CN114572634A

CN114572634A - Cantilever type stacker crane

Info

Publication number: CN114572634A
Application number: CN202210334786.5A
Authority: CN
Inventors: 曹恒访; 吴小平
Original assignee: Bozhon Precision Industry Technology Co Ltd
Current assignee: Bozhon Precision Industry Technology Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-06-03

Abstract

The invention relates to a cantilever type stacker crane, which is used for realizing the transfer of a battery between a battery replacing device and a charging bin, and comprises: the lifting tower comprises a frame and a lifting mechanism arranged on the frame, wherein a cantilever driven by the lifting mechanism is arranged on the lifting mechanism, and the cantilever protrudes out of the frame; the transfer mechanism drives the lifting tower to move in the horizontal direction; the conveying mechanism is arranged on the cantilever and used for bearing and conveying the batteries, the conveying mechanism moves horizontally along with the lifting tower under the driving of the transfer mechanism, and the direction of conveying the batteries by the conveying mechanism is perpendicular to the moving direction of the transfer mechanism. According to the invention, the cantilever type support is arranged on the single-side lifting tower, the transportation in three directions in space can be realized, the space utilization is more reasonable, the size of the stacker crane is reduced, the occupied area of the battery replacement station can be further reduced, and the miniaturization of the battery replacement station is realized.

Description

Cantilever type stacker crane

Technical Field

The invention relates to the technical field of power station replacing equipment, in particular to a cantilever type stacker crane.

Background

In the process of quickly replacing the battery of the electric vehicle, the battery to be charged needs to be taken down and placed on the charging frame, and meanwhile, the charged battery is replaced on the electric vehicle. At the moment, a stacker crane is needed to place the battery to be charged, which is replaced by the battery replacing mobile platform, into the charging frame, and meanwhile, the replacement battery is taken down from the charging frame and placed on the battery replacing mobile platform

The current battery replacement process is as follows:

and the battery replacement equipment takes the old battery from the vehicle and transfers the old battery to the stacker crane, the stacker crane puts the old battery into the old bin of the charging room, takes the new battery from the new bin of the charging room, then transfers the new battery to the battery replacement equipment, and the battery replacement equipment installs the new battery on the vehicle.

The hacking machine trades the indispensable transfer equipment of electricity in-process, and in prior art, the publication number: CN213294023U, invention name: chinese patent of a palletizer discloses a palletizer movably arranged in a power exchanging station, the palletizer comprising: the walking device is used for driving the transfer device frame of the stacker crane to move; the lifting device is arranged on the transfer device frame and is suitable for driving the battery support frame to ascend or descend relative to the transfer device frame; the telescopic mechanism is arranged on the battery support frame and can extend and retract relative to the battery support frame; the existing stacker crane is analyzed, the stacker crane can adjust the position of the stacker crane in the power exchanging station through the walking device, a battery support frame used for accommodating a power battery corresponds to the position of the power battery in the power exchanging station through the lifting device, the power battery at the position of the battery support frame of the telescopic mechanism is placed on a charging goods shelf or the power battery on the charging goods shelf is collected to the position of the battery support frame, and the power battery in the power exchanging station is taken and placed.

However, the existing stacker crane has certain defects:

1. the stacker crane in the prior art adopts a double-arm structure, the battery support frame is positioned between the two support arms, the structure limits that the stacker crane can only carry towards two sides of the walking device in space, namely, the carrying direction is always vertical to the walking device, and the battery support frame is carried from one side of the walking device to the other side of the walking device and has the limitation of movement;

2. because the battery support frame is located between two support arms, consequently the electric cabinet can only outstanding setting outside two support arms, has increased the holistic space that takes up an area of hacking machine.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the problems that the transfer in two directions in space can only be realized due to the defect of the structure of the stacker crane in the prior art, so that the space distribution in the battery replacement station is unreasonable, and the space is wasted.

In order to solve the technical problem, the invention provides a cantilever type stacker crane for realizing the transfer of batteries between a battery replacement device and a charging bin, which comprises:

the lifting tower comprises a frame and a lifting mechanism arranged on the frame, wherein a cantilever driven by the lifting mechanism is arranged on the lifting mechanism, and the cantilever protrudes out of the frame;

the transfer mechanism drives the lifting tower to move in the horizontal direction;

the conveying mechanism is arranged on the cantilever and used for bearing and conveying the battery, the conveying mechanism moves horizontally along with the lifting tower under the driving of the transfer mechanism, and the direction of conveying the battery by the conveying mechanism is perpendicular to the moving direction of the transfer mechanism.

In one embodiment of the present invention, the transfer mechanism includes a transfer ground rail, a transfer platform sliding on the transfer ground rail, and a transfer driving source for driving the transfer platform, the transfer driving source is mounted on the transfer platform, a rack is provided on an edge of the transfer ground rail, and an output end of the transfer driving source is a gear engaged with the rack.

In one embodiment of the present invention, the frame is disposed on the transfer stage, an extension length of the transfer stage along the transfer ground rail is greater than a length of the frame disposed on the transfer stage, one end of the frame is disposed in alignment with the transfer stage, and the other end of the transfer stage protrudes in a direction in which the cantilever extends with respect to the frame.

In an embodiment of the present invention, the transfer mechanism further includes a transfer top rail, the transfer top rail and the transfer ground rail are disposed above the lifting tower, and the lifting tower is provided with guide wheels clamped on both sides of the transfer top rail.

In one embodiment of the present invention, the elevating mechanism includes:

the lifting guide rails are arranged on the two side walls of the frame, the lifting guide rails are arranged along the vertical extending direction of the frame, and the lifting guide rails on the two sides are parallel to each other;

the chain wheel comprises an upper chain wheel and a lower chain wheel which are respectively arranged at the upper end and the lower end of the frame;

the chain is sleeved on the upper chain wheel and the lower chain wheel and meshed with the upper chain wheel and the lower chain wheel to form a closed loop structure;

the lifting platform is arranged on the lifting guide rail in a sliding mode and is connected with the chain;

and the lifting driving source drives the chain wheel to rotate.

In an embodiment of the invention, the lifting mechanism further comprises laser sensors which are arranged on the frame and used for detecting along the horizontal direction and the vertical direction, and the laser sensors monitor the lifting position of the lifting table and the horizontal moving position of the frame in real time to ensure that the position of the battery taking and delivering of the conveying mechanism is accurate.

In one embodiment of the invention, a battery in-place detection mechanism higher than the cantilever is arranged on the lifting platform, and the battery in-place detection mechanism comprises a battery in-place detection sensor and a battery over-position detection sensor.

In one embodiment of the invention, a cantilever is arranged on the lifting platform, one end of the cantilever is arranged and installed on the lifting guide rail, and the other end of the cantilever is suspended and extends out; the extending end of the cantilever is provided with a connecting piece to connect the cantilevers at the two sides, so that the two cantilevers can synchronously lift up and down; the cantilever extends the end and still is used for installing conveying mechanism, because of conveying mechanism is for hanging out the installation, and the butt joint battery mode can be various.

In one embodiment of the invention, the electric cabinet is arranged in the frame, the related control components and sensor signals on the stacker crane are integrated in the electric cabinet, and the electric cabinet and the battery replacement station are connected through a signal wire and a power wire, so that cable laying is reduced.

In one embodiment of the invention, the conveying mechanism comprises a conveying slide rail, a conveying platform moving along the conveying slide rail, and a conveying driving source driving the conveying platform to move, wherein a rack is arranged at the bottom of the conveying platform, and the output end of the conveying driving source is a gear meshed with the rack; the conveying table comprises a first sliding table and a second sliding table which are sleeved in a double-layer mode, the second sliding table slides on the conveying sliding rail, and the first sliding table slides on the second sliding table.

Compared with the prior art, the technical scheme of the invention has the following advantages:

the cantilever type stacker crane improves the structure of the existing stacker crane, a cantilever type support is arranged on a lifting tower on one side, the protruding direction of a cantilever is the same as the moving direction of a transfer mechanism, a conveying mechanism is arranged on the cantilever, and the conveying direction of the conveying mechanism is perpendicular to the extending direction of the cantilever, so that a battery placed on the cantilever can move towards three directions in space under the driving of the transfer mechanism and the conveying mechanism;

the cantilever type stacker crane can move towards three directions, in the three-dimensional spatial layout, the cantilever type stacker crane realizes horizontal and lifting movement on a plane through the transfer mechanism and the lifting mechanism, and then realizes vertical movement of the plane through the conveying mechanism arranged on the protruding cantilever, as the conveying mechanism can move in two directions, namely conveying spaces are formed on two sides of the plane, the space utilization is more reasonable, the size of the stacker crane is reduced, the occupied area of the power changing station can be further reduced, and the miniaturization of the power changing station is realized.

Drawings

In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which

FIG. 1 is a schematic view of the overall structure of the cantilevered palletiser of the present invention;

FIG. 2 is a layout of the cantilevered palletiser in a charging station in an embodiment of the present invention;

FIG. 3 is a layout of a cantilevered palletiser in a charging station in another embodiment of the present invention;

FIG. 4 is a schematic structural view of a transfer mechanism of the present invention;

FIG. 5 is a schematic structural view of a transfer sky rail of the present invention;

FIG. 6 is a schematic structural view of the lift mechanism of the present invention;

FIG. 7 is a schematic structural view of the frame of the present invention;

FIG. 8 is a schematic structural view of the lift table of the present invention;

fig. 9 is a schematic structural view of the conveying mechanism of the present invention.

The specification reference numbers indicate: 1. a transfer mechanism; 11. transferring a ground rail; 12. moving the platform; 13. a transfer drive source; 14. transferring a sky rail; 15. a guide wheel; 2. a frame; 21. a laser sensor; 22. a chain guide block; 3. a lifting mechanism; 31. a lifting guide rail; 32. a sprocket; 33. a chain; 34. a lifting platform; 35. a lifting drive source; 36. a synchronization lever; 37. a connecting member; 4. a cantilever; 5. a conveying mechanism; 51. a conveying slide rail; 52. a conveying table; 53. a conveying drive source; 6. an electric cabinet; 7. a battery in-place detection mechanism; 71. a battery in-place detection sensor; 72. the battery is over-positioned to detect the sensor battery.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

Referring to fig. 1, the cantilever type stacker crane of the present invention is used for transferring a battery between a battery replacement device and a charging bin, and includes:

a cantilever type hacking machine for realize the transportation of battery between trade electrical equipment and the storehouse of charging, include:

the lifting tower comprises a frame 2 and a lifting mechanism 3 arranged on the frame 2, wherein a cantilever 4 driven by the lifting mechanism 3 is arranged on the lifting mechanism 3, and the cantilever 4 protrudes out of the frame 2;

the transfer mechanism 1 drives the lifting tower to move in the horizontal direction;

conveying mechanism 5 sets up on cantilever 4 for bear and carry the battery, conveying mechanism 5 is along with lifting tower horizontal migration under the drive that moves mechanism 1, just conveying mechanism 5 carries the direction of battery and moves the moving direction of moving mechanism 1 perpendicularly, conveying mechanism 5 can two positive and negative direction movements, all can carry the battery to conveying mechanism 5's both sides.

The cantilever type stacker crane of the embodiment improves the structure of the existing stacker crane, a cantilever type bracket is arranged on a lifting tower at one side, the protruding direction of a cantilever 4 is the same as the moving direction of a transfer mechanism 1, a conveying mechanism 5 is arranged on the cantilever 4, the conveying direction of the conveying mechanism 5 is vertical to the extending direction of the cantilever 4, so that a battery placed on the cantilever 4 can move towards three directions in space under the driving of the transfer mechanism 1 and the conveying mechanism 5, in the three-dimensional space layout, the cantilever type stacker crane realizes horizontal and lifting movement on a plane through the transfer mechanism 1 and the lifting mechanism 3, and then realizes vertical movement of the plane through the conveying mechanism 5 arranged on the protruding cantilever 4, because the conveying mechanism 5 can move in two directions, namely conveying spaces are formed at two sides of the plane, compare in current double armed formula hacking machine, can surround cantilever type hacking machine and carry out the overall arrangement to the charging station in three directions in space.

Example 1

Referring to fig. 2, one layout of the cantilever stacker of the present invention in a charging station is:

charging bins are arranged on two sides of the transfer mechanism 1, the length of each charging bin is the same as the extension length of the transfer mechanism 1, the height of each charging bin is the same as the height of the lifting tower, a plurality of charging positions for charging batteries are arranged in each charging bin, and the batteries are charged in the charging positions; along the extending direction of the transfer mechanism 1, one end of the transfer mechanism 1 is provided with a battery replacement device, the replacement of the electric automobile battery is completed in the battery replacement device, and a manual maintenance detection channel is reserved at the other end of the transfer mechanism 1;

according to the layout mode, the transfer process of the battery pack in the battery changing station is as follows:

firstly, driving an electric automobile above a battery replacing device, and detaching a battery through the battery replacing device, wherein the transfer mechanism 1 drives the lifting tower to move towards the direction close to the battery replacing device, the lifting tower moves to one end closest to the battery replacing device, the cantilever 4 drives the conveying mechanism to be in butt joint with the battery replacing device, and the battery replacing device places the detached battery on the conveying mechanism 5;

secondly, the lifting tower is driven to move by the transfer mechanism 1, the cantilever 4 is driven to move by the lifting mechanism 3, so that the battery is driven to move to one side corresponding to the hollow charging position of the charging bin, the battery is conveyed to the charging position by the conveying mechanism 5, and the disassembled battery is charged at the charging position;

and finally, the lifting tower is driven to move by the transfer mechanism 1, the cantilever 4 is driven to move by the lifting mechanism 3, the cantilever 4 is driven to move to a charging position where a full-charge battery is arranged in the charging bin, the full-charge battery is moved out of the charging position by the conveying mechanism 5, the full-charge battery is conveyed to the battery replacing equipment by the matching of the transfer mechanism 1 and the lifting mechanism 3, and the full-charge battery is installed on the electric automobile in the battery replacing equipment.

Adopt the overall arrangement mode of this embodiment to carry out the new layout to the spatial distribution in power switching station, the cantilever type hacking machine of this embodiment can remove to three direction, all set up the storehouse of charging in the direction of wherein two symmetries, it trades electrical equipment to set up in an solitary direction, thereby make the space utilization more reasonable, when reducing the hacking machine size, can also further reduce the area who trades the power station, realize trading the miniaturization in power switching station, and can also reserve artifical maintenance detection channel, make things convenient for the staff to detect the inside operation of charging station, it can maintain and detect the mechanism in the lifting tower to move to one side that is close to artifical maintenance detection channel when lifting tower, when lifting tower moves to one side that is close to trading electrical equipment, can maintain and detect in shifting mechanism and the storehouse of charging.

Example 2

Referring to fig. 3, another layout of the cantilevered palletizer of the present invention in a charging station is:

charging bins are arranged on two sides of the transfer mechanism 1, the length of each charging bin is the same as the extension length of the transfer mechanism 1, the height of each charging bin is the same as the height of the lifting tower, a plurality of charging positions for charging batteries are arranged in each charging bin, and the batteries are charged in the charging positions; the outer side of the charging bin is provided with a battery replacing device which has the same extending direction as the transfer mechanism 1, the replacement of the batteries of the electric automobile is completed in the battery replacing device, a battery transportation channel which is communicated with the stacker crane and the battery replacing device is arranged in the charging bin, and a battery transportation mechanism is arranged in the battery transportation channel;

firstly, driving an electric automobile above a battery replacing device, disassembling a battery through the battery replacing device, transferring the disassembled battery to be butted with a stacker crane through a battery transportation mechanism, driving the lifting tower to horizontally move to one side of the battery transportation mechanism by the transferring mechanism 1, driving the cantilever 4 to move to a position with the same height as the battery transportation mechanism by the lifting mechanism 3, butting the transportation mechanism 5 with the battery transportation mechanism, and placing the disassembled battery on the transportation mechanism 5 by the battery transportation mechanism;

and finally, the lifting tower is driven to move by the transferring mechanism 1, the cantilever 4 is driven to move by the lifting mechanism 3, the cantilever 4 is driven to move to a charging position where a full-charge battery is arranged in the charging bin, the full-charge battery is moved out of the charging position by the conveying mechanism 5, the full-charge battery is conveyed to be in butt joint with the battery conveying mechanism by the matching of the transferring mechanism 1 and the lifting mechanism 3, and the full-charge battery is conveyed to the battery replacing equipment by the battery conveying mechanism and is installed on the electric automobile.

The spatial distribution of the power switching station is rearranged by adopting the layout mode of the embodiment, the layout mode of the embodiment utilizes the characteristic that the cantilever type stacker crane can move in three dimensions in space, horizontal and lifting motion on a plane is realized by the transfer mechanism 1 and the lifting mechanism 3, and vertical motion of the plane is realized by the conveying mechanism 5 arranged on the protruded cantilever 4, because the conveying mechanism 5 can move in two directions, namely conveying spaces are formed on two sides of the plane, so that charging bins can be respectively arranged on two sides of the cantilever type stacker crane, and power switching equipment is arranged outside the charging bins, more possibilities are provided for the layout of the charging station, the layout mode can arrange power switching equipment on two sides of the charging bins, namely two power switching equipment are arranged in one power switching station, so that one stacker crane can realize the transportation of batteries for the power switching equipment on two sides at the same time, the efficiency of trading the power station is further improved.

Referring to fig. 4, in the two embodiments, the transfer mechanism 1 includes a transfer ground rail 11, a transfer stage 12 sliding on the transfer ground rail 11, and a transfer driving source 13 driving the transfer stage 12, and the transfer driving source 13 drives the transfer stage 12 to move along the extending direction of the transfer ground rail 11;

the transfer ground rail 11 comprises two parallel walking rails, a certain distance is reserved between the two walking rails, each walking rail is provided with a plurality of sliding blocks capable of moving along the walking rail, and two ends of the transfer platform 12 are respectively erected on the sliding blocks of the two walking rails;

the transfer driving source 13 is installed on the transfer platform 12, the transfer driving source 13 is installed between two traveling rails, the transfer driving source 13 comprises a body and an output end, the body is fixed on the transfer platform 12, the output end penetrates through the transfer platform 12, a rack is arranged on the edge of the transfer platform rail 11, and the output end of the transfer driving source 13 is a gear meshed with the rack; when the gear is meshed and matched with the rack, the transfer driving source 13 provides driving force for an output end to drive the gear to rotate, so that the gear can move along the extension direction of the rack, and the transfer platform 12 connected with the gear can be driven to synchronously move through the gear;

specifically, the transfer driving source 13 further includes a controller and an encoder, which can control the position, speed and direction of the transfer driving source to move the transfer platform 12, and can drive the transfer platform 12 to move to a specified position according to manual operation or system intelligent operation.

Specifically, in other embodiments, the transfer mechanism 1 may also adopt other driving methods, such as a linear motor, a screw rod drive, an air cylinder drive, etc., as long as it can drive the lifting tower to move horizontally.

Referring to fig. 5, since the lifting tower in the present invention is high, in the process of driving the frame 2 to move by the moving platform 12, in order to prevent the frame 2 from swinging, the moving mechanism 1 of the present embodiment further includes a moving sky rail 14, the moving sky rail 14 and the moving earth rail 11 are correspondingly disposed above the frame 2, the moving sky rail 14 and the moving earth rail 11 are disposed in parallel, the extending direction of the moving sky rail 14 is the same as the extending direction of the moving earth rail 11, guide wheels 15 clamped at both sides of the moving sky rail 14 are disposed on the frame 2, in the moving process, the guide wheels 15 move along with the frame 2, in the moving process of the guide wheels 15, the moving sky rail 14 passes through the two guide wheels 15, and limits the guide wheels 15 at both sides, thereby limiting the frame 2; the transfer top rail 14 is engaged with the transfer ground rail 11, so that the frame 2 is prevented from swinging during movement, and a certain restraining force is provided to the frame 2 above the frame 2, so that the stress on the connection between the frame 2 and the transfer stage 12 is reduced, and the connection between the frame 2 and the transfer stage 12 is more stable.

In the above two embodiments, since the suspension arm 4 protruding from the frame 2 is disposed on the frame 2, and the suspension arm 4 is used for carrying the battery, the position of the center of gravity of the frame 2 is not at the center point of the frame 2, but is close to the suspension arm 4 relative to the center point, and the center of gravity of the whole frame 2 is shifted toward the suspension arm 4, and in order to balance the center of gravity, two measures are adopted to return the center of gravity to the position of the center point of the frame 2:

1. the length of the transfer platform 12 on the transfer ground rail 11 is prolonged

The length of the transfer platform 12 extending along the transfer ground rail 11 is greater than the length of the frame 2 arranged on the transfer platform 12, and referring to fig. 1, the position of the frame 2 is further described, one end of the frame 2 is arranged in alignment with the transfer platform 12, that is, the left side of the frame 2 is aligned with the left side of the transfer platform 12, and the other end of the transfer platform 12 extends in the direction in which the cantilever 4 extends relative to the frame 2, that is, the right side of the transfer platform 12 is longer than the right side of the frame 2, so that the contact area between the transfer platform 12 and the transfer ground rail 11 is increased, and the bottom of the frame 2 extends to the cantilever 4 side in the horizontal direction to ensure the stability of the frame 2;

2. a weight is arranged in the frame 2 and is balanced with the cantilever 4

In this embodiment, just set up electric cabinet 6 in frame 2, electric cabinet 6 can play the balanced effect of heavy object on the one hand, and on the other hand hides electric cabinet 6 and sets up in frame 2, can not influence the size of whole hacking machine, makes the inside space utilization of hacking machine more reasonable.

Referring to fig. 6, the lifting mechanism 3 includes:

the lifting guide rail 31 is arranged on the side wall of the frame 2, and the lifting guide rail 31 is arranged along the vertical extending direction of the frame 2;

a sprocket 32 including an upper sprocket and a lower sprocket respectively provided at upper and lower ends of the frame 2;

the chain 33 is sleeved on the upper chain wheel and the lower chain wheel and meshed with the upper chain wheel and the lower chain wheel to form a closed loop structure;

the lifting platform 34 is arranged on the lifting guide rail 31 in a sliding mode, and the lifting platform 34 is connected with the chain 33;

a lifting driving source 35 for driving the chain wheel 33 to rotate;

the specific motion process of the lifting mechanism 3 is as follows:

the lifting driving source 35 provides driving force for the chain wheels 32, that is, the lifting driving source 35 is connected with one of the upper chain wheel or the lower chain wheel to drive the upper chain wheel or the lower chain wheel to rotate, because the chain 33 is meshed with the upper chain wheel and the lower chain wheel, the chain 33 can be driven to move in the rotating process of one chain wheel 32 and transmits the rotation to the other chain wheel 32, the chain 33 moves, so that the lifting table 34 connected with the chain 33 is driven to move in the direction of the upper chain wheel or the lower chain wheel on the lifting guide rail 31, and the lifting action of the lifting table 34 is realized.

In this embodiment, in order to support the conveying mechanism 5 more stably, the lifting mechanism 3 includes two sets of lifting guide rails 31, two sets of chain wheels 32, two sets of chains 33 and two sets of lifting platforms 34, the two sets of lifting guide rails 31 are respectively disposed on the side walls of two corresponding surfaces of the frame 2, the two sets of lifting platforms 34 respectively slide on the two sets of lifting guide rails 31, the two sets of chain wheels 32 are also correspondingly disposed on two corresponding surfaces of the frame 2, and the two sets of chains 33 are respectively sleeved on the two sets of chain wheels 32, in this embodiment, the conveying mechanism 5 is supported by the two sets of lifting platforms 34, in order to ensure that the conveying mechanism 5 can be horizontally disposed relatively, it is necessary to ensure that the two sets of lifting platforms 34 have the same height and the two sets of lifting platforms 34 can move synchronously, so that the two sets of lifting platforms 34 are disposed at the same positions of the two sets of chains 33, a cantilever is disposed on the lifting platforms, one end of the cantilever is disposed on the lifting guide rails, the other end is suspended and extends out; the extending end of the cantilever is provided with a connecting piece 37 to connect the cantilevers at the two sides, so that the two cantilevers can synchronously lift up and down; the cantilever extending end is also used for installing a conveying mechanism, and because the conveying mechanism is installed in a hanging mode, the modes of butt joint of batteries can be various, and the two groups of chain wheels 32 rotate synchronously, so that the initial positions of the two groups of lifting platforms 34 are the same, and the moving directions and speeds are the same;

specifically, in order to guarantee that two sets of sprockets 32 can rotate in step, set up two sets of sprockets 32 and drive the rotation by same lift driving source 35, it is two sets of sprocket 32 passes through synchronizing bar 36 and connects, and is two sets of sprocket 32 overlaps respectively and establishes at the both ends of synchronizing bar 36, be provided with drive gear on the synchronizing bar 36, lift driving source 35's output is connected with drive gear meshing or drives through drive chain drive gear rotates, realizes driving two sets of sprocket 32 synchronous rotation by same drive source 35 that falls.

Specifically, the lifting platform 34 is connected to the cantilever 4, and since only one end of the cantilever 4 is connected to the lifting platform 32 and the cantilever 4 is used for bearing a heavy object, the cantilever 4 is mounted on the lifting platform 32 by a plurality of reinforcing ribs in order to ensure the stability of the connection between the cantilever 4 and the lifting platform 32.

Referring to fig. 7, the lifting mechanism 3 further includes a laser sensor 21 disposed on the frame 2 and used for detecting along the horizontal direction and the vertical direction, and the laser sensor 21 monitors the lifting position of the lifting table 34 and the horizontal moving position of the frame 2 in real time, so that closed-loop control of the position of the cantilever 4 in the vertical moving direction and the horizontal moving direction can be realized, and the position accuracy of the battery taking and delivering of the conveying mechanism 5 is ensured.

Specifically, chain 33 cover is established and is formed the loop structure on last sprocket and lower sprocket, forms two chains 33 in vertical direction, elevating platform 34 and one of them chain 33 fixed connection, and at the in-process that chain 33 drove elevating platform 34 and removes like this, with one side chain 33 tensioning of elevating platform 34 fixed connection, not with one side chain 33 of elevating platform 34 fixed connection not become flexible beat pendulum, in order to avoid this condition still be provided with chain guide block 22 on the frame 2, the guide slot has been seted up on the chain guide block 22, does not set up in the guide slot with elevating platform 34 fixed connection chain 33, carries out spacing direction to its position through chain guide block 22, prevents that chain 33 from becoming flexible beat pendulum, makes elevating platform 34 can steadily go up and down.

Referring to fig. 8, a battery in-place detection mechanism 7 higher than the cantilever is arranged on the lifting table 34, the battery in-place detection mechanism 7 includes a battery in-place detection sensor 71 and a battery over-position detection sensor 72, the battery in-place detection sensor 71 is used for detecting whether a battery is placed on the cantilever 4, in this embodiment, the battery in-place detection sensor 71 is arranged on one side of the cantilever, and when the battery in-place detection sensor 71 detects the battery, it is described that the battery is placed in place; the battery excess position detection sensor 72 is arranged outside the battery in-place detection sensor 71, the battery excess position detection sensors 72 are arranged on two sides of the cantilever 4, when the battery excess position detection sensor 72 on any side detects a battery, the battery is not placed in place, the position of the battery protrudes out of the cantilever 4, the battery can collide with charging bins on two sides of the stacker crane in the horizontal moving process, at the moment, the stacker crane cannot move, the position of the battery needs to be adjusted again, and the battery cannot be detected by the battery excess position detection sensor 72 on any side.

Referring to fig. 9, in the two embodiments, the conveying mechanism 5 is in the form of a fork, the conveying mechanism 5 includes a conveying slide rail 51, a conveying table 52 moving along the conveying slide rail 51, and a conveying driving source 53 driving the conveying table 52 to move, a rack is provided at the bottom of the conveying table 52, a gear engaged with the rack is provided at an output end of the conveying driving source 53, and the conveying table 52 can be driven to move towards both sides by changing the rotation direction of the conveying driving source 53;

specifically, in this embodiment, a plurality of sets of parallel conveying slide rails 51 and conveying tables 52 are disposed on the cantilever 4, and the plurality of sets of conveying tables 52 are driven by the same conveying driving source 53 to synchronously slide on the plurality of sets of conveying slide rails 51.

Preferably, in order to extend the conveying distance of the conveying table, the conveying table 52 of this embodiment includes a first sliding table and a second sliding table which are sleeved in a double layer, the second sliding table slides on the conveying slide rail 51, the first sliding table slides on the second sliding table, the second sliding table slides on the conveying slide rail 51 under the driving of the conveying driving source 53, and the first sliding table slides on the second sliding table, so that the conveying distance of the conveying table 52 is twice the length of the conveying table 52.

In other embodiments, the conveying mechanism 5 may adopt other conveying manners, such as: conveyer belt, link joint transfer chain, roller line etc. as long as can realize the horizontal transportation of battery.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. The utility model provides a cantilever type hacking machine for realize the battery and trade the transportation between electric equipment and the storehouse of charging, its characterized in that includes:

the conveying mechanism is arranged on the cantilever and used for bearing and conveying the batteries, the conveying mechanism moves horizontally along with the lifting tower under the driving of the transfer mechanism, and the direction of conveying the batteries by the conveying mechanism is perpendicular to the moving direction of the transfer mechanism.

2. The cantilevered palletiser of claim 1, wherein: the transfer mechanism comprises a transfer ground rail, a transfer platform sliding on the transfer ground rail and a transfer driving source driving the transfer platform, the transfer driving source is installed on the transfer platform, a rack is arranged on the edge of the transfer ground rail, and the output end of the transfer driving source is a gear meshed with the rack.

3. The cantilevered palletiser of claim 2, wherein: the frame is arranged on the transfer platform, the extension length of the transfer platform along the transfer ground rail is greater than the length of the frame arranged on the transfer platform, one end of the frame is aligned with the transfer platform, and the other end of the transfer platform extends out in the cantilever extending direction relative to the frame.

4. A cantilevered palletiser according to claim 2, wherein: the transferring mechanism further comprises a transferring sky rail, the transferring sky rail and the transferring ground rail are correspondingly arranged above the lifting tower, and guide wheels clamped on two sides of the transferring sky rail are arranged on the lifting tower.

5. The cantilevered palletiser of claim 1, wherein: the lifting mechanism comprises:

the chain wheels comprise an upper chain wheel and a lower chain wheel which are respectively arranged at the upper end and the lower end of the frame;

and the lifting driving source drives the chain wheel to rotate.

6. The cantilevered palletiser of claim 5, wherein: the lifting mechanism further comprises a laser sensor which is arranged on the frame and is used for detecting along the horizontal direction and the vertical direction, the laser sensor monitors the lifting position of the lifting platform and the horizontal moving position of the frame in real time and compares the lifting position with the walking value of the lifting driving source, and the position accuracy of the battery taking and delivering of the conveying mechanism is guaranteed.

7. The cantilevered palletiser of claim 5, wherein: the lifting platform is provided with a battery in-place detection mechanism higher than the cantilever, and the battery in-place detection mechanism comprises a battery in-place detection sensor and a battery over-position detection sensor.

8. The cantilevered palletiser of claim 5, wherein: a cantilever is arranged on the lifting platform, one end of the cantilever is arranged on the lifting guide rail, and the other end of the cantilever is suspended and extends out; the extending end of the cantilever is provided with a connecting piece to connect the cantilevers at the two sides, so that the two cantilevers can synchronously lift up and down; the cantilever extends the end and still is used for installing conveying mechanism, because of conveying mechanism is for hanging out the installation, and the butt joint battery mode can be various.

9. The cantilevered palletiser of claim 1, wherein: the electric control box is arranged in the frame, related control components and parts on the stacker crane and sensor signals are integrated in the electric control box, and the electric control box and the battery replacement station are connected through a signal wire and a power wire, so that cable laying is reduced.

10. The cantilevered palletiser of claim 1, wherein: the conveying mechanism comprises a conveying slide rail, a conveying platform moving along the conveying slide rail and a conveying driving source driving the conveying platform to move, a rack is arranged at the bottom of the conveying platform, and a gear meshed with the rack is arranged at the output end of the conveying driving source; the conveying table comprises a first sliding table and a second sliding table which are sleeved in a double-layer mode, the second sliding table slides on the conveying sliding rail, and the first sliding table slides on the second sliding table.