CN106740723A - Heavy-load robot - Google Patents
Heavy-load robot Download PDFInfo
- Publication number
- CN106740723A CN106740723A CN201611030960.8A CN201611030960A CN106740723A CN 106740723 A CN106740723 A CN 106740723A CN 201611030960 A CN201611030960 A CN 201611030960A CN 106740723 A CN106740723 A CN 106740723A
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- Prior art keywords
- guide rail
- plate
- heavy
- battery case
- battery
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000008859 change Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The present invention relates to a kind of heavy-load robot.It is arranged on the first guide rail and the second guide rail between Vehicular battery storehouse and rack battery storehouse, for the automatic replacing of battery case.Including walking mechanism, between the first guide rail and the second guide rail slide, including body and be arranged on the body with drive its move the first driver；Load carrier, is arranged on the body and for carrying the battery case, including yoke component and the second driver for driving the yoke component movement；Hoisting mechanism, on the body and for driving the load carrier along the body movement；Controller, electrically connects with the walking mechanism, the load carrier and the hoisting mechanism.Walking structure is moved along the first guide rail and the second guide rail between Vehicular battery storehouse and rack battery storehouse, is changed automatically between Vehicular battery storehouse and rack battery storehouse with realizing battery case in the presence of controller.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of heavy-load robot.
Background technology
As country to supporting for electric automobile and continuing to develop for charging and conversion electric technology energetically, all kinds of charging and conversion electric vehicles should
Transport and give birth to.At present, increasing oversize vehicle is also begun to by the way of pure motorized motions.Along with many electronic large cars
Used the pattern of charging and conversion electric, Large Electric car is higher to the integrated performance requirement of battery case, thus the gravity of battery case and
Volume mutually strains greatly that (, up to 6t, volume is up to 10m for the weight of battery3), vehicle change electric difficulty with increase, in the market
Electricity changing robot cannot to oversize vehicle provide change electricity.
The content of the invention
Based on this, it is necessary to provide a kind of heavy-load robot that automatic replacing can be carried out to large-sized battery case.
A kind of heavy-load robot, the first guide rail and second being arranged between Vehicular battery storehouse and rack battery storehouse is led
On rail, for the automatic replacing of battery case, it is characterised in that including：
Walking mechanism, between the first guide rail and the second guide rail slide, including body and be arranged on the body with drive
Move the first driver of its motion；
Load carrier, is arranged on the body and for carrying the battery case, including described in yoke component and driving
Second driver of yoke component movement；
Hoisting mechanism, on the body and for driving the load carrier along the body movement；
Controller, electrically connects with the walking mechanism, the load carrier and the hoisting mechanism.
Wherein in one embodiment, the body includes bottom girder corresponding with first guide rail, is led with described second
The corresponding back timber of rail, and the two root posts between the bottom girder and the back timber are connected to, it is provided with the bottom girder and institute
The road wheel of the first guide rail cooperation is stated, the directive wheel coordinated with second guide rail is provided with the back timber.
Wherein in one embodiment, the hoisting mechanism includes the 3rd motor, on the 3rd motor
The first synchronous sprocket wheel, the second synchronous sprocket wheel on the back timber connects first synchronous sprocket wheel and described second
The driving-chain of synchronous sprocket wheel, the tightener sprocket coordinated on the body and with the driving-chain, hoisting rope, and be arranged on
Coordinate to change the pulley of its transmission direction on the body and with the hoisting rope；One end of the hoisting rope passes through contiguous block
It is connected with the driving-chain, the other end of the hoisting rope is connected with the load carrier.
Wherein in one embodiment, the yoke component includes goods shelf and two pallet fork arms；The goods shelf includes
Two installing frames being oppositely arranged, and two connection frames of the installing frame of connection；It is provided with the installing frame and the machine
The roller that body is slidably matched, the pallet fork arm is arranged on the installing frame.
Wherein in one embodiment, the pallet fork arm includes being fixed on the installing frame and the fixation with tooth bar
Arm, and the telescopic arm being slidably matched with the fixed arm；
Second driver includes the second motor on the telescopic arm, and drives electricity with described second
Machine output shaft connection and with the tooth bar meshed gears.
Wherein in one embodiment, the fixed arm includes fixed plate and first peace connected vertically with the fixed plate
Dress plate, the tooth bar is arranged on first installing plate；The telescopic arm includes portable plate and vertical with the portable plate connects
The second installing plate for connecing；
The first slide rail for extending along its length is provided with the fixed plate, be provided with the portable plate with it is described
The first sliding block that first slide rail is slidably matched；Be provided with the portable plate along its length extend and with first slide rail
The second parallel slide rail, is provided with the second sliding block being slidably matched with second slide rail in the fixed plate.
Wherein in one embodiment, the slide plate being slidably matched with it is provided with second installing plate, it is described flexible
The Power Component for driving the slide plate slides is additionally provided with arm.
Wherein in one embodiment, the Power Component includes being arranged on the output shaft of second motor
Drive sprocket, is arranged on the telescopic arm driven sprocket away from the second motor one end upper end, and with the cunning
The chain that the two ends of plate connect and are set on the drive sprocket and the driven sprocket.
Wherein in one embodiment, the locating dowel for being positioned to the battery case is provided with the slide plate, it is described
Locating dowel includes the cylindrical segment being connected with the installing plate, and coordinates with the cylindrical section integrally connected and with the battery case
Truncated cone-shaped section.
Wherein in one embodiment, first driver is the first motor.
Battery case effectively can directly be carried and carried, be carried by the heavy-load robot that the present invention is provided, load carrier
Rising mechanism can drive load carrier along body movement, and walking structure is along the first guide rail and the second guide rail in Vehicular battery storehouse and support
Moved between battery compartment, in the presence of controller with realize battery case between Vehicular battery storehouse and rack battery storehouse it is automatic more
Change.
Brief description of the drawings
Fig. 1 is the structural representation that robot is located between Vehicular battery storehouse and rack battery storehouse；
Fig. 2 is the positive structure diagram of robot；
Fig. 3 is mplifying structure schematic diagram at A in Fig. 2；
Fig. 4 is the side structure schematic view of Fig. 2；
Fig. 5 is the structural representation of pallet fork arm；
Fig. 6 is the side structure schematic view of Fig. 5；
Fig. 7 is the dimensional structure diagram of bearing structure；
Fig. 8 is the structural representation of the battery case installed in Vehicular battery storehouse and rack battery storehouse；
Fig. 9 is the positive structure diagram of Fig. 8；
Figure 10 is the left view structural representation of Fig. 8；
Figure 11 is the right side structural representation of Fig. 8；
Figure 12 is the partial structural diagram that pallet fork arm carries battery case；
Figure 13 is the integral installation distribution structure schematic diagram of the robot for carrying battery case.
Specific embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give better embodiment of the invention.But, the present invention can be realized in many different forms, however it is not limited to herein
Described implementation method.On the contrary, the purpose for providing these implementation methods is to make to understand more the disclosure
Plus it is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " interior ", " outward ", "left", "right" and
For illustrative purposes only, it is unique implementation method to be not offered as similar statement.
Refering to Fig. 1 and Fig. 2, a kind of heavy-load robot, between the first guide rail 51 and the second guide rail 52, the first guide rail
51 and second guide rail 52 be located between Vehicular battery storehouse 40 and rack battery storehouse 30, for battery case 20 in the He of Vehicular battery storehouse 40
Automatic replacing between rack battery storehouse 30, robot includes walking mechanism 10, load carrier 200, hoisting mechanism 300 and control
Device 400.Walking mechanism 10 is slided between the first guide rail 51 and the second guide rail 52, and walking mechanism 10 includes body 110 and first
Driver 120, the first driver 120 is arranged on body 110, and the first driver 120 can drive body 110 along the first guide rail
51 and second the path that is limited of guide rail 52 slide, specifically, the first driver 120 is the first motor.Load carrier 200
It is arranged on body 110, load carrier 200 includes the driver 230 of yoke component 201 and second, the second driver 230 can drive
Moving fork arm component 201 does stretching motion, so that yoke component 201 carries battery case 20 to carry.Hoisting mechanism 300 is installed
On body 110, hoisting mechanism 300 is used to drive load carrier 200 to be slided up and down along body 110.Controller 400 and vehicle with walking machine
Structure 10, load carrier 200 and hoisting mechanism 300 are electrically connected, for controlling walking mechanism 10, load carrier 200 and hoisting mechanism
300 motion state.
Refering to Fig. 1 and Fig. 2, body 110 includes bottom girder 112, back timber 111 and two root posts 113.Bottom girder 112 and back timber 111
It is arranged in parallel, two root posts 113 be arranged in parallel and are connected with bottom girder 112 with the end of back timber 111 respectively, whole body 110
Cross section is in hollow structure.Bottom girder 112 is corresponding with the first guide rail 51, and road wheel 114, road wheel 114 are provided with bottom girder 112
It is slidably matched with the first guide rail 51 and is connected with the first driver 120, to improve body 110 in the first guide rail 51 and the second guide rail
Walking precision between 52, bottom girder 112 can also install directive wheel 115 additional.Back timber 111 is corresponding with the second guide rail 52, on back timber 111
Directive wheel 115 is again provided with, the directive wheel 115 is slidably matched with the second guide rail 52.First driver 120 is walked by driving
Wheel 114 and drive whole body 110 to move, due to directive wheel 115 and the guide rail 51 of road wheel 114 and first, the second guide rail 52 it
Between there is rolling friction, reduce the resistance of motion of body 110, at the same improve body 110 walking response speed and motion essence
Degree.
Refering to Fig. 1 to Fig. 3, hoisting mechanism 300 includes that the 3rd motor 310, the first synchronous sprocket wheel 320, second are synchronous
Sprocket wheel 330, driving-chain 340, tightener sprocket 380, hoisting rope 350 and pulley 360.3rd motor 310 is arranged on column 113
Bottom, the first synchronous sprocket wheel 320 is arranged on the output shaft of the 3rd motor 310, and the second synchronous sprocket wheel 330 is arranged on top
On beam 111, tightener sprocket 380 is located between the first synchronous sprocket wheel 320 and the second synchronous sprocket wheel 330, the quantity of tightener sprocket 380
It it is two, two tightener sprockets 380 are different with respect to the height of bottom girder 112.Contiguous block 370 is provided with driving-chain 340, specifically
, contiguous block 370 is arranged on one end of driving-chain 340, first synchronous sprocket wheel of other end pile warp 320, second of driving-chain 340
Synchronous sprocket wheel 330 and two tightener sprockets 380 with contiguous block 370 until be connected.Pulley 360 is arranged on back timber 111, hoisting rope
350 one end is connected with contiguous block 370, and the other end pile warp pulley 360 of hoisting rope 350 is simultaneously connected with load carrier 200.Transmission
Chain 340 and hoisting rope 350 are connected with contiguous block 370, and driving-chain 340 can play guide effect to the motion of hoisting rope 350, protect
The kinematic accuracy of load carrier 200 is demonstrate,proved, pulley 360 is used to change the Impact direction of hoisting rope 350.
When the 3rd motor 310 is rotated forward, the clockwise movement of driving-chain 340, contiguous block 370 rises, so that lifting
Rope 350 drives load carrier 200 along the slide downward of body 110.When the 3rd motor 310 is inverted, driving-chain 340 is counterclockwise
Motion, contiguous block 370 declines, so that hoisting rope 350 drives load carrier 200 along the upward sliding of body 110.
Refering to Fig. 2, Fig. 4 and Figure 13, yoke component 201 includes goods shelf 210 and two pallet fork arms 220.Goods shelf 210 is wrapped
Connection frame 211 and two installing frames 212 are included, two installing frames 212 are separately mounted in two root posts 113 and in column 113
It is upper to be in identical highly, connect top of the two ends of frame 211 respectively with two installing frames 212 and be connected, set on installing frame 212
There is roller 213, installing frame 212 is slidably matched by the roller 213 with column 113, and the end of hoisting rope 350 is fixed on installing frame
212 connect on frame 211, and hoisting rope 350 drives yoke component 201 to be moved up and down along column 113.Pallet fork arm 220 is arranged on two
At the same position of individual installing frame 212, the plane at the place of two pallet fork arm 220 is parallel with the plane where connection frame 211 (to be water
Plane), in loading process, battery case 20 is placed on two pallet fork arms 220.
Refering to Fig. 5 and Fig. 6, pallet fork arm 220 includes fixed arm 221 and telescopic arm 222, and fixed arm 221 is consolidated with installing frame 212
Fixed connection, is provided with tooth bar 2213 on fixed arm 221.Telescopic arm 222 is slidably matched with fixed arm 221, i.e. telescopic arm 222 can be with
It is relatively fixed arm 221 and does elastic motion in the horizontal plane, when telescopic arm 222 travels forward, telescopic arm 222 extends；When
When telescopic arm 222 is moved backward, telescopic arm 222 shrinks.Second driver 230 includes the second motor 231 and gear 232,
Second motor 231 is fixedly mounted on the end of telescopic arm 222, and the output shaft of the motor 231 of gear 232 and second connects
Connect, gear 232 forms meshing relation with the tooth bar 2213 on fixed arm 221.When the second motor 231 is transported with moving gear 232
When turning, gear 232 does scroll forward and backward on tooth bar 2213, so that driving telescopic arm 222 to be relatively fixed arm 221 does elastic fortune
It is dynamic.Certainly, telescopic arm 222 can also drive telescopic arm 222 to do elastic fortune by air cylinder driven by the piston rod of cylinder
It is dynamic.
Refering to Fig. 5 and Fig. 6, specifically, fixed arm 221 includes the installing plate 2212 of fixed plate 2211 and first, first installs
Plate 2212 is vertical with fixed plate 2211 to be connected, i.e., fixed plate 2211 is located in vertical plane, the first installing plate 2212 is located at laterally
In plane, the first installing plate 2212 is connected formation one L-type or T font structures with fixed arm 221, and tooth bar 2213 is arranged on first
On installing plate 2212.
Refering to Fig. 5 and Fig. 6, telescopic arm 222 includes the installing plate 2222 of portable plate 2221 and second, the second installing plate 2222 with
Portable plate 2221 is vertically connected and corresponding with the first installing plate 2212, i.e., portable plate 2221 is located in vertical plane, second pacifies
Dress plate 2222 is located in transverse plane, and the second installing plate 2222 is connected to form a L-type or T font structures with lever arm.It is flexible
The shape of arm 222 is essentially identical with the shape of fixed arm 221.
Refering to Fig. 5 and Fig. 6, the first slide rail 2214 is provided with fixed plate 2211, the first slide rail 2214 is along fixed plate 2211
Length direction extend, the first sliding block 2229 is provided with portable plate 2221, between the first sliding block 2229 and the first slide rail 2214
The relation that formation is slidably matched.Likewise, being provided with the second slide rail 2225 on portable plate 2221, the second slide rail 2225 and first is slided
Rail 2214 is parallel, when telescopic arm 222 and fixed arm 221 are slidably matched, edge between the first slide rail 2214 and the second slide rail 2225
The short transverse of body 110 keeps certain spacing, and both are not on same straight line (mutually stagger) each other, fixed
The second sliding block 2215 is provided with plate 2211, second sliding block 2215 is matched somebody with somebody with the slip of the second slide rail 2225 on portable plate 2221
Close.
Refering to Fig. 5 to Fig. 7, according to actual conditions the need for, the quantity of the first slide rail 2214 and the second slide rail 2225 can be with
For a plurality of, for example, two are, as long as ensuring short transverse of the slide rail 2225 of a plurality of first slide rail 2214 and second along body 110
It is spaced.In the present embodiment, the quantity of the first slide rail 2214 and the second slide rail 2225 is one.Due to being provided with
The slide rail 2225 of staggered first slide rail 2214 and second, it is ensured that form a kind of reliable between telescopic arm 222 and fixed arm 221
Occluding relation, enhance the bearing capacity of telescopic arm 222, in the case of the heavier-weight of battery case 20, telescopic arm 222 will not
Generation is rocked or waved, it is ensured that telescopic arm 222 is relatively fixed arm 221 and operates steadily, and telescopic arm 222 can be accurate by battery case 20
It is transported to and the corresponding position in Vehicular battery storehouse 40 or rack battery storehouse 30.
Further, in the present embodiment, slide plate 2223 is provided with the second installing plate 2222, slide plate 2223 can be along
The length direction of two installing plates 2222 is slided, i.e., slide plate 2223 can be slided with relative telescopic arm 222.Also set up on telescopic arm 222
Dynamic component, Power Component provides driving force for the motion of the relative telescopic arm 222 of slide plate 2223.
Refering to Fig. 5 to Fig. 7, specifically, Power Component includes drive sprocket 2226, driven sprocket 2227 and chain 2228.
Drive sprocket 2226 is arranged on the output shaft of the second motor 231, i.e. drive sprocket 2226 is coaxial with above-mentioned gear 232
Set, driven sprocket 2227 is arranged on one end relative with drive sprocket 2226 on telescopic arm 222.One end of chain 2228 and cunning
Plate 2223 front end connection, the other end pile warp driven sprocket 2227, drive sprocket 2226 of chain 2228 and with slide plate 2223
Rear end connects.When the second motor 231 drives chain 2228 to move by drive sprocket 2226, chain 2228 will draw and slide
Plate 2223 is along the slide anteroposterior of the second installing plate 2222, so that relative telescopic arm 222 does stretching motion.It will be appreciated, of course, that when cunning
During 2223 forward slip of plate, the position of the front end without departing from driven sprocket 2227 of slide plate 2223.
Refering to Fig. 5, Figure 12 and Figure 13, when battery case 20 is loaded on pallet fork arm 220, battery case 20 is straight with slide plate 2223
Contact.When telescopic arm 222 is relatively fixed arm 221 stretches out certain distance, in the case of the stop motion of telescopic arm 222, only
The relative telescopic arm 222 of slide plate 2223 need to be driven to slide, so as to change distance (the i.e. battery case that battery case 20 is relatively fixed arm 221
20 follow the length that telescopic arm 222 is forward extended out), therefore, slide plate 2223 can be relatively fixed stretching out for arm 221 to battery case 20
Length carries out secondary fine setting.When pallet fork arm 220 carries battery case 20 is put into Vehicular battery storehouse 40 or rack battery storehouse 30, stretching
Under contracting arm 222 and the collective effect of the motion of slide plate 2223 so that battery case 20 can be delivered accurately to specified position, realized
It is good between battery case 20 and Vehicular battery storehouse 40 or rack battery storehouse 30 to be mechanically and electrically, improve the peace of battery case 20
Dress Efficiency and accuracy.
Further, locating dowel 2224 is additionally provided with slide plate 2223, locating dowel 2224 includes cylindrical segment and truncated cone-shaped
Section.Cylindrical segment is fixed on slide plate 2223, truncated cone-shaped section with cylindrical segment integrally connected, in fact, truncated cone-shaped section be cylinder
Chamfering set by shape section upper end, facilitates the cooperation of whole locating dowel 2224 and battery case 20.Battery case 20 is placed on pallet fork arm
On when on 220, due to the position-limiting action of locating dowel 2224, battery case 20 will not produce sliding with respect to slide plate 2223, it is ensured that pallet fork
The steadiness that arm 220 is carried to battery case 20.Certainly, electromagnet can also be set on slide plate 2223 or vacuum inhales device to realize
The positioning of battery case 20.
Refering to Fig. 8 and Figure 12, a kind of heavy duty batteries case 20 realizes it in vehicle electrical by the pallet fork arm 220 in robot
Transfer between pond storehouse 40 and rack battery storehouse 30, battery case 20 includes casing 510, the first installed part 520, the second installed part
530th, support member 540 and electric connector 550.First installed part 520 and the relative both sides of the protrusion casing 510 of the second installed part 530,
And for being mounted in Vehicular battery storehouse 40 and rack battery storehouse 30, to realize installation (i.e. battery case 20 and the car of battery case 20
Mechanical connection between battery compartment 40 and rack battery storehouse 30).Similarly, support member 540 protrudes relative two of casing 510
Side and the telescopic arm 222 for being mounted in robot, i.e. support member 540 and the directly contact of slide plate 2223.Electric connector
550 are arranged on casing 510, and battery case 20 passes through real between electric connector 550 and Vehicular battery storehouse 40 and rack battery storehouse 30
Now electrically connect.
Refering to Fig. 8, specifically, in the present embodiment, casing 510 is rectangular-shape, naturally it is also possible to for cube-shaped.Case
Body 510 includes top board 511, base plate 512 and biside plate 513, biside plate 513 it is parallel be connected to top board 511 and base plate 512 it
Between, the first installed part 520, the second installed part 530 and support member 540 are arranged on two blocks of side plates 513.
Refering to Fig. 8, the first installed part 520 is disposed therein on side plate 513, and the first installed part 520 includes two first peaces
Dress block 521, two first mounting blocks 521 are symmetrical on the center line on the side long of side plate 513；Second installed part 530 is arranged on separately
On side plate 513, the second installed part 530 includes two second mounting blocks 531, and two second mounting blocks 531 are on the side long of side plate 513
On center line it is symmetrical.Support member 540 is four support blocks, and four support blocks are separately mounted to the first mounting blocks 521 and second
On mounting blocks 531.
Refering to Fig. 8 to Figure 12, mounting surface 5211, mounting surface are provided with the first mounting blocks 521 and the second mounting blocks 531
The side plate 513 of 5211 vertical battery cases 20, i.e. mounting surface 5211 are transverse plane.After battery case 20 is installed, the mounting surface
5211 directly contact that (i.e. the ballast of mounting surface 5211 is in Vehicular battery storehouse 40 and support with Vehicular battery storehouse 40 and rack battery storehouse 30
On battery compartment 30).Support block is fixed on mounting surface 5211 on one end of side plate 513, and supporting surface is provided with support block
541, supporting surface 541 is parallel with mounting surface 5211, robot delivery battery case 20 when, the supporting surface 541 directly with robot on
Slide plate 2223 contact (i.e. the ballast of supporting surface 541 is on slide plate 2223), the supporting surface 541 to the base plate of battery case 20 distance it is small
There are difference in height, two in vertical direction in the distance of mounting surface 5211 to the base plate of battery case 20, i.e. supporting surface 541 and mounting surface 5211
There is certain gradient between person, be conducive to robot to carrying, the battery case 20 of battery case 20 in Vehicular battery storehouse 40 and branch
Installation on frame battery compartment 30.Certainly, supporting surface 541 can also overlap with mounting surface 5211, between the two in the absence of gradient.
Mounting groove 5212 is provided with first mounting blocks 521, mounting groove 5212 extends along perpendicular to the direction of side plate 513,
It is provided with U-shaped mounting post 31 on Vehicular battery storehouse 40 or rack battery storehouse 30, U-shaped mounting post 31 coordinates with the mounting groove 5212,
Positioned with to the battery case 20 after installation,
Mounting hole 5312 is provided with second mounting blocks 531, the mounting hole 5312 is along perpendicular to the direction of mounting surface 5211
Extend, i.e., mounting hole 5312 is vertical holes, and cylindrical mounting post 32 is provided with Vehicular battery storehouse 40 or rack battery storehouse 30, circle
Cylindricality mounting post 32 coordinates with the mounting hole 5312, is equally used for positioning the battery case 20 after installation.Mounting hole 5312
Opening at chamfering is set, be conducive to cylindrical mounting post 32 and mounting hole 5312 smoothly to coordinate.
Refering to Fig. 8 to Figure 12, when battery case 20 is arranged on Vehicular battery storehouse 40 or rack battery storehouse 30, mounting hole
5312 movements that can limit battery case 20, and mounting groove 5212 limits the rotation of battery case 20.What is particularly worth mentioning is that, examine
The mismachining tolerance of the size of battery case 20 is considered, when cylindrical mounting post 32 is formed with the mounting hole 5312 on the second mounting blocks 531
When effectively coordinating, due to being provided with mounting groove 5212 on the first mounting blocks 521, the mounting groove 5212 equally can be with U-shaped mounting post
31 form effectively cooperation, it is to avoid the phenomenon for leading to not install because of interference occurs.Further, mounting groove 5212 and mounting hole
5312 depth is all higher than supporting surface 541 and arrives the distance between mounting surface 5211, it is ensured that the stability that battery case 20 is installed.
Refering to Fig. 8 to Figure 12, further, the first boss 560 is wherein additionally provided with side plate 513, first strengthens
Block 560 is located at the midpoint of line between two first mounting blocks 521；The second boss 570 is additionally provided with another side plate 513,
Second boss 570 is located at the midpoint of line between two second mounting blocks 531.
First terrace 572 and second step face 573 are provided with first boss 560 and the second boss 570, the
, perpendicular to side plate 513, after battery case 20 is installed, the direct ballast of First terrace 572 is in the He of Vehicular battery storehouse 40 for one step surface 572
On rack battery storehouse 30, second step face 573 is parallel with First terrace 572, when battery case 20 is carried, second step face 573
Direct ballast is on the slide plate 2223 of telescopic arm 222.First terrace 572 is arrived to the distance of base plate 512 equal to mounting surface 5211
The distance of base plate 512, the distance in second step face 573 to base plate 512 is equal to supporting surface 541 to the distance of base plate 512, no matter electric
Pond case 20 is in be carried or installment state, and the first mounting blocks 521, the second mounting blocks 531, the first boss 560 and second are strengthened
Block 570 can be while stress.Due to setting the first boss 560 and the second boss 570, the telescopic arm in robot can be made
222 stress are more balanced, and the gravity of battery case 20 is not only concentrated at the position contacted with support block.Likewise, Vehicular battery
Storehouse 40 or the stress equalization of rack battery storehouse 30, the gravity of battery case 20 are not only concentrated on and the first mounting blocks 521, the second mounting blocks
At the position of 531 contacts.
Be provided with gathering sill 561 on the First terrace 572 of the first boss 560, the gathering sill 561 be arranged on vehicle
U-shaped mounting post 31 on battery compartment 40 and rack battery storehouse 30 coordinates, and is set on the First terrace 572 of the second boss 570
There is pilot hole 571, the pilot hole 571 is matched somebody with somebody with the cylindrical mounting post 32 being arranged on Vehicular battery storehouse 40 and rack battery storehouse 30
Close.So, the stability of battery case 20 after installing is further increased, sliding will not be produced because of Vehicular vibration.
Location hole 574 is provided with the second step face 573 of the first boss 560 and the second boss 570, the positioning
Hole 574 coordinates with the locating dowel 2224 on slide plate 2223, position-limiting action can be played to the battery case 20 in carrying, in the present embodiment
In, the quantity of locating dowel 2224 on each slide plate 2223 is one, therefore, the quantity of the location hole 574 on second step face 573
Correspond to one.
Due to being provided with the first installed part 520, the second installed part 530 and support member in the opposite sides of casing 510
540, battery case 20 is mounted on Vehicular battery storehouse 40 by the first installed part 520 and the second installed part 530, the weight of battery case 20
Power is transferred to Vehicular battery storehouse 40 by the first installed part 520 and the second installed part 530, and the telescopic arm 222 of robot can be stretched
Enter in battery compartment and contacted with support member 540, so as to carrying is directly played to battery case 20 and is carried by support member 540 make
With, the restriction of size and locality condition is eliminated, make telescopic arm 222 directly drive battery case 20 smoothly to come in and go out rack battery storehouse
30 and Vehicular battery storehouse 40, battery case 20 is changed convenient.
Carried out again when that the dead battery case 20 in Vehicular battery storehouse 40 need to be transferred into rack battery storehouse 30 by robot
During secondary charging, telescopic arm 222 is protruded horizontally up and entered in Vehicular battery storehouse 40, and hoisting rope 350 drives yoke component 201 along column
113 motions upwards, until make U-shaped mounting post 31, cylindrical mounting post 32 with the first mounting blocks 521, the second mounting blocks 531,
First boss 560 and the second boss 570 depart from so that battery case 20 departs from Vehicular battery storehouse 40, then, telescopic arm
222 shrink.It is corresponding with rack battery storehouse 30 that walking mechanism 10 drives Robot the first guide rail 51 and the second guide rail 52 to move to
Position at, telescopic arm 222 is protruded horizontally up, and is carried battery case 20 and is entered in rack battery storehouse 30, and then, hoisting rope 350 drives
Yoke component 201 is moved downward along column 113, make U-shaped mounting post 31, cylindrical mounting post 32 with the first mounting blocks 521, the
Two mounting blocks 531, the first boss 560 and the second boss 570 coordinate, and finally, telescopic arm 222 shrinks again.
When that the full electric battery case 20 in rack battery storehouse 30 need to be transferred in Vehicular battery storehouse 40 by robot, stretch
Contracting arm 222 is protruded horizontally up and entered in rack battery storehouse 30, and hoisting rope 350 drives yoke component 201 to be transported upwards along column 113
Dynamic, telescopic arm 222 drives battery case 20 to depart from rack battery storehouse 30, and telescopic arm 222 shrinks, and walking mechanism 10 drives Robot
First guide rail 51 and the second guide rail 52 are moved to at the corresponding position in Vehicular battery storehouse 40, and telescopic arm 222 is protruded horizontally up, and are carried
Battery case 20 enters in Vehicular battery storehouse 40, and then, hoisting rope 350 drives yoke component 201 to be moved downward along column 113, most
The cooperation of battery case 20 and Vehicular battery storehouse 40 is realized eventually, and finally, telescopic arm 222 shrinks again.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of heavy-load robot, is arranged in the first guide rail and the second guide rail between Vehicular battery storehouse and rack battery storehouse
On, for the automatic replacing of battery case, it is characterised in that including：
Walking mechanism, slides, including body and be arranged on the body to drive it between the first guide rail and the second guide rail
First driver of motion；
Load carrier, is arranged on the body and for carrying the battery case, including yoke component and the driving yoke
Second driver of component movement；
Hoisting mechanism, on the body and for driving the load carrier along the body movement；
Controller, electrically connects with the walking mechanism, the load carrier and the hoisting mechanism.
2. heavy-load robot according to claim 1, it is characterised in that the body includes corresponding with first guide rail
Bottom girder, back timber corresponding with second guide rail, and be connected to the two root posts between the bottom girder and the back timber, institute
The road wheel for being provided with bottom girder and being coordinated with first guide rail is stated, is provided with the back timber and second guide rail cooperation
Directive wheel.
3. heavy-load robot according to claim 1, it is characterised in that the hoisting mechanism includes the 3rd motor,
The first synchronous sprocket wheel on the 3rd motor, the second synchronous sprocket wheel on the back timber connects described the
The driving-chain of one synchronous sprocket wheel and second synchronous sprocket wheel, the tensioning coordinated on the body and with the driving-chain
Sprocket wheel, hoisting rope, and coordinate to change the pulley of its transmission direction on the body and with the hoisting rope；It is described to carry
The one end for rising rope is connected by contiguous block with the driving-chain, and the other end of the hoisting rope is connected with the load carrier.
4. heavy-load robot according to claim 1, it is characterised in that the yoke component includes goods shelf and two goods
Yoke；The goods shelf includes two installing frames being oppositely arranged, and two connection frames of the installing frame of connection；The installation
The roller being slidably matched with the body is provided with frame, the pallet fork arm is arranged on the installing frame.
5. heavy-load robot according to claim 4, it is characterised in that the pallet fork arm includes being fixed on the installing frame
The upper and fixed arm with tooth bar, and the telescopic arm being slidably matched with the fixed arm；
Second driver includes the second motor on the telescopic arm, and with second motor
Output shaft connect and with the tooth bar meshed gears.
6. heavy-load robot according to claim 5, it is characterised in that the fixed arm includes fixed plate and solid with described
Fixed board the first installing plate connected vertically, the tooth bar is arranged on first installing plate；The telescopic arm includes portable plate
And second installing plate connected vertically with the portable plate；
The first slide rail for extending along its length is provided with the fixed plate, is provided with the portable plate and described first
The first sliding block that slide rail is slidably matched；It is provided with the portable plate and extend along its length and parallel with first slide rail
The second slide rail, the second sliding block being slidably matched with second slide rail is provided with the fixed plate.
7. heavy-load robot according to claim 6, it is characterised in that be provided with second installing plate and slided with it
The slide plate of cooperation, is additionally provided with the Power Component for driving the slide plate slides on the telescopic arm.
8. heavy-load robot according to claim 7, it is characterised in that the Power Component includes being arranged on described second
Drive sprocket on the output shaft of motor, is arranged on the telescopic arm away from the second motor one end upper end
Driven sprocket, and the chain for being connected and being set on the drive sprocket and the driven sprocket with the two ends of the slide plate.
9. heavy-load robot according to claim 6, it is characterised in that be provided with the slide plate for the battery
The locating dowel of case positioning, the locating dowel includes the cylindrical segment being connected with the installing plate, and integrally connects with the cylindrical section
The truncated cone-shaped section for connecing and coordinating with the battery case.
10. heavy-load robot according to claim 1, it is characterised in that first driver is the first motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611030960.8A CN106740723B (en) | 2016-11-22 | 2016-11-22 | Heavy-duty robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611030960.8A CN106740723B (en) | 2016-11-22 | 2016-11-22 | Heavy-duty robot |
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| CN106740723B CN106740723B (en) | 2023-06-06 |
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| CN201611030960.8A Active CN106740723B (en) | 2016-11-22 | 2016-11-22 | Heavy-duty robot |
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| CN108128287A (en) * | 2017-12-26 | 2018-06-08 | 西安航天精密机电研究所 | Door switch mechanism is inserted in position in storehouse sealing of charging |
| CN108217035A (en) * | 2017-12-29 | 2018-06-29 | 珠海格力电器股份有限公司 | Mobile phone shell feed bin |
| CN110014419A (en) * | 2019-05-10 | 2019-07-16 | 中国科学院合肥物质科学研究院 | A kind of chassis structure for the heavily loaded articulated robot under nuclear environment |
| CN112519629A (en) * | 2020-12-08 | 2021-03-19 | 深圳精智机器有限公司 | Heavy-load battery replacement robot, battery replacement method and battery replacement system |
| CN112757959A (en) * | 2021-02-22 | 2021-05-07 | 深圳精智机器有限公司 | Battery replacement mechanical arm and battery replacement method |
| EP3760500A4 (en) * | 2018-02-28 | 2021-11-24 | Nio (Anhui) Holding Co., Ltd | Battery compartment, new energy automobile battery swap station and battery storage and transfer method |
| CN114683942A (en) * | 2020-12-31 | 2022-07-01 | 奥动新能源汽车科技有限公司 | Battery taking control method and system in battery compartment of battery replacing station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108128287A (en) * | 2017-12-26 | 2018-06-08 | 西安航天精密机电研究所 | Door switch mechanism is inserted in position in storehouse sealing of charging |
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| CN112757959A (en) * | 2021-02-22 | 2021-05-07 | 深圳精智机器有限公司 | Battery replacement mechanical arm and battery replacement method |
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| Publication number | Publication date |
|---|---|
| CN106740723B (en) | 2023-06-06 |
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