CN115489491B - Mobile station battery replacement operation robot - Google Patents
Mobile station battery replacement operation robot Download PDFInfo
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- CN115489491B CN115489491B CN202211451914.0A CN202211451914A CN115489491B CN 115489491 B CN115489491 B CN 115489491B CN 202211451914 A CN202211451914 A CN 202211451914A CN 115489491 B CN115489491 B CN 115489491B
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- mechanical arm
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- guide rail
- semitrailer
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- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 238000010030 laminating Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- 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
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- 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)
- Power Engineering (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of new energy automobile battery replacement, in particular to a mobile station battery replacement robot, which comprises a semi-trailer, a linear limiting unit arranged on the semi-trailer, a battery replacement robot arranged on the linear limiting unit and a monitoring room arranged at the front end of the semi-trailer, wherein the battery replacement robot comprises a driving unit, the driving unit is used for enabling the battery replacement robot to move on the linear limiting unit, the moving direction of the battery replacement robot is consistent with the length direction of the semi-trailer, the battery replacement robot comprises a supporting frame, a lift car, double extending mechanical arms, a lifting unit and a control unit, and the servo electric cylinder of the scheme is used for controlling the arrangement of the up-and-down movement of the lift car, so that the effect of more accurate and stable control of the up-and-down movement of the lift car can be achieved.
Description
Technical Field
The invention relates to the field of battery replacement of new energy automobiles, in particular to a mobile station battery replacement operating robot.
Background
The battery replacement technology is a new charging solution provided for overcoming the problem of charging efficiency in the field of new energy automobiles, and the principle of the battery replacement technology is that a batch of battery replacement stations are built firstly, when a new energy automobile needs to be charged, the automobile is driven into the battery replacement stations, the batteries of the automobile are detached by the battery replacement stations through a series of automatic systems and then replaced by fully charged batteries, and the detached batteries are directly placed in the battery replacement stations for charging so as to be used when other automobiles replace the batteries.
Disclosure of Invention
The invention aims to provide a mobile station electric switching operation robot to solve the problems in the prior art.
The technical purpose of the invention is realized by the following technical scheme:
a mobile station electric replacing operation robot comprises a semi-trailer, a linear limiting unit arranged on the semi-trailer, an electric replacing robot arranged on the linear limiting unit and a monitoring room arranged at the front end of the semi-trailer, wherein the electric replacing robot comprises a driving unit, the driving unit is used for enabling the electric replacing robot to move on the linear limiting unit, the moving direction of the electric replacing robot is consistent with the length direction of the semi-trailer, the electric replacing robot comprises a supporting frame, a car, two extending mechanical arms, a lifting unit and a control unit, the control unit is arranged at the top end of the supporting frame, four corners of the supporting frame are respectively provided with a vertically placed linear guide rail, four corners of the car are respectively provided with a sliding block corresponding to the linear guide rail, the linear guide rail limits the upper and lower moving directions of the car through the sliding blocks, the lifting unit comprises a first servo electric cylinder and a second servo electric cylinder, the first servo electric cylinder and the second servo electric cylinder are symmetrically arranged at the bottom end of the supporting frame, the first servo electric cylinder and the second servo electric cylinder are hinged with the car through a telescopic rod, the connecting rod drives the electric motor, and the connecting rod drives the electric motor to rotate through the output shaft of the supporting frame, and the roller wheel driving motor, and the roller wheel of the roller wheel driving unit is connected with the roller wheel;
the two extending mechanical arms are fixedly mounted on the car, the lifting unit is used for controlling the car to move up and down, the two extending mechanical arms are used for grabbing objects and enabling the objects to move along the width direction of the semitrailer, the two extending mechanical arms comprise a power unit, a first mechanical arm, a second mechanical arm and a third mechanical arm, the first mechanical arm is fixedly mounted on the car, the second mechanical arm is slidably mounted at the bottom end of the first mechanical arm, the third mechanical arm is slidably mounted at the bottom end of the second mechanical arm, the sliding directions of the first mechanical arm, the second mechanical arm and the third mechanical arm are all consistent, a groove is formed in the bottom end of the second mechanical arm, the length direction of the groove is consistent with the length direction of the second mechanical arm, and a rack is arranged in the groove, the power unit includes motor power, transmission shaft and drive gear, motor power passes through transmission shaft control drive gear and rotates, be provided with the gear train on the first arm, drive gear and gear train meshing, the gear train all with rack toothing, power unit passes through the gear train drive the second arm slides, the left and right sides of second arm all is provided with the spout, the top of third arm is provided with a plurality of cylinder sliders, each the cylinder slider is close to the terminal surface of second arm all with the spout laminating, each all be provided with the storage tank on the cylinder slider, the ball is installed to the storage tank internal rotation, the surface of ball with the spout laminating, power unit rotates through the drive ball and makes the third arm slides for the second arm.
In a further embodiment, the linear limiting unit comprises a first guide rail and a second guide rail, the first guide rail and the second guide rail are parallel to each other, the length directions of the first guide rail and the second guide rail are consistent with the length direction of a semitrailer, a gap is arranged between the first guide rail and the second guide rail, the first guide rail and the second guide rail are locked on the semitrailer through a plurality of pressing blocks uniformly arranged along the length direction of the first guide rail and the second guide rail, and the cross sections of the first guide rail and the second guide rail are both in an I shape.
In a further embodiment, a signal transmitter is arranged at the bottom end of the supporting frame, a signal receiver group is arranged on the semi-trailer and evenly arranged along the length direction of the semi-trailer, and the signal transmitter is used for being matched with the signal receiver to position the supporting frame on the semi-trailer.
In a further embodiment, a plurality of anti-rollover devices are arranged at the bottom end of the supporting frame, each anti-rollover device comprises a roller and a roller, the axis of the roller is vertically and rotatably mounted at the bottom of the supporting frame, the roller is rotatably mounted at the bottom end of the roller, and the surface of the roller is attached to the outer side surface of the first guide rail/the outer side surface of the second guide rail.
In a further embodiment, four corners of the top of the supporting frame are provided with threaded holes for mounting the lifting ring.
In a further embodiment, a plurality of telescopic legs are uniformly arranged at the bottom end of the semitrailer along the length direction of the semitrailer, and the telescopic legs are used for stably supporting the semitrailer.
In a further embodiment, the monitoring room comprises a data processing terminal and a communication unit, the data processing terminal is used for processing the data of the battery replacement robot, the communication unit is used for uploading the working data of the battery replacement robot to the cloud platform, a human-computer interaction unit and a temperature adjusting unit are further arranged inside the monitoring room, a safety guarantee unit is further arranged inside the monitoring room, and the safety guarantee unit is used for guaranteeing the safe operation of the battery replacement robot.
In a further embodiment, the safety guarantee unit comprises a proximity sensor and an alarm system, the proximity sensor is used for finding an object close to the battery replacing robot in the working process of the battery replacing robot, and the alarm system is used for giving an alarm and enabling the battery replacing robot to return to a safe position when the distance between the object close to the battery replacing robot and the object is smaller than a safe distance.
In conclusion, the invention has the following beneficial effects:
1. a mobile station electric-replacing operation robot controls the up-and-down movement of a lift car through a servo electric cylinder, and can achieve the effect of controlling the up-and-down movement of the lift car to be more accurate and stable;
2. the double-extending mechanical arm of the mobile station battery replacement working robot has the advantages that the effect of enabling the mechanical arm to slide more stably and reliably can be achieved through the arrangement of the power unit, the gear set and the rack;
3. a mobile station battery replacing operation robot is provided with a signal transmitter at the bottom end of a supporting frame and a signal receiver group on a semi-trailer, so that the battery replacing operation robot can achieve the effects of accurate positioning, fast forward/industrial advance on the semi-trailer;
4. the utility model provides a mobile station trades electric working robot's monitor can play the staff anytime and anywhere and look over the effect of trading electric robot behavior through data processing terminal and communication unit's setting.
Drawings
FIG. 1 is a schematic view of a partial structure of the present invention;
FIG. 2 is an enlarged schematic view of a dual reach robot arm embodying the present invention;
FIG. 3 is a schematic top view of a linear spacing unit for embodying the present invention;
FIG. 4 is a schematic view of the overall structure of the present invention;
fig. 5 is a schematic perspective view of a linear stop unit for the top of a semitrailer embodying the present invention;
FIG. 6 is an enlarged schematic view of a linear spacing unit for embodying the present invention;
FIG. 7 is a perspective view of a guide rail for a swapping robot embodying the present invention;
fig. 8 is a schematic view of the entire structure of a swapping robot embodying the present invention.
In the figure, 1, a semitrailer; 2. a linear limiting unit; 3. a battery replacement robot; 4. a monitoring room; 5. a rack; 6. a power motor; 7. a gear set; 8. a cylindrical slider; 9. a ball bearing; 11. a signal receiver group; 21. a first guide rail; 22 a second guide rail; 31. a drive unit; 311. an electric motor; 312. a connecting rod; 32. a support frame; 321. a roller; 33. a car; 34. a double-extension mechanical arm; 341. a power unit; 342. a first robot arm; 343. a second robot arm; 344. a third mechanical arm; 35. a lifting unit; 351. a first servo electric cylinder; 352. a second servo electric cylinder; 36. a control unit; 37. a linear guide rail; 38. a slide block.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In which like parts are designated by like reference numerals. It should be noted that the terms "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in fig. 1, the terms "bottom" and "top", "inner" and "outer" refer to directions toward and away from a particular component geometry, respectively, and the terms "first" and "second" 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" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present specification, "plurality" means two or more unless the direction of the center is specifically defined otherwise.
Example 1:
as shown in fig. 1-8, a mobile station electric replacing operation robot comprises a semi-trailer 1, a linear limiting unit 2 arranged on the semi-trailer 1, an electric replacing robot 3 arranged on the linear limiting unit 2, and a monitoring room 4 arranged at the front end of the semi-trailer 1, wherein the electric replacing robot 3 comprises a driving unit 31, the driving unit 31 is used for enabling the electric replacing robot 3 to move on the linear limiting unit 2, and the moving direction of the electric replacing robot 3 is consistent with the length direction of the semi-trailer 1.
In this embodiment, four corners at the top of the semitrailer 1 are each provided with a limiting frame, and one end of each limiting frame, which is close to the vertical axis of the battery replacement robot 3, is provided with a limiting sleeve.
In this embodiment, the swapping robot 3 includes a supporting frame 32, a car 33, a double-extension mechanical arm 34, a lifting unit 35, and a control unit 36, the control unit 36 is disposed at a top end of the supporting frame 32, four corners of the supporting frame 32 are each provided with a vertically-disposed linear guide rail 37, four corners of the car 33 are each provided with a slider 38 corresponding to the linear guide rail 37, the linear guide rails 37 define an up-and-down moving direction of the car 33 through the sliders 38, the lifting unit 35 includes a first servo electric cylinder 351 and a second servo electric cylinder 352, the first servo electric cylinder 351 and the second servo electric cylinder 352 are symmetrically mounted at a bottom end of the supporting frame 32, telescopic rods of the first servo electric cylinder 351 and the second servo electric cylinder 352 are each hinged to the car 33 through a support lug, the driving unit 31 includes a motor 311 and a connecting rod 312, each of the bottom end of the supporting frame 32 is provided with a roller 321, an output shaft of the motor 311 of the driving unit 31 is connected to each roller 321 at a rear side of the bottom end of the supporting frame 32 through the connecting rod 312, and the motor 311 is configured to drive the roller 321 to rotate through the connecting rod 312.
In this embodiment, in order to ensure that when the lifting unit 35 does not work, the car 33 of the electric swapping robot 3 is placed when not supported by power, the following further scheme is adopted in this embodiment: four limit posts are bolted at four corners of the bottom end of the supporting frame 32, limit sleeves are arranged at the tops of the limit posts, and the car 33 can descend to be supported by the limit sleeves when the lifting unit 35 does not work.
In the present embodiment, in order to prevent the slipping caused by the excessively high speed of the swapping robot 3 during movement, the present embodiment adopts the following further scheme: an output shaft of the motor 311 is connected with a reduction gearbox, and the reduction gearbox can control the moving speed of the battery replacement robot 3 on the linear limiting unit 2.
Second, the connecting rod 312 is composed of two short shafts connected to both ends of a long shaft through a universal shaft.
In this embodiment, the linear limiting unit 2 includes a first guide rail 21 and a second guide rail 22, the first guide rail 21 and the second guide rail 22 are parallel to each other, the length directions of the first guide rail 21 and the second guide rail 22 are the same as the length direction of the semitrailer 1, an interval is provided between the first guide rail 21 and the second guide rail 22, the first guide rail 21 and the second guide rail 22 are both locked on the semitrailer 1 by a plurality of pressing blocks uniformly arranged along the length direction thereof, and the cross sections of the first guide rail 21 and the second guide rail 22 are both i-shaped.
In this embodiment, the positioning of the swapping robot 3 is required to be accurate when the swapping robot is parked, and in order to achieve this purpose, the following further scheme is adopted in this embodiment: the bottom of braced frame 32 is provided with signal transmitter, is provided with signal receiver group 11 on the semitrailer 1, and signal receiver group 11 evenly sets up along the length direction of semitrailer 1, and signal transmitter is used for fixing a position of braced frame 32 on semitrailer 1 with the cooperation of signal receiver.
In this embodiment, the control unit 36 is connected to the swapping robot 3 through a towline, and the signal receiver group 11 is connected to the control unit 36 through a towline, where the towline is used to protect internal circuits of the swapping robot in the power station.
In this embodiment, the monitoring room 4 is required to be capable of controlling the operation of the swapping robot 3 and monitoring the status of the swapping robot 3, and to achieve this purpose, the following further scheme is adopted in this embodiment: the monitoring room 4 comprises a data processing terminal and a communication unit, the data processing terminal is used for processing the data of the battery replacing robot 3, the communication unit is used for uploading the working data of the battery replacing robot 3 to the cloud platform, a human-computer interaction unit and a temperature adjusting unit are further arranged inside the monitoring room 4, a safety guarantee unit is further arranged inside the monitoring room 4, and the safety guarantee unit is used for guaranteeing the safe operation of the battery replacing robot 3.
Secondly, the safety guarantee unit comprises a proximity sensor and an alarm system, the proximity sensor is used for finding an object close to the battery replacing robot 3 in the working process of the battery replacing robot 3, and the alarm system is used for giving an alarm and enabling the battery replacing robot 3 to return to a safe position when the distance between the object close to the battery replacing robot 3 is smaller than a safe distance.
In this embodiment, in order to ensure the stability and safety of the semitrailer 1 when parked, the following further scheme is adopted in this embodiment: the bottom of semitrailer 1 evenly is provided with a plurality of telescopic leg 12 along the length direction of semitrailer 1, and a plurality of telescopic leg 12 are in the same with outrigger semitrailer 1.
In the present embodiment, in order to prevent the electrical swapping robot 3 from tilting during operation, the following further scheme is adopted in the present embodiment: the bottom end of the supporting frame 32 is provided with a plurality of anti-rollover devices, each anti-rollover device comprises a roller and a roller, the axis of each roller is vertically and rotatably installed at the bottom of the supporting frame 32, each roller is rotatably installed at the bottom end of each roller, and the surface of each roller is attached to the outer side surface of the first guide rail 21/the outer side surface of the second guide rail 22.
In the present embodiment, it is required that the charging robot 3 can be lifted, and to achieve this purpose, the present embodiment adopts the following further scheme: four corners at the top of the support frame 32 are provided with threaded holes for mounting the lifting ring 39.
In this embodiment, the double-extension mechanical arm 34 is fixedly mounted on the car 33, the lifting unit 35 is used for controlling the car 33 to move up and down, the double-extension mechanical arm 34 is used for grabbing an object and moving the object along the width direction of the semitrailer 1, the double-extension mechanical arm 34 includes a power unit 341, a first mechanical arm 342, a second mechanical arm 343 and a third mechanical arm 344, the first mechanical arm 342 is fixedly mounted on the car 33, the second mechanical arm 343 is slidably mounted at the bottom end of the first mechanical arm 342, the third mechanical arm 344 is slidably mounted at the bottom end of the second mechanical arm 343, the sliding directions of the first mechanical arm 342, the second mechanical arm 343 and the third mechanical arm 344 are all the same, the bottom end of the second mechanical arm 343 is provided with a groove, the length direction of the groove is the same as the length direction of the second mechanical arm 343, a rack 5 is arranged in the groove, the power unit 341 comprises a power motor 6, a transmission shaft and a transmission gear, the power motor 6 controls the transmission gear to rotate through the transmission shaft, a gear set 7 is arranged on the first mechanical arm 342, the transmission gear is meshed with the gear set 7, the gear set 7 is meshed with the rack 5, the power unit 341 drives the second mechanical arm 343 to slide through the gear set 7, sliding grooves are formed in the left side and the right side of the second mechanical arm 343, a plurality of cylindrical sliders 8 are arranged at the top end of the third mechanical arm 344, the end face, close to the second mechanical arm 343, of each cylindrical slider 8 is attached to the sliding groove, an accommodating groove is formed in each cylindrical slider 8, a ball 9 is rotatably installed in the accommodating groove, the surface of each ball 9 is attached to the sliding groove, and the power unit 341 drives the ball 9 to rotate to enable the third mechanical arm 344 to slide relative to the second mechanical arm 343.
In the present embodiment, the ball 9 of the third robot arm 344 controls the rotation of the ball 9 by mounting a ball motor.
Next, a walking tow chain is provided on the left end surface of the third mechanical arm 344, and a wire for controlling the rotation of the ball 9 by a ball motor is provided inside the walking tow chain.
In this embodiment, the bottom of the supporting frame 32 is provided with the positioning module, the positioning module is used for positioning the battery pack, positioning plugs are uniformly distributed on the top of the positioning module, the length of each positioning plug is short, so that the height of the battery pack can be raised without being too high, the height of the battery replacement robot 3 cannot exceed the limited height of highway transportation, and the battery replacement robot 3 can be transported in a highway transportation mode.
The specific implementation process comprises the following steps: when a truck battery pack needs to be replaced, the motor 311 starts to work, the electric swapping robot 3 is moved to a specified position, when the electric swapping robot 3 moves, an operator can observe the position of the electric swapping robot 3 in the monitoring room 4 through the mutual matching of the signal receiver group and the signal transmitter, when the electric swapping robot 3 reaches the specified position, the first servo electric cylinder 351 and the second servo electric cylinder 352 start to work, the car 33 is lifted, the power motor 6 starts to work after the car 33 is lifted to the suitable position, after the second mechanical arm 343 is moved to the specified position, the ball motor in the third mechanical arm 344 starts to work, the ball 9 slides the third mechanical arm 344 into the top handle of the battery pack, the lifting unit 35 lifts the car 33 again, the battery pack is pulled out, and the bidirectional movement of the double-extending mechanical arms can be realized by controlling the forward and reverse rotation of the power motor 6.
In the embodiments of the present disclosure, the terms "mounting," "connecting," "fixing," and the like are used in a broad sense, for example, "connecting" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the disclosed embodiments of the invention can be understood by those of ordinary skill in the art as appropriate.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (7)
1. The utility model provides a mobile station trades electric work robot, includes semitrailer (1), sets up sharp spacing unit (2) on semitrailer (1), sets up trades electric robot (3) on sharp spacing unit (2) and sets up monitor (4) at the front end of semitrailer (1), trade electric robot (3) including drive unit (31), drive unit (31) are used for making trade electric robot (3) move on sharp spacing unit (2), the moving direction of trading electric robot (3) is unanimous with the length direction of semitrailer (1), its characterized in that: the electric replacing robot (3) comprises a supporting frame (32), a car (33), double-extending mechanical arms (34), a lifting unit (35) and a control unit (36), wherein the control unit (36) is arranged at the top end of the supporting frame (32), four corners of the supporting frame (32) are respectively provided with a vertically placed linear guide rail (37), four corners of the car (33) are respectively provided with a sliding block (38) corresponding to the linear guide rail (37), the linear guide rails (37) limit the upward and downward moving directions of the car (33) through the sliding blocks (38), the lifting unit (35) comprises a first servo electric cylinder (351) and a second servo electric cylinder (352), the first servo electric cylinder (351) and the second servo electric cylinder (352) are symmetrically arranged at the bottom end of the supporting frame (32), telescopic rods of the first servo electric cylinder (351) and the second servo electric cylinder (352) are respectively hinged with the car (33) through support lugs, the driving unit (31) comprises a motor (311) and a connecting rod (312), the bottom ends of the connecting rod (32) of the supporting frame (32) are respectively provided with output shafts (321) of the roller wheels (311), and the supporting frame (321) is connected with the bottom ends of the roller wheels (321), the motor (311) is used for driving the roller (321) to rotate through the connecting rod (312), the bottom end of the supporting frame (32) is provided with a signal transmitter, the semi-trailer (1) is provided with a signal receiver group (11), the signal receiver group (11) is uniformly arranged along the length direction of the semi-trailer (1), and the signal transmitter is used for being matched with the signal receiver to position the position of the supporting frame (32) on the semi-trailer (1);
the double-extension mechanical arm (34) is fixedly installed on the car (33), the lifting unit (35) is used for controlling the car (33) to move up and down, the double-extension mechanical arm (34) is used for grabbing objects and enabling the objects to move along the width direction of the semitrailer (1), the double-extension mechanical arm (34) comprises a power unit (341), a first mechanical arm (342), a second mechanical arm (343) and a third mechanical arm (344), the first mechanical arm (342) is fixedly installed on the car (33), the second mechanical arm (343) is slidably installed at the bottom end of the first mechanical arm (342), the third mechanical arm (344) is slidably installed at the bottom end of the second mechanical arm (343), the sliding directions of the first mechanical arm (342), the second mechanical arm (343) and the third mechanical arm (344) are all consistent, the bottom end of the second mechanical arm (343) is provided with a groove, the length direction of the groove is consistent with the length direction of the second mechanical arm (343), a rack (5) is arranged in the groove, the power unit (341) comprises a power motor (6) and a transmission gear set (7), and the motor is engaged with the transmission gear set (7), and the motor (7) is engaged with the transmission gear set (342), the gear set (7) is meshed with the rack (5), the power unit (341) drives the second mechanical arm (343) to slide through the gear set (7), sliding grooves are formed in the left side and the right side of the second mechanical arm (343), a plurality of cylindrical sliding blocks (8) are arranged at the top end of the third mechanical arm (344), the end face, close to the second mechanical arm (343), of each cylindrical sliding block (8) is attached to the sliding grooves, an accommodating groove is formed in each cylindrical sliding block (8), a ball (9) is rotatably mounted in the accommodating groove, the surface of the ball (9) is attached to the sliding grooves, and the power unit (341) drives the ball (9) to rotate to enable the third mechanical arm (344) to slide relative to the second mechanical arm (343).
2. A mobile electric switching operation robot (3) according to claim 1, characterized in that: linear spacing unit (2) include first guide rail (21) and second guide rail (22), first guide rail (21) are parallel to each other with second guide rail (22), just first guide rail (21) with the length direction of second guide rail (22) is unanimous with the length direction of semitrailer (1), first guide rail (21) with there is the interval between second guide rail (22), first guide rail (21) with second guide rail (22) all through following a plurality of briquetting lock joints that its length direction evenly set up on semitrailer (1), first guide rail (21) with the cross section of second guide rail (22) is the I shape.
3. A mobile electric switching operation robot (3) according to claim 1, characterized in that: the bottom of braced frame (32) is provided with a plurality of devices of preventing turning on one's side, the device of preventing turning on one's side includes roller bearing and roller, the vertical rotation of roller bearing axis is installed braced frame (32)'s bottom, the roller rotates to be installed the bottom of roller bearing, the surface of roller and the lateral surface laminating of first guide rail (21)/second guide rail (22).
4. A mobile electro-mechanical working robot (3) according to claim 1, characterized by: four corners at the top of the supporting frame (32) are provided with threaded holes, and the threaded holes are used for installing lifting rings (39).
5. A mobile electric switching operation robot (3) according to claim 1, characterized in that: the bottom of semitrailer (1) evenly is provided with a plurality of flexible landing legs along the length direction of semitrailer (1), a plurality of flexible landing legs are the same as stable support semitrailer (1).
6. A mobile electric switching operation robot (3) according to claim 1, characterized in that: the monitoring room (4) comprises a data processing terminal and a communication unit, the data processing terminal is used for processing the data of the battery replacing robot (3), the communication unit is used for uploading the working data of the battery replacing robot (3) to the cloud platform, a human-computer interaction unit and a temperature adjusting unit are further arranged inside the monitoring room (4), a safety guarantee unit is further arranged inside the monitoring room (4), and the safety guarantee unit is used for guaranteeing the safe operation of the battery replacing robot (3).
7. A mobile electric switching operation robot (3) according to claim 6, characterized in that: the safety guarantee unit comprises a proximity sensor and an alarm system, the proximity sensor is used for finding an object close to the battery replacing robot (3) in the working process of the battery replacing robot (3), and the alarm system is used for giving an alarm and enabling the battery replacing robot (3) to return to a safety position when the distance between the object close to the battery replacing robot (3) is smaller than a safety distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211451914.0A CN115489491B (en) | 2022-11-21 | 2022-11-21 | Mobile station battery replacement operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN205075699U (en) * | 2015-07-31 | 2016-03-09 | 谢子聪 | Removal of changing power battery in electronic passenger car adds trolley -bus |
| CN108909501A (en) * | 2018-07-16 | 2018-11-30 | 中山市雅西环保科技有限公司 | A kind of charging station of track machine people |
| CN113932713A (en) * | 2018-09-10 | 2022-01-14 | 奥动新能源汽车科技有限公司 | Battery compartment positioning method and positioning system |
| CN213565499U (en) * | 2020-11-09 | 2021-06-29 | 中国民航大学 | Vehicle-mounted mobile battery replacement station |
| CN114311022A (en) * | 2021-12-21 | 2022-04-12 | 三一重工股份有限公司 | Multi-stage telescopic arm and battery replacement station |
| CN217197835U (en) * | 2021-12-31 | 2022-08-16 | 深圳市亿威汽车科技有限公司 | Side trades hoist and mount formula heavily blocks and trades power station |
| CN114889481A (en) * | 2022-04-26 | 2022-08-12 | 三一重型装备有限公司 | Mobile battery replacing vehicle |
| CN115230644A (en) * | 2022-04-29 | 2022-10-25 | 许继电气股份有限公司 | Hydraulic lifting belt lateral telescopic battery replacement equipment |
| CN114834340B (en) * | 2022-06-08 | 2023-05-26 | 协鑫电港云科技(海南)有限公司 | Mobile power exchange station and control method |
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