartment.
Be noted that battery is provided with snap close, described snap close coordinates for battery lock is scheduled in battery compartment with hand 300 initiatively, and by battery from release in battery compartment.
Further be noted that, push-pull device at fixed 154 is provided with PLC (Programmable Logic Controller, programmable logic controller (PLC)), the energizing signal that PLC sends for receiving first signal bar 500 and secondary signal bar 600, and produce control signal by described energizing signal, and then control associated components generation action, specific works process will be described in detail in following process.
Push-pull device at fixed 154 is as follows from the procedure declaration of taking out in battery compartment by battery:
Push-pull device at fixed 154 moves toward battery compartment direction, move into place when changing electric car 700, push rod 412 on housing 100 touches battery surface, and one end that now crank 440 of transfer bar mechanism 400 stretches out in housing 100 stopped by the hole wall of through hole 710, and crank 440 is triggered and rotates.
Crank 440 rotates and drives pipe link 450 to rotate, and pipe link 450 rotates and drives rocking bar 460 to rotate, and rocking bar 460 rotates band moving cam 470 and rotates, and cam 470 rotates and drives the projection 430 of butt with it to move.
Projection 430 motion makes the first connecting rod 422 that is rotationally connected and second connecting rod 424 to curving, and first connecting rod 422 drives the reversing sense contraction toward battery motion of the push rod 412 that is attached thereto, and second connecting rod 424 drives torsion spring 480 to compress simultaneously.
In the process of shrinking at push rod 412, first signal bar 500 and secondary signal bar 600 can touch the snap close on battery and start and shrink.Now first signal bar 500 sends energizing signal to PLC, PLC detects after described energizing signal, transmit control signal and make to change electric car 700 stop motions, PLC transmits control signal to engine installation 200 simultaneously, and engine installation 200 drive shell 100 are being changed on electric car 700 toward battery compartment direction continuation motion.
Housing 100 drives initiatively hand 300 to enter in the snap close of battery, and the distance that housing 100 moves presets by PLC, and housing 100 moves to the rear stop motion of the predefined distance of PLC.Then PLC sends order-driven motor 310 and rotates, motor 310 drives coupler 330 to rotate, coupler 330 driven gear axles 340 rotate, and gear wheel shaft 340 drives the lock lobe 350 engaging with it to stretch out in outside shell 320, and now initiatively hand 300 passes through the snap close clamping on lock lobe 350 and battery.
Then, PLC controls engine installation 200 and reverses, and engine installation 200 drives housing 100 toward away from battery compartment one lateral movement, and snap close and the battery compartment of battery unlock, and battery is pulled out outside battery compartment by active hand 300.
Secondary signal bar 600 for detection of battery in the process of pull-out whether with 300 clampings of active hand, when battery is when active hand 300 departs from, secondary signal bar 600 resets and sends energizing signal to PLC, PLC detects after described energizing signal, transmit control signal to annunciator, annunciator sends alerting signal; In process outside battery is drawn out battery compartment, push rod 412, first connecting rod 422, second connecting rod 424, crank 440, pipe link 450, rocking bar 460 all reset under the effect of torsion spring 480.
So far, push-pull device at fixed 154 pulls out battery in battery compartment, completes the action of power taking pond.
It is as follows that push-pull device at fixed 154 deposits battery in procedure declaration in battery compartment:
Battery is connected with hand 300 initiatively by its snap close, and is positioned at and changes on electric car 700.
Push-pull device at fixed 154 drives battery toward battery compartment direction motion, and when assigned address in battery moves to battery compartment, now crank 440 is triggered, and through a series of actions, push rod 412 is back shunk.
Initiatively hand 300 drives snap close to continue, toward the motion of battery compartment direction, snap close and battery compartment to be articulated, thereby battery lock is scheduled in battery compartment.
Then the lock lobe 350 that PLC controls on active hand 300 shrinks, and after lock lobe 350 shrinks, PLC controls engine installation 200 and moves, and engine installation 200 drives housing 100 toward the motion away from battery compartment direction, and active hand 300 separates with battery.
Arrive this, push-pull device at fixed 154 deposits battery in battery compartment in, completes and deposits battery action.
Battery is deposited in battery compartment or by battery when taking out in battery compartment, the crank 440 of transfer bar mechanism 400 drives connected parts action, push rod 412 is back shunk, realize the snap fit on active hand 300 and battery, thereby battery lock, in the battery compartment or by battery from release in battery compartment, and then is completed to the action of access battery.This push-pull device at fixed 154 structures are ingenious, cooperation is accurate, reliability is higher.
In the time of push-pull device at fixed 154 push-and-pull battery, the roller 1521 on roller 141 and expansion plate 152 on battery carrier 140 is all conducive to push-pull device at fixed 154 battery is moved between battery carrier 140 and expansion plate 152.
Swing type mechanism 160 comprises revolution matrix 161 and swing bearing 162.Revolution matrix 161 is fixedly connected with body 110, and swing bearing 162 is rotatably connected with revolution matrix 161 and traveling gear 120.Swing bearing 162 is rotatably connected with walking matrix 161.Swing type mechanism 160 switches between the position of the replacing battery of automobile and battery charging rack (not shown) for changing robot with battery 10, and ensureing to change robot with battery 10 can fill in pulsation-free choosing, and arrives accurately position of rotation.
The structure of above-mentioned replacing robot with battery 10 is now described, as shown in Figure 1, Figure 2, Figure 3, Figure 4 in conjunction with the process of automobile replacing battery.Expansion plate 152 stretches out forward, completes the tandem docking task with automobile batteries frame.Push-pull device at fixed 154 travels forward, and push-pull device at fixed 154 continues walking forward on the extension of expansion plate 152, release, and in pull-out automobile, battery to be changed moves backward, arrives on lifting table 131.Lifting table 131 is elevated to the empty frame place of battery carrier 140.Push-pull device at fixed 154 is moved battery to be changed on the empty frame of cantilever mounted battery carrier 1-2 to, locks.Push-pull device at fixed 154, under the effect of lifting table 131, arrives the new battery place of battery carrier 140, and push-pull device at fixed 154 travels forward, and new battery is released, and arrives on expansion plate 152.Lifting table 131 completes the task of aiming at up and down with automobile batteries frame, and push-pull device at fixed 154 and expansion plate 152 combineds action, be pushed into new battery in bus, locks.Then, traveling gear 120 left and right walkings, realize and change for the second time electric left and right aligning, until all battery alterings to be changed are complete.The course of action principle that realizes automobile second layer replacing battery is similar, no longer repeats.
In the time changing battery with battery charging rack (not shown), now, shelfful of the used batteries on battery carrier 140.180 ° of swing type mechanism revolutions, towards battery charging rack.Traveling gear 120 runs to battery charging rack place fast, and completes left and right aligning.Push-pull device at fixed 154, under the effect of lifting table 131, arrives the used batteries place of battery carrier 140, and used batteries are released, and through expansion plate 152, with expansion plate 152 combineds action, used batteries is pushed in battery charging rack, locks.Until all used batteries are all pushed in battery charging rack, traveling gear 120 runs to the new battery place of battery charging rack fast.Push-pull device at fixed 154, under the effect of lifting mechanism 130, with expansion plate 120 combineds action, by new battery pull-out, through expansion plate 152, arrives 140 li of battery carriers, locks.Until the new battery shelfful of battery carrier 140.
Above-mentioned replacing robot with battery 10 at least can carry the half of the number of batteries of the required use of automobile, in the time that automobile is changed to battery, two change robot with battery 10 can be simultaneously in the both sides of automobile, the disposable electric demand of changing of an automobile that completes, without walking up and down between battery charging rack and automobile, save time, improve the efficiency of changing battery.
And, above-mentioned replacing robot with battery 10 pass through cantilever 153 and battery carrier 140 structures, make the simple in structure of whole replacing robot with battery 10, oad is less, makes the motion of above-mentioned replacing robot with battery 10 comparatively convenient, easy to use.
Above-mentioned replacing robot with battery 10 makes the above-mentioned replacing robot with battery can divertical motion by revolving structure 160, without realize break-in campaign by turning round, improves and changes robot with battery 10 kinematic accuracies.
Specifically in the present embodiment, the number of battery carrier 140 is greater than the quantity of the required battery of automobile.Therefore, can ensure that above-mentioned replacing robot with battery 10 can not be used between automobile and battery charging rack to walk up and down, can complete the replacing of an automobile battery operatedly, save time, improve the efficiency of changing battery.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. change a robot with battery, for changing automobile batteries, it is characterized in that, comprising:
Framework;
Traveling gear, is located at the outside of the bottom of described framework, and described traveling gear is used for driving described framework walking;
Multiple spaced battery carriers, one end of described battery carrier is fixed at a side of described framework, and multiple described battery carrier is arranged in parallel,
Lifting mechanism, be located in described framework, described lifting mechanism comprises lifting table, and described lifting table is slidably connected with described framework, described lifting table place plane is all parallel with each described battery carrier place plane, and described lifting table is positioned at a side of described battery carrier;
Push-pull mechanism, comprising:
Expansion plate, is located on described lifting table, and described expansion plate is flexible along the lifting direction perpendicular to described lifting table, and described expansion plate can be with described lifting table dipping and heaving; Guide rail, one end is fixed on described expansion plate, and described guide rail and described battery carrier are oppositely arranged, and described guide rail can be with described lifting table dipping and heaving, and described guide rail can be flexible with described expansion plate;
Cantilever, is slidably located on described guide rail, and described cantilever can move along the bearing of trend of described guide rail, and described cantilever is flexible with described expansion plate; And
Push-pull device at fixed, is fixed on described cantilever;
Wherein, described push-pull device at fixed advances or retreats along the bearing of trend of described guide rail with described cantilever, and rises or decline with described lifting table.
2. replacing robot with battery according to claim 1, is characterized in that, described push-pull device at fixed is provided with aligned portions, and described aligned portions, for aiming at the location division on battery, makes described push-pull device at fixed aim at described battery.
3. replacing robot with battery according to claim 1, is characterized in that, the surface of described expansion plate is provided with multiple rollers, and the axis of symmetry of multiple described rollers is parallel to each other.
4. replacing robot with battery according to claim 1, it is characterized in that, also comprise swing type mechanism, described swing type mechanism comprises revolution matrix and swing bearing, described revolution matrix is fixedly connected with described framework, and described swing bearing and described revolution matrix are rotatably connected.
5. replacing robot with battery according to claim 4, it is characterized in that, described traveling gear comprises walking matrix and multiple road wheel, and described swing bearing and described walking matrix are rotatably connected, and multiple described road wheels are all located on the bottom surface of described walking matrix.
6. replacing robot with battery according to claim 1, is characterized in that, the surface of described battery carrier is provided with roller.
7. replacing robot with battery according to claim 1, is characterized in that, described lifting table and described expansion plate connect near one end of described lifting table near one end and the described battery carrier of battery carrier.
8. replacing robot with battery according to claim 1, is characterized in that, the number of described battery carrier is greater than the half of the number of described automobile batteries.
9. replacing robot with battery according to claim 1, it is characterized in that, described framework framework is provided with the guide groove perpendicular to the bearing of trend of described guide rail, and the two ends of described lifting table are contained in described guide groove, and described lifting table is along described guide groove lifting.
10. replacing robot with battery according to claim 1, it is characterized in that, described expansion plate can outwards stretch and form extension away from one end of described battery carrier, and described extension may extend to the outside of described framework, makes described push-pull device at fixed near described battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410310444.5A CN104118404B (en) | 2014-06-30 | 2014-06-30 | Change robot with battery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410310444.5A CN104118404B (en) | 2014-06-30 | 2014-06-30 | Change robot with battery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104118404A true CN104118404A (en) | 2014-10-29 |
| CN104118404B CN104118404B (en) | 2016-07-06 |
Family
ID=51764119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410310444.5A Active CN104118404B (en) | 2014-06-30 | 2014-06-30 | Change robot with battery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104118404B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107565638A (en) * | 2017-09-15 | 2018-01-09 | 江西爱驰亿维实业有限公司 | The integrated service system of electrokinetic cell bag |
| CN107848431A (en) * | 2015-06-10 | 2018-03-27 | 巴特斯韦普公司 | Battery swap system |
| CN108115697A (en) * | 2016-11-28 | 2018-06-05 | 深圳市阿童木文化传播有限公司 | The control method of service robot and service robot |
| KR101882749B1 (en) * | 2018-02-22 | 2018-07-30 | 주식회사 에이치엔에이치 | Ess battery rack dedicated storge device |
| CN110606057A (en) * | 2019-10-28 | 2019-12-24 | 广东博智林机器人有限公司 | Battery replacing robot |
| CN110606056A (en) * | 2019-10-28 | 2019-12-24 | 广东博智林机器人有限公司 | Battery replacing method of battery replacing robot |
| CN110752333A (en) * | 2019-10-28 | 2020-02-04 | 广东博智林机器人有限公司 | Blocking mechanism, battery compartment and battery replacing robot |
| CN112677814A (en) * | 2021-01-29 | 2021-04-20 | 齐桂珍 | Automatic battery replacement device and method for electric automobile |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201538304U (en) * | 2009-12-04 | 2010-08-04 | 贵阳普天物流技术股份有限公司 | Electric bus power battery-rapidly-replaced vehicle |
| WO2012105530A1 (en) * | 2011-01-31 | 2012-08-09 | 日本電産サンキョー株式会社 | Battery-replacing robot and battery-replacement system |
| CN203142639U (en) * | 2013-03-28 | 2013-08-21 | 山东鲁能智能技术有限公司 | Single-way replacing robot for battery box of electric commercial vehicle |
| CN103507785A (en) * | 2013-09-18 | 2014-01-15 | 深圳精智机器有限公司 | Battery replacement device |
| CN203511607U (en) * | 2013-10-25 | 2014-04-02 | 沈阳中科正方新能源技术有限公司 | Servo-type battery replacing system of electric vehicle |
| CN203937651U (en) * | 2014-06-30 | 2014-11-12 | 王俊 | Change robot with battery |
-
2014
- 2014-06-30 CN CN201410310444.5A patent/CN104118404B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201538304U (en) * | 2009-12-04 | 2010-08-04 | 贵阳普天物流技术股份有限公司 | Electric bus power battery-rapidly-replaced vehicle |
| WO2012105530A1 (en) * | 2011-01-31 | 2012-08-09 | 日本電産サンキョー株式会社 | Battery-replacing robot and battery-replacement system |
| CN203142639U (en) * | 2013-03-28 | 2013-08-21 | 山东鲁能智能技术有限公司 | Single-way replacing robot for battery box of electric commercial vehicle |
| CN103507785A (en) * | 2013-09-18 | 2014-01-15 | 深圳精智机器有限公司 | Battery replacement device |
| CN203511607U (en) * | 2013-10-25 | 2014-04-02 | 沈阳中科正方新能源技术有限公司 | Servo-type battery replacing system of electric vehicle |
| CN203937651U (en) * | 2014-06-30 | 2014-11-12 | 王俊 | Change robot with battery |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107848431A (en) * | 2015-06-10 | 2018-03-27 | 巴特斯韦普公司 | Battery swap system |
| CN108115697A (en) * | 2016-11-28 | 2018-06-05 | 深圳市阿童木文化传播有限公司 | The control method of service robot and service robot |
| CN107565638A (en) * | 2017-09-15 | 2018-01-09 | 江西爱驰亿维实业有限公司 | The integrated service system of electrokinetic cell bag |
| KR101882749B1 (en) * | 2018-02-22 | 2018-07-30 | 주식회사 에이치엔에이치 | Ess battery rack dedicated storge device |
| CN110606057A (en) * | 2019-10-28 | 2019-12-24 | 广东博智林机器人有限公司 | Battery replacing robot |
| CN110606056A (en) * | 2019-10-28 | 2019-12-24 | 广东博智林机器人有限公司 | Battery replacing method of battery replacing robot |
| CN110752333A (en) * | 2019-10-28 | 2020-02-04 | 广东博智林机器人有限公司 | Blocking mechanism, battery compartment and battery replacing robot |
| CN110606056B (en) * | 2019-10-28 | 2020-11-27 | 广东博智林机器人有限公司 | Battery replacing method of battery replacing robot |
| CN110606057B (en) * | 2019-10-28 | 2021-02-19 | 广东博智林机器人有限公司 | Battery replacing robot |
| CN112677814A (en) * | 2021-01-29 | 2021-04-20 | 齐桂珍 | Automatic battery replacement device and method for electric automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104118404B (en) | 2016-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104118404A (en) | Robot for replacing batteries | |
| CN107060403B (en) | Intelligent three-dimensional parking device for shared bicycle | |
| CN203937651U (en) | Change robot with battery | |
| CN204858680U (en) | Mobilizable intelligent charging device | |
| CN202000711U (en) | Intelligent carrier for mechanical car garage | |
| CN106043246A (en) | Small-size automatic power exchanging station | |
| CN102071824A (en) | Intelligent conveying trolley for mechanical garage | |
| CN213565499U (en) | Vehicle-mounted mobile battery replacement station | |
| WO2013071682A1 (en) | Robot system and method for replacing battery in electric bus | |
| CN203237020U (en) | Electric vehicle with battery replaced in vehicle bottom continuous move mode and device for replacing battery thereof | |
| CN107600210B (en) | Vertical jump in succession bio-robot and its skip philosophy | |
| CN105401761B (en) | A kind of chargeable parking systems and its electric supply installation | |
| CN201530302U (en) | Electric truck chassis with four battery boxes and battery box replacing system thereof | |
| CN109987070B (en) | Battery box replacement tray mechanism and battery transfer device comprising same | |
| CN203480309U (en) | Driving device of bidirectional automated guided vehicle | |
| CN105545047A (en) | Left-right parallel thrust-lifting type transverse intelligent automobile carrier | |
| CN204586538U (en) | Electric motor intelligent electricity applying system | |
| CN109779360A (en) | A kind of the stereo garage parking device being put in storage convenient for parking and stereo garage | |
| CN105401762A (en) | Chargeable stereoscopic parking garage and conveying chain mechanism | |
| CN101812933B (en) | Conveying device and vehicle conveyer | |
| CN203285123U (en) | Intelligent mechanical arm garage transporting trolley | |
| CN201534566U (en) | Electric lorry chassis with eight battery cases and battery case replacing system thereof | |
| CN105882432A (en) | Intelligent power up system of electric vehicle | |
| CN108086732B (en) | Movable support vehicle service station for guarantee | |
| CN203651737U (en) | A dragging device of a power-driven monocycle and the power-driven monocycle employing the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171124 Address after: 518057 Beek science and Technology Building No. 9, Nanshan District Hi-tech Zone, Shenzhen City, Guangdong Province, 1101-B Patentee after: Shenzhen Jingzhi Machine Co., Ltd. Address before: 518000 Guangdong city of Shenzhen province Nanshan District science and Technology Park Keyuan Road Boxun technology building seven floor Patentee before: Wang Jun |