CN111923010A

CN111923010A - Vehicle set with battery capable of being automatically replaced

Info

Publication number: CN111923010A
Application number: CN202010961460.6A
Authority: CN
Inventors: 梁静
Original assignee: Tianjin Keneng Zhixiang Photoelectric Technology Co ltd
Current assignee: Harbin Keneng Cladding Technology Co ltd
Priority date: 2020-09-14
Filing date: 2020-09-14
Publication date: 2020-11-13

Abstract

The invention provides a vehicle set with batteries capable of being automatically replaced, which belongs to the technical field of intelligent robots and comprises a working robot and an auxiliary robot, wherein the working robot comprises a working robot body, a working robot manipulator and a battery box mechanism, the auxiliary robot comprises an auxiliary robot body, an auxiliary robot manipulator, a battery transport box, a battery clamping frame and a visual sensor, the working robot manipulator and the battery box mechanism are fixed on the upper surface of the working robot body, the auxiliary robot manipulator and the battery transport box are fixed on the upper surface of the auxiliary robot, replaceable batteries are placed in the battery transport box, the battery clamping frame is installed at one end, far away from the auxiliary robot body, of the auxiliary robot manipulator, and the visual sensor is fixed on an arm of the auxiliary robot manipulator. The invention prolongs the effective working time of the working robot, increases the working efficiency and can be suitable for working in fields with larger range.

Description

Vehicle set with battery capable of being automatically replaced

Technical Field

The invention belongs to the technical field of intelligent robots, and relates to a vehicle set with a battery capable of being automatically replaced.

Background

Along with the increasingly extensive industrial production and capital construction trade of being applied to of AGV dolly, some disadvantages of AGV dolly also emerge more, for guaranteeing AGV dolly range of motion requirement, it uses direct current battery power supply mostly, receive the capacity restriction of direct current battery, the AGV dolly can't carry out the removal on a large scale and also can't once accomplish comparatively complicated work, must use before electric power exhausts to go to the maintenance station and carry out charging operation, AGV intelligent vehicle's work efficiency has seriously been influenced, the AGV dolly and with the supporting intelligent manufacturing equipment's of using of AGV dolly application and development prospect have also been restricted, this needs a novel battery can automatic change car group to solve this problem.

Disclosure of Invention

The invention aims to solve the problem of providing a vehicle set with a battery capable of being automatically replaced, belonging to the technical field of intelligent robots, and the vehicle set has the advantages that the effective working time of a working robot is prolonged, the working efficiency is increased, and the vehicle set can be suitable for working in a large-range field.

In order to solve the technical problems, the invention adopts the technical scheme that: battery can change group of cars automatically belongs to intelligent robot technical field, including work robot and auxiliary robot, work robot includes work robot automobile body, work robot manipulator and battery case mechanism, auxiliary robot includes auxiliary robot automobile body, auxiliary robot manipulator, battery transport case, battery holding frame and visual sensor, work robot manipulator and battery case mechanism are fixed at the upper surface of work robot automobile body, auxiliary robot manipulator and battery transport case fix the upper surface at auxiliary robot, place removable battery in the battery transport case, the one end that auxiliary robot automobile body was kept away from to auxiliary robot manipulator is installed to the battery holding frame, visual sensor fixes on auxiliary robot manipulator's arm.

Further, the battery box mechanism comprises a battery box body, a fixed slideway component and a movable slideway component, the upper surface at work robot automobile body is fixed to the battery case box body, there is first opening battery case box body's side, the inboard top surface at the battery case box body is fixed to the fixed slide subassembly, the lower extreme at the fixed slide subassembly is installed to the activity slide subassembly, there is the arch in battery case box body's inside, the recess, the guide plate, battery wiring guide slot and battery wiring hole, the centre of arch in the inside side of battery case box body, the arch has four and the symmetry sets up on relative side, it is fluted to one side between the adjacent arch, the medial surface at the battery case box body is installed to the guide plate, the guide plate slope sets up in the arch is close to first open-ended one end, battery wiring guide slot and battery wiring hole are on the inside bottom surface of battery case box body, first open-ended one end and battery wiring guide slot link.

Further, fixed slide subassembly includes first connecting plate, the spout piece, including a motor, an universal joint cross, the worm and location rings, first connecting plate is fixed at the inboard top surface of battery case box body, the shape of first connecting plate is the L shape, the lower extreme at first connecting plate is fixed to the spout piece, the spout has been seted up to the lower surface of spout piece, the motor is fixed on first connecting plate, the output of motor and universal joint cross's one end are connected, universal joint cross's the other end and worm are connected, the worm is kept away from universal joint cross's one end and is installed the location rings.

Furthermore, the movable slide way assembly comprises a second connecting plate, a sliding block, a third connecting plate, a rack and a spring plate, the sliding block is fixed at the upper end of the second connecting plate, a sliding rail is arranged on the upper surface of the sliding block, the sliding rail is embedded in a sliding groove, the third connecting plate is fixed on the upper surface of the sliding block, the rack is fixed on the upper surface of the third connecting plate, and the spring plate is fixed at the lower end of the second connecting plate.

Furthermore, there is the second opening battery transport case's upper end, battery transport case inside has a plurality of parallel arrangement's baffle.

Further, removable battery is placed in the battery transport case, and the surface of removable battery has the grip ring ear, compresses tightly guide slot and binding post, and the grip ring ear symmetry sets up in the both sides of removable battery, compresses tightly the edge that the guide slot set up at removable battery upper surface, and binding post installs the upper surface at removable battery.

Further, still include the direction sloping platform, the bottom surface of direction sloping platform in the battery case box body just is close to first opening slope setting.

Furthermore, the battery wiring guide groove structure further comprises an insulating side plate and an insulating sleeve, wherein the insulating side plate is arranged on the side surface inside the battery wiring guide groove, and the insulating sleeve is arranged on the side surface inside the battery wiring hole.

Compared with the prior art, the invention has the advantages and positive effects as follows:

1. the invention prolongs the effective working time of the working robot, increases the working efficiency and can be suitable for working in fields with larger range.

2. The working robot of the invention does not need to be limited by the battery capacity and frequently returns to the maintenance station, can continuously finish a certain long-time working content without manual interference, increases the applicable occasions and range of the working robot, and expands the development prospect of AGV mobile robots.

3. The vision sensor is fixed on the arm of the auxiliary robot manipulator, and the auxiliary robot can accurately identify the position of the battery box body through the vision sensor so as to place the replaceable battery into the battery box body.

4. The positioning hanging ring is arranged at one end of the worm, which is far away from the cross universal coupling, the positioning hanging ring limits the farthest distance of relative movement of the worm and the rack, the worm and the rack are prevented from being separated, and the use safety is ensured.

5. The spring plate is fixed at the lower end of the second connecting plate, when the replaceable battery is placed in, the spring plate is contacted with the pressing guide groove, the replaceable battery is pressed, and the replaceable battery is prevented from loosening.

6. The battery transport box is internally provided with the plurality of parallel clapboards, and the size of the battery transport box and the number of the clapboards can be adjusted according to the use requirement of the working robot, so that the battery transport box can meet the storage quantity of replaceable batteries with different numbers.

7. The guide inclined table is arranged on the bottom surface in the battery box body and is close to the first opening in an inclined mode, and therefore the replaceable battery can be replaced more smoothly.

8. According to the invention, the insulation side plate is arranged on the side surface inside the battery wiring guide groove, and the insulation sleeve is arranged on the side surface inside the battery wiring hole, so that the risk caused by electric leakage of the replaceable battery is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic overall view of an automatic battery-replaceable vehicle set according to the present invention;

FIG. 2 is a schematic view of a work robot with an automatically battery-replaceable cluster according to the present invention;

FIG. 3 is a schematic view of an auxiliary robot with an automatically battery-replaceable vehicle set according to the present invention;

FIG. 4 is a schematic view of a battery compartment cartridge for an automatic battery change vehicle assembly according to the present invention;

FIG. 5 is a schematic view of a stationary skid assembly of the battery-replaceable automatic battery-changing vehicle of the present invention;

FIG. 6 is a side view of the fixed ramp assembly of the battery replaceable auto-change cluster of the present invention;

FIG. 7 is a schematic view of a movable ramp assembly of the battery-replaceable automatic battery-changing vehicle of the present invention;

FIG. 8 is a side view of the movable ramp assembly of the battery replaceable auto-matically assembled vehicle of the present invention;

FIG. 9 is a schematic view of the replaceable battery of the present invention for automatically replacing a vehicle consist;

FIG. 10 is a bottom plan view of the replaceable battery of the battery automated replaceable consist of the present invention;

FIG. 11 is a side view of a replaceable battery for an automatic battery replacement consist according to the present invention.

Reference numerals:

1. a working robot; 2. an auxiliary robot; 3. a replaceable battery; 11. a work robot body; 12. a working robot manipulator; 13. a battery case mechanism; 21. an auxiliary robot body; 22. an auxiliary robotic manipulator; 23. a battery transport case; 24. a battery holder; 25. a vision sensor; 31. a clamping ring ear; 32. compressing the guide groove; 33. a wiring terminal; 131. a battery box body; 132. fixing the slideway component; 133. a movable slide assembly; 231. a second opening; 232. a partition plate; 1311. a first opening; 1312. a protrusion; 1313. a groove; 1314. a guide piece; 1315. a battery wiring guide groove; 1316. a battery wiring hole; 1317. a guide ramp; 1318. an insulating side plate; 1319. an insulating sleeve; 1321. a first connecting plate; 1322. a chute block; 1323. a motor; 1324. a cross universal coupling; 1325. a worm; 1326. positioning a lifting ring; 1327. a chute; 1331. a second connecting plate; 1332. a slider; 1333. a third connecting plate; 1334. a rack; 1335. a spring plate; 1336. a slide rail.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The following detailed description of specific embodiments of the invention refers to the accompanying drawings.

As shown in fig. 1 to 11, the invention relates to a battery automatic-replaceable vehicle group, belonging to the technical field of intelligent robots, comprising a working robot 1 and an auxiliary robot 2, wherein the working robot 1 comprises a working robot body 11, a working robot manipulator 12 and a battery box mechanism 13, the auxiliary robot 2 comprises an auxiliary robot body 21, an auxiliary robot manipulator 22, a battery transport box 23, a battery holding frame 24 and a vision sensor 25, the working robot manipulator 12 and the battery box mechanism 13 are fixed on the upper surface of the working robot body 11, the auxiliary robot manipulator 22 and the battery transport box 23 are fixed on the upper surface of the auxiliary robot 2, a replaceable battery 3 is placed in the battery transport box 23, the battery holding frame 24 is installed at one end of the auxiliary robot 22 far away from the auxiliary robot 2 manipulator body, the vision sensor 25 is fixed on an arm of the auxiliary robot manipulator 22, the model of the vision sensor 25 is In-Sight 2001-230, etc., and the auxiliary robot 2 can accurately recognize the position of the battery case body 131 through the vision sensor 25, thereby placing the replaceable battery 3 into the battery case body 131.

Preferably, the battery case mechanism 13 includes a battery case body 131, a fixed rail assembly 132 and a movable rail assembly 133, the battery case body 131 is fixed to the upper surface of the working robot body 11, a side surface of the battery case body 131 has a first opening 1311, the fixed rail assembly 132 is fixed to the top surface of the inner side of the battery case body 131, the movable rail assembly 133 is mounted to the lower end of the fixed rail assembly 132, the battery case body 131 has a protrusion 1312, a recess 1313, a guide plate 1314, a battery wiring guide groove 1315 and a battery wiring hole 1316 inside, the protrusion 1312 is located at the middle of the inner side surface of the battery case body 131, the protrusions 1312 are four and symmetrically disposed on opposite side surfaces, the recess 1313 is located between adjacent protrusions 1312 on one side, the guide plate 1314 is mounted to the inner side surface of the battery case body 131, the guide plate 1314 is obliquely disposed at one end of the protrusion 1312 near the first opening 1311, the battery wiring guide groove 5 and the, the battery terminal hole 1316 is formed at an end of the battery terminal guide groove 1315 remote from the first opening 1311 and penetrates the battery terminal guide groove 1315.

Preferably, the fixed ramp assembly 132 includes a first connection plate 1321, a slot block 1322, a motor 1323, an universal joint cross 1324, a worm 1325 and a positioning hanging ring 1326, the first connection plate 1321 is fixed on the top surface of the inner side of the battery box body 131, the first connection plate 1321 is in an L shape, the slot block 1322 is fixed on the lower end of the first connection plate 1321, a slot 1327 is formed in the lower surface of the slot block 1322, the motor 1323 is fixed on the first connection plate 1321, the output end of the motor 1323 is connected with one end of the universal joint cross 1324, the other end of the universal joint cross 1324 is connected with the worm 1325, one end of the worm 1325, which is far away from the universal joint cross 1324, is provided with the positioning hanging ring 1326, and the positioning hanging ring 1326 limits the farthest distance of the relative movement of the worm 1325 and the rack 1334, prevents the worm 1325 and.

Preferably, the movable slide assembly 133 includes a second connecting plate 1331, a sliding block 1332, a third connecting plate 1333, a rack 1334 and a spring plate 1335, the sliding block 1332 is fixed on the upper end of the second connecting plate 1331, the sliding block 1332 has a sliding rail 1336 on the upper surface, the sliding rail 1336 is embedded in the sliding slot 1327, the third connecting plate 1333 is fixed on the upper surface of the sliding block 1332, the rack 1334 is fixed on the upper surface of the third connecting plate 1333, and the spring plate 1335 is fixed on the lower end of the second connecting plate 1331, when the replaceable battery 3 is put in, the spring plate 1335 contacts with the pressing guide slot 32 to press the replaceable battery 3, and the replaceable battery 3 is prevented from being released.

Preferably, there is the second opening 231 battery transport case 23's upper end, and battery transport case 23 is inside to have a plurality of parallel arrangement's baffle 232, can be according to the user demand adjustment battery transport case 23's of work robot 1 size and the quantity of baffle 232, makes it satisfy the removable battery 3 storage capacity of different quantity.

Preferably, the replaceable battery 3 is placed in the battery transportation box 23, the outer surface of the replaceable battery 3 is provided with a clamping ring lug 31, a pressing guide groove 32 and a connection terminal 33, the clamping ring lug 31 is symmetrically arranged at two sides of the replaceable battery 3, the pressing guide groove 32 is arranged at the edge of the upper surface of the replaceable battery 3, and the connection terminal 33 is arranged on the upper surface of the replaceable battery 3.

Preferably, the guide slope 1317 is inclined at the bottom surface of the battery case body 131 near the first opening 1311, so that the replaceable battery 3 can be replaced more smoothly.

Preferably, the insulating side plate 1318 is mounted on the side inside the battery wiring guide groove 1315, and the insulating sleeve 1319 is mounted on the side inside the battery wiring hole 1316, so that the risk of leakage of the replaceable battery 3 is reduced.

In the actual working process, firstly, the old replaceable battery 3 is taken out, the auxiliary robot 2 moves to the position near the working robot 1, the motor 1323 drives the worm 1325 to rotate, the worm 1325 drives the rack 1334 to move linearly, the movable slide assembly 133 slides out together with the old replaceable battery 3, the visual sensor 25 accurately identifies the position of the battery box body 131, the positioning hanging ring 1326 enters the groove 1313, the auxiliary robot manipulator 22 clamps and takes out the old replaceable battery 3, the old replaceable battery 3 is placed in a vacant position or other surrounding spaces in the battery transport box 23, then, the new replaceable battery 3 is placed in, the auxiliary robot manipulator 22 enters the battery transport box 23, the battery clamping frame 24 extends into the positioning hanging ring 1326 to clamp and take out the new replaceable battery 3, the visual sensor 25 accurately identifies the position of the battery box body 131, the auxiliary robot manipulator 22 puts the new replaceable battery 3 into the battery box body 131, the positioning hanging ring 1326 enters the groove 1313, the protrusion 1312 contacts with the new replaceable battery 3 to achieve the limiting effect, the spring plate 1335 contacts with the pressing guide groove 32 to press the new replaceable battery 3, the movable slide assembly 133 and the new replaceable battery 3 slide into the battery box body 131 together, and replacement of the replaceable battery 3 is completed at the moment.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The battery can change the group of cars automatically, its characterized in that: the auxiliary robot comprises a working robot (1) and an auxiliary robot (2), wherein the working robot (1) comprises a working robot body (11), a working robot manipulator (12) and a battery box mechanism (13), the auxiliary robot (2) comprises an auxiliary robot body (21), an auxiliary robot manipulator (22), a battery transport box (23), a battery holding frame (24) and a visual sensor (25), the working robot manipulator (12) and the battery box mechanism (13) are fixed on the upper surface of the working robot body (11), the auxiliary robot manipulator (22) and the battery transport box (23) are fixed on the upper surface of the auxiliary robot (2), a replaceable battery (3) is placed in the battery transport box (23), and the battery holding frame (24) is installed at one end, far away from the auxiliary robot body (21), of the auxiliary robot manipulator (22), the vision sensor (25) is fixed on an arm of the auxiliary robot manipulator (22).

2. The battery-replaceable consist as recited in claim 1, wherein: the battery box mechanism (13) comprises a battery box body (131), a fixed slide assembly (132) and a movable slide assembly (133), the battery box body (131) is fixed on the upper surface of the working robot body (11), a first opening (1311) is formed in the side surface of the battery box body (131), the fixed slide assembly (132) is fixed on the top surface of the inner side of the battery box body (131), the movable slide assembly (133) is installed at the lower end of the fixed slide assembly (132), protrusions (1312), grooves (1313), guide plates (1314), battery wiring guide grooves (1315) and battery wiring holes (1316) are formed in the battery box body (131), the protrusions (1312) are arranged in the middle of the inner side surface of the battery box body (131), four protrusions (1312) are symmetrically arranged on opposite side surfaces, grooves (1313) are formed between adjacent protrusions (1312) on one side, and the guide plates (1314) are installed on the inner side surface of the battery box body (131), the guide piece (1314) is obliquely arranged at one end of the protrusion (1312) close to the first opening (1311), the battery wiring guide groove (1315) and the battery wiring hole (1316) are arranged on the bottom surface of the interior of the battery box body (131), and the battery wiring hole (1316) is arranged at one end of the battery wiring guide groove (1315) far away from the first opening (1311) and is communicated with the battery wiring guide groove (1315).

3. The battery automated replaceable consist as in claim 2, wherein: the fixed slide way assembly (132) comprises a first connecting plate (1321), a slide groove block (1322), a motor (1323), an universal joint cross (1324), a worm (1325) and a positioning hanging ring (1326), the first connecting plate (1321) is fixed on the inner top surface of the battery box body (131), the first connecting plate (1321) is L-shaped, the slide groove block (1322) is fixed at the lower end of the first connecting plate (1321), a slide groove (1327) is formed in the lower surface of the slide groove block (1322), the motor (1323) is fixed on the first connecting plate (1321), the output end of the motor (1323) is connected with one end of the universal joint cross (1324), the other end of the universal joint cross (1324) is connected with the worm (1325), and the positioning hanging ring (1326) is installed at one end, far away from the universal joint cross (1324), of the worm (1325).

4. The battery automated replaceable consist as in claim 2, wherein: the movable slide way assembly (133) comprises a second connecting plate (1331), a sliding block (1332), a third connecting plate (1333), a rack (1334) and a spring plate (1335), the sliding block (1332) is fixed at the upper end of the second connecting plate (1331), a sliding rail (1336) is arranged on the upper surface of the sliding block (1332), the sliding rail (1336) is embedded in the sliding groove (1327), the third connecting plate (1333) is fixed on the upper surface of the sliding block (1332), the rack (1334) is fixed on the upper surface of the third connecting plate (1333), and the spring plate (1335) is fixed at the lower end of the second connecting plate (1331).

5. The battery-replaceable consist as recited in claim 1, wherein: the upper end of battery transport case (23) has second opening (231), and battery transport case (23) inside has a plurality of parallel arrangement's baffle (232).

6. The battery-replaceable consist as recited in claim 1, wherein: replaceable battery (3) is placed in battery transport case (23), and the surface of replaceable battery (3) has grip ring ear (31), compresses tightly guide slot (32) and binding post (33), and grip ring ear (31) symmetry sets up the both sides in replaceable battery (3), compresses tightly the edge of guide slot (32) setting at replaceable battery (3) upper surface, and the upper surface at replaceable battery (3) is installed in binding post (33).

7. The battery automatic replaceable vehicle set according to any one of claims 1 to 6, characterized in that: the battery box further comprises a guide inclined table (1317), and the guide inclined table (1317) is obliquely arranged on the bottom surface of the battery box body (131) and close to the first opening (1311).

8. The battery automatic replaceable vehicle set according to any one of claims 1 to 6, characterized in that: the battery lead frame also comprises an insulating side plate (1318) and an insulating sleeve (1319), wherein the insulating side plate (1318) is arranged on the inner side face of the battery lead guide groove (1315), and the insulating sleeve (1319) is arranged on the inner side face of the battery lead hole (1316).