CN109436785A - A kind of electric automobile power battery haulage equipment and method for carrying - Google Patents
A kind of electric automobile power battery haulage equipment and method for carrying Download PDFInfo
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- CN109436785A CN109436785A CN201811527449.8A CN201811527449A CN109436785A CN 109436785 A CN109436785 A CN 109436785A CN 201811527449 A CN201811527449 A CN 201811527449A CN 109436785 A CN109436785 A CN 109436785A
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- power battery
- top panel
- controlling terminal
- posture
- electric automobile
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 208000004067 Flatfoot Diseases 0.000 claims abstract description 13
- 230000000712 assembly Effects 0.000 claims abstract description 13
- 238000000429 assembly Methods 0.000 claims abstract description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 10
- 230000000007 visual effect Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Abstract
The present invention relates to a kind of electric automobile power battery haulage equipment and method for carrying, including robot, for detecting the apparatus for detecting position and posture of the pose of power battery, grasping mechanism and controlling terminal, the robot, apparatus for detecting position and posture and grasping mechanism are electrically connected with the controlling terminal respectively, the movement output ends of the robot are connect with the grasping mechanism, the apparatus for detecting position and posture is fixedly installed on the grasping mechanism, the grasping mechanism includes top panel and multiple grabbing assemblies for being used to grab power battery, the outer edge of the lower surface of the top panel is equipped with multiple convex feet extended downwardly, the lower end of each convex foot is respectively connected with the grabbing assembly.A kind of electric automobile power battery haulage equipment and method for carrying provided by the invention use robot and Visual identification technology, and automatic aligning, crawl and carrying movement can be achieved at the same time, and robot manipulating task repeatability is preferable, Visual identification technology aligning accuracy is higher.
Description
Technical field
The present invention relates to the carrying fields of automobile power cell, and in particular to a kind of electric automobile power battery haulage equipment
And method for carrying.
Background technique
Power battery pack is one of most important part on pure electric automobile, and weight is big, and the area of plane is big, is covered with substantially
Entire chassis region, the carrying of battery pack are more difficult.Currently, Guangzhou Automobile Workshop's Honda has developed first item pure electric vehicle vehicle,
Maximum change point is to use high capacity cell as its power source, which reaches 430kg, length × width × height 1867
×1404×280mm。
Traditional mode of transport is using manual operation power assistive device scheme, and it is accurate that the program operates accessory contraposition to personnel
Degree requires height, and slightly deviation is just difficult to clamp battery, while fixture is heavier, and employee's operating difficulties, fixture is fallen or equipment is different
It is corresponding difficult when often.
Summary of the invention
The present invention provides a kind of electric automobile power battery haulage equipment and method for carrying, use robot and vision
Automatic aligning, crawl and carrying movement, the repeated preferable, Visual identification technology of robot manipulating task can be achieved at the same time in identification technology
Aligning accuracy is higher.
To achieve the above object, the present invention provides a kind of electric automobile power battery haulage equipments, including robot, use
It is described in the apparatus for detecting position and posture of pose, the grasping mechanism for grabbing power battery and the controlling terminal of detection power battery
Robot, apparatus for detecting position and posture and grasping mechanism are electrically connected with the controlling terminal respectively, the movement output of the robot
End is connect with the grasping mechanism, and the apparatus for detecting position and posture is fixedly installed on the grasping mechanism, the grasping mechanism packet
Include top panel and multiple for grabbing the grabbing assembly of power battery, the outer edge of the lower surface of the top panel be equipped with it is multiple to
The lower end of the convex foot of lower extension, each convex foot is respectively connected with the grabbing assembly.
Preferably, the grabbing assembly includes telescopic cylinder, sliding bar, axle sleeve and connecting plate, the flexible gas
The cylinder body of cylinder and the axle sleeve are fixedly connected with the lower end surface of the convex foot respectively, and the sliding bar is slidably arranged in described
It is arranged in parallel in axle sleeve and with the telescopic cylinder, the piston rod of the telescopic cylinder passes through the connecting plate and the sliding bar
It connects and the sliding bar can be driven to slidably reciprocate in the axle sleeve.
Preferably, the end of the piston rod of the telescopic cylinder passes through the end face of floating junction and the connecting plate
Connection, one end of the sliding bar are connect with the end face of the connecting plate, and the other end of the sliding bar is equipped with dynamic for holding up
The lower surface of the tray of power battery, the sliding bar and the top panel be arranged in parallel and can drive the tray towards or away from
The medial motion of the top panel.
Preferably, the grabbing assembly further includes for detecting whether the telescopic cylinder acts in place close
Switch, it is described that the side on the convex foot and being located at the telescopic cylinder is fixed on close to switch.
Preferably, at least two positioning components are connected on the top panel, the positioning component is from the bottom to top
Successively include pilot pin, linear axis, linear bearing, spring and first support, the pilot pin, linear axis and spring successively head and the tail
Connecting and is vertically arranged, the linear bearing extends vertically through the top panel and is arranged and is fixed in the top panel,
The linear axis is slidably arranged in the linear bearing and the upper end of the linear axis is connect with the lower end of the spring,
The first support is fixed on the upper surface of the top panel, and the upper end of the spring is fixedly connected with the first support and institute
Spring is stated to be in compressive state and make the linear axis that there is the trend moved downward.
Preferably, the electric automobile power battery haulage equipment further includes alarm assemblies, the alarm assemblies
Including alarm, first position sensor and second position sensor, the alarm, first position sensor and the second position
Sensor is electrically connected with the controlling terminal respectively, and the first support includes being arranged in parallel and being located at the linear bearing
The riser of the side of the linear bearing, the first position sensor and second position sensor are fixedly installed on the riser
It is arranged on the end face of linear bearing described in face and respectively along the vertical interval of the riser.
Preferably, the electric automobile power battery haulage equipment further includes multiple limit assemblies, the limit
Component includes gag lever post, limited block and the wave washer in hollow cylindrical, and the gag lever post is arranged in the top panel vertically
It is interior and be fixedly connected with the top panel, the limited block is connect with the lower end of the gag lever post, and the wave washer is arranged
In the lower end of the gag lever post and the both ends of the wave washer be connected to respectively the limited block and top panel lower surface it
Between.
Preferably, the apparatus for detecting position and posture is set to the lower section of the top panel and including vision camera,
Two brackets and light source, the second support are fixedly connected with the lower surface of the top panel, the vision camera and light source difference
It is fixed in the second support and the camera lens of the vision camera is arranged downward.
Preferably, the artificial four-degree-of-freedom manipulator of the machine and including pedestal, the first armed lever, the second armed lever and
Third armed lever, the input terminal and the pedestal of first armed lever are rotatably connected and can rotate around vertical axes, second arm
The input terminal of bar connect with the output end of first armed lever and can be driven around trunnion axis, the input terminal of the third armed lever
It connect and can be driven around trunnion axis with the output end of second armed lever, the upper end of the top panel is defeated with the third armed lever
Outlet is connected and can be rotated around the axis of the upper surface perpendicular to the top panel.
To realize above-mentioned identical purpose, the present invention also provides a kind of method for carrying of electric automobile power battery, including
Electric automobile power battery haulage equipment described in any one of power battery and claim 1-9, the power battery
Upper surface is equipped with fisrt feature hole and second feature hole, and specifically includes the following steps: (1) described controlling terminal controls the machine
Device people drives apparatus for detecting position and posture to move to the top in the fisrt feature hole according to the first desired guiding trajectory, and the pose, which detects, to be filled
It sets and is taken pictures to the fisrt feature hole and captured photo is transferred to controlling terminal；(2) the controlling terminal control
The robot moves to the top in the second feature hole, the pose according to the second desired guiding trajectory drive apparatus for detecting position and posture
Detection device takes pictures to the second feature hole and captured photo is transferred to controlling terminal；(3) control is whole
End determines the pose of the power battery according to the shooting result of apparatus for detecting position and posture；(4) controlling terminal is according to described dynamic
The pose of power battery adjusts the pose of the grasping mechanism, pose grasping mechanism adjusted be located at the power battery just on
Just and setting is aligned with the power battery；(5) controlling terminal controls the grasping mechanism and moves downward and make described grab
Take component movement to the lower section of the power battery, wherein during the grasping mechanism moves downward, the pilot pin is inserted
Enter the positioning hole of the power battery；(6) the controlling terminal control telescopic cylinder acts and the tray is moved to
The underface of the power battery is to hold the power battery；(7) controlling terminal controls the robot according to third
Desired guiding trajectory movement, the power battery will be crawled mechanism and hold up and be carried to designated position, complete the power battery
It carries.
A kind of electric automobile power battery haulage equipment and method for carrying provided by above-mentioned technical proposal, wherein removed
The upper surface of the power battery of fortune is equipped with fisrt feature hole and second feature hole, when carrying power battery, the controlling terminal
The top that the robot drives apparatus for detecting position and posture to move to the fisrt feature hole according to the first desired guiding trajectory is controlled, it is described
Apparatus for detecting position and posture takes pictures to the fisrt feature hole and captured photo is transferred to controlling terminal；The control is eventually
End controls the top that the robot drives apparatus for detecting position and posture to move to the second feature hole according to the second desired guiding trajectory, institute
Apparatus for detecting position and posture is stated to take pictures to the second feature hole and captured photo is transferred to controlling terminal；The control
Terminal determines the pose of the power battery according to the shooting result of apparatus for detecting position and posture；The controlling terminal is according to the power
The pose of battery adjusts the pose of the grasping mechanism, and pose grasping mechanism adjusted is located at the surface of the power battery
And setting is aligned with the power battery；The controlling terminal controls the grasping mechanism and moves downward and make the grabbing assembly
Move to the lower section of the power battery；The power battery is held in the controlling terminal control grabbing assembly movement from below；
The controlling terminal controls the robot and moves according to third desired guiding trajectory, and the power battery will be crawled mechanism and hold up simultaneously
It is carried to designated position, completes the carrying of the power battery.Present invention employs robot and Visual identification technologies, can be simultaneously
Realize automatic aligning, crawl and carrying movement, robot manipulating task repeatability is preferable, Visual identification technology aligning accuracy is higher.
Detailed description of the invention
Fig. 1 is a kind of main view of electric automobile power battery haulage equipment of the present invention；
Fig. 2 is a kind of top view of electric automobile power battery haulage equipment of the present invention；
Fig. 3 is the structural schematic diagram of grasping mechanism；
Fig. 4 is the structural schematic diagram of grabbing assembly；
Fig. 5 is the structural schematic diagram of limit assembly；
Main view when Fig. 6 is using present invention crawl power battery；
Top view when Fig. 7 is using present invention crawl power battery.
Wherein: 1, positioning component；11, pilot pin；12, linear axis；13, linear bearing；2, apparatus for detecting position and posture；21, it regards
Feel camera；22, light source；23, second support；3, grasping mechanism；31, top panel；32, convex foot；4, grabbing assembly；41, stretch gas
Cylinder；42, sliding bar；43, connecting plate；44, axle sleeve；45, tray；46, close to switch；5, limit assembly；51, limited block；52, wave
Line washer；53, gag lever post；6, power battery；7, four-degree-of-freedom manipulator；71, the second armed lever；72, drive link；73, third
Armed lever；74, the first armed lever；75, pedestal；81, riser；82, second position sensor；83, first position sensor.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
It referring to Figure 1-7, is a kind of electric automobile power battery haulage equipment provided by the present invention, including robot,
For detecting the apparatus for detecting position and posture 2 of the pose of power battery 6, the grasping mechanism 3 for grabbing power battery 6 and control eventually
End, the robot, apparatus for detecting position and posture 2 and grasping mechanism 3 are electrically connected with the controlling terminal respectively, the robot
Movement output ends are connect with the grasping mechanism 3, and the apparatus for detecting position and posture 2 is fixedly installed on the grasping mechanism 3, described
Grasping mechanism 3 includes top panel 31 and multiple grabbing assemblies 4 for being used to grab power battery 6, the lower surface of the top panel 31
Outer edge be equipped with multiple convex feet 32 extended downwardly, the lower end of each convex foot 32 is respectively connected with the grabbing assembly
4.Specifically, the upper surface for the power battery 6 carried is equipped with fisrt feature hole and second feature hole, is carrying power battery 6
When, the controlling terminal controls the robot and drives apparatus for detecting position and posture 2 to move to described first according to the first desired guiding trajectory
The top of feature holes, the apparatus for detecting position and posture 2 take pictures to the fisrt feature hole and are transferred to captured photo
Controlling terminal；The controlling terminal controls the robot and drives apparatus for detecting position and posture 2 to move to institute according to the second desired guiding trajectory
State the top in second feature hole, the apparatus for detecting position and posture 2 takes pictures to the second feature hole and by captured photo
It is transferred to controlling terminal；The controlling terminal determines the position of the power battery 6 according to the shooting result of apparatus for detecting position and posture 2
Appearance；The controlling terminal adjusts the pose of the grasping mechanism 3 according to the pose of the power battery 6, and pose is adjusted to grab
It takes mechanism 3 to be located at the surface of the power battery 6 and is aligned setting with the power battery 6；The controlling terminal controls institute
State the lower section that grasping mechanism 3 moves downward and the grabbing assembly 4 is made to move to the power battery 6；The controlling terminal control
The power battery 6 is held in the movement of grabbing assembly 4 processed from below；It is default according to third that the controlling terminal controls the robot
Track movement, the power battery 6 will be crawled mechanism 3 and hold up and be carried to designated position, complete removing for the power battery 6
Fortune.Present invention employs robot and Visual identification technologies, and automatic aligning, crawl and carrying movement, robot can be achieved at the same time
Operation repeatability is preferable, Visual identification technology aligning accuracy is higher.
Refer to Fig. 4, in the present embodiment, the grabbing assembly 4 includes telescopic cylinder 41, sliding bar 42, axle sleeve 44 and even
Fishplate bar 43, the cylinder body and the axle sleeve 44 of the telescopic cylinder 41 are fixedly connected with the lower end surface of the convex foot 32 respectively, described
Sliding bar 42 is slidably arranged in the axle sleeve 44 and is arranged in parallel with the telescopic cylinder 41, the telescopic cylinder 41
Piston rod connect by the connecting plate 43 with the sliding bar 42 and can drive the sliding bar 42 in the axle sleeve 44 come
Return sliding.Preferably, the end of the piston rod of the telescopic cylinder 41 is connected by the end face of floating junction and the connecting plate 43
It connects, one end of the sliding bar 42 is connect with the end face of the connecting plate 43, and the other end of the sliding bar 42 is equipped with for holding in the palm
The lower surface of the tray 45 of starting power battery 6, the sliding bar 42 and the top panel 31 is arranged in parallel and can drive the support
Medial motion of the block 45 towards or away from the top panel 31.In this way, the control is eventually when needing to hold the lower end of battery case
The piston rod that end controls the telescopic cylinder 41 stretches out, and piston rod drives sliding bar 42 along axle sleeve 44 by the connecting plate 43
The bottom for being axially facing power battery 6 moves and moves to the underface of power battery 6, to hold power battery 6, further excellent
Selection of land, in the present embodiment, the lower surface of the top panel 31 is rectangular, is equipped with and extends downwardly at the vision of the top panel 31
The convex foot 32, so, it is ensured that grabbing assembly 4 can support power battery 6 quadrangle, to guarantee support power battery 6
Stability.
Further, Fig. 3 is referred to, the grabbing assembly 4 further includes for detecting whether the telescopic cylinder 41 acts
In place close to switch 46, the side being fixed on close to switch 46 on the convex foot 32 and positioned at the telescopic cylinder 41,
When detecting that telescopic cylinder 41 stretches in place close to switch 46, controlling terminal just will continue to enter next step, in this way, can protect
Demonstrate,prove safety whole during carrying power battery 6.
Further, Fig. 3 is combined referring to Figure 1 and schematically, and it is fixed that at least two are connected on the top panel 31
Hyte part 1, it is preferable that in the present embodiment, it is respectively provided with the positioning component 1 in one group of diagonal angle of the top panel 31,
The positioning component 1 is described from the bottom to top successively including pilot pin 11, linear axis 12, linear bearing 13, spring and first support
Pilot pin 11, linear axis 12 and spring are successively end to end and be vertically arranged, and the linear bearing 13 extends vertically through institute
It states top panel 31 to be arranged and be fixed in the top panel 31, the linear axis 12 is slidably arranged in the linear bearing 13
The upper end of the interior and described linear axis 12 is connect with the lower end of the spring, and the first support is fixed on the upper of the top panel 31
Surface, the upper end of the spring is fixedly connected with the first support and the spring is in compressive state and makes the linear axis
12 have the trend moved downward.So set, when the location hole on 11 misalignment power battery 6 of pilot pin moves downward
In the process, pilot pin 11 is contacted with the upper surface of power battery 6 first, when 11 machinery of pilot pin moves downward, pilot pin 11
Upper end will by 12 compressed spring of linear axis, so that pilot pin 11 and linear axis 12 are moved upwards relative to top panel 31, in this way,
It can avoid causing the destruction to power battery 6 since pilot pin 11 is non-telescoping under the operating condition.
Still further, when above-mentioned failure occurs (i.e. when the location hole on 11 misalignment power battery 6 of pilot pin is downward
Movement) when, the present embodiment will be alarmed by alarm assemblies, and specifically, 6 haulage equipment of electric automobile power battery further includes
Alarm assemblies, the alarm assemblies include alarm, first position sensor 83 and second position sensor 82, the alarm
Device, first position sensor 83 and second position sensor 82 are electrically connected with the controlling terminal respectively, the first support
Riser 81 including the side of the linear bearing 13 is arranged in parallel and be located at the linear bearing 13, the first position pass
Sensor 83 and second position sensor 82 are fixedly installed on the end face of linear bearing 13 described in 81 face of riser and difference
It is arranged along the vertical interval of the riser 81.Preferably, the first position sensor 83 and second position sensor 82
It is located at the top of first position sensor 83 using photoelectric sensor and the second position sensor 82, under nominal situation, directly
The upper end of spool 12 is aligned with the first position sensor 83, during pilot pin 11 is inserted into the location hole of power battery 6
Linear axis 12 will not change relative to the position of top panel 31, and equipment is not alarmed.When 11 misalignment power battery 6 of pilot pin
On location hole and when moving downward, the upper end of pilot pin 11 will be by 12 compressed spring of linear axis, so that pilot pin 11 and straight
Spool 12 is moved upwards relative to top panel 31, when the upper end of linear axis 12, which is moved to, to be aligned with second position sensor 82,
Second position sensor 82 will test signal and feed back to controlling terminal, and controlling terminal will control alarm equipment alarm, to remind work
The timely handling failure of personnel, and then guarantee the safety of equipment.
Fig. 5-6 referring to Figure 1 and is schematically combined, in the present embodiment, to guarantee the steady of power battery 6 in handling process
It is qualitative, prevent the position of power battery 6 from shifting relative to the grasping mechanism 3 or falling off from grasping mechanism 3, this implementation
In example, 6 haulage equipment of electric automobile power battery further includes multiple limit assemblies 5, it is preferable that described in the present embodiment
The quantity of limit assembly 5 is the four corners that 4,4 limit assemblies 5 are located at same rectangle, and the limit assembly 5 includes
Gag lever post 53, limited block 51 and the wave washer 52 in hollow cylindrical, the gag lever post 53 are arranged in the top panel vertically
31 interior is simultaneously fixedly connected with the top panel 31, and the limited block 51 is connect with the lower end of the gag lever post 53, the ripple
Washer 52 is sheathed on the lower end of the gag lever post 53 and the both ends of the wave washer 52 be connected to respectively the limited block 51 with
Between the lower surface of top panel 31.In this way, the limited block 51 will resist after grasping mechanism 3 holds the lower end of power battery 6
The upper end of the power battery 6, to prevent the position of power battery 6 from shifting relative to the grasping mechanism 3 or from grabbing
It takes and falls off in mechanism 3.
Referring to Figure 1, in the present embodiment, the apparatus for detecting position and posture 2 be set to the lower section of the top panel 31 and including
Vision camera 21, second support 23 and light source 22, the second support 23 are fixedly connected with the lower surface of the top panel 31, institute
It states vision camera 21 and light source 22 is individually fixed in the second support 23 and the camera lens of the vision camera 21 is arranged downward.
As shown in Figure 1, the light source 22 is located at the lower section of the vision camera 21, the surface of the light source 22 is equipped with through-hole, described
The camera lens of vision camera 21 may pass through the feature holes of the through-hole and the power battery 6 of 22 lower section of photographic light sources.
Referring to Figure 1, and schematically Fig. 2 and Fig. 6-7 is combined, in the present embodiment, the artificial four-degree-of-freedom machine of machine
Tool hand 7, it should be understood that, the robot in the present embodiment, which can be any one, can drive grasping mechanism 3 to make spatial movement
Robot, it is preferable that the present embodiment imitate excavate machine base 75, swing arm, dipper, scraper bowl working principle devise the four of diagram
Free degree manipulator 7, wherein the four-degree-of-freedom manipulator 7 includes pedestal 75, the first armed lever 74, the second armed lever 71, third arm
Bar 73 and drive link 72, the input terminal of first armed lever 74 and the pedestal 75 are rotatably connected and can turn around vertical axes
Dynamic, the input terminal of second armed lever 71 connect with the output end of first armed lever 74 and can be driven around trunnion axis, the institute
The input terminal for stating third armed lever 73 connect with the output end of second armed lever 71 and can be driven around trunnion axis, the top panel 31
Upper end connect and can be rotated around the axis of the upper surface perpendicular to the top panel 31 with the output end of the third armed lever 73.Such as
This, can drive the grasping mechanism 3 to make spatial movement, and then complete removing for the power battery 6 by the grasping mechanism 3
Transport step.In addition, the controlling terminal includes PLC and vision processor in the present embodiment, wherein the PLC is realized to machine
The control of the execution units such as people, apparatus for detecting position and posture 2, grasping mechanism 3 movement, the photograph of the vision processor processing camera lens shooting
Piece compares calculated result and default knot value, obtain and show as a result, and finally feed back to robot carry out track it is micro-
It adjusts.
To realize above-mentioned identical purpose, the present embodiment additionally provides a kind of method for carrying of electric automobile power battery, wraps
Power battery 6 and the electric automobile power battery haulage equipment are included, the upper surface of the power battery 6 is equipped with fisrt feature
Hole and second feature hole, and specifically includes the following steps: (1) described controlling terminal controls the robot according to the first default rail
Mark drives apparatus for detecting position and posture 2 to move to the top in the fisrt feature hole, and the apparatus for detecting position and posture 2 is to the fisrt feature
It is taken pictures and captured photo is transferred to controlling terminal in hole；(2) controlling terminal controls the robot according to the
Two desired guiding trajectories drive apparatus for detecting position and posture 2 to move to the top in the second feature hole, and the apparatus for detecting position and posture 2 is to described
It is taken pictures and captured photo is transferred to controlling terminal in second feature hole；(3) controlling terminal is detected according to pose
The shooting result of device 2 determines the pose of the power battery 6；(4) controlling terminal is according to the pose of the power battery 6
Adjust the pose of the grasping mechanism 3, pose grasping mechanism 3 adjusted be located at the surface of the power battery 6 and with institute
State the alignment setting of power battery 6；(5) controlling terminal controls the grasping mechanism 3 and moves downward and make the grabbing assembly 4
Move to the lower section of the power battery 6, wherein during the grasping mechanism 3 moves downward, the pilot pin 11 is inserted into
The positioning hole of the power battery 6；(6) the controlling terminal control telescopic cylinder 41 acts and the tray 45 is moved
To the underface of the power battery 6 to hold the power battery 6；(7) controlling terminal control the robot according to
The movement of third desired guiding trajectory, the power battery 6 will be crawled mechanism 3 and hold up and be carried to designated position, complete the power
The carrying of battery 6.Present invention employs robot and Visual identification technologies, and automatic aligning, crawl can be achieved at the same time and carry dynamic
Make, robot manipulating task repeatability is preferable, Visual identification technology aligning accuracy is higher.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of electric automobile power battery haulage equipment, which is characterized in that including robot, the position for detecting power battery
The apparatus for detecting position and posture of appearance, the grasping mechanism for grabbing power battery and controlling terminal, the robot, apparatus for detecting position and posture
It is electrically connected respectively with the controlling terminal with grasping mechanism, the movement output ends of the robot and the grasping mechanism connect
It connects, the apparatus for detecting position and posture is fixedly installed on the grasping mechanism, and the grasping mechanism includes top panel and multiple is used for
The grabbing assembly of power battery is grabbed, the outer edge of the lower surface of the top panel is equipped with multiple convex feet extended downwardly, each
The lower end of the convex foot is respectively connected with the grabbing assembly.
2. electric automobile power battery haulage equipment according to claim 1, which is characterized in that the grabbing assembly includes
Telescopic cylinder, sliding bar, axle sleeve and connecting plate, the cylinder body of the telescopic cylinder and the axle sleeve lower end with the convex foot respectively
Face is fixedly connected, and the sliding bar is slidably arranged in the axle sleeve and is arranged in parallel with the telescopic cylinder, described to stretch
The piston rod of contracting cylinder connect by the connecting plate with the sliding bar and can drive the sliding bar in the axle sleeve come
Return sliding.
3. electric automobile power battery haulage equipment according to claim 2, which is characterized in that the work of the telescopic cylinder
The end of stopper rod is connect by floating junction with the end face of the connecting plate, the end of one end of the sliding bar and the connecting plate
Face connection, the other end of the sliding bar are equipped with the tray for holding up power battery, the sliding bar and the top panel
Lower surface is arranged in parallel and the tray can be driven towards or away from the medial motion of the top panel.
4. electric automobile power battery haulage equipment according to claim 3, which is characterized in that the grabbing assembly also wraps
Include for detect the telescopic cylinder whether act in place close to switch, it is described to be fixed on the convex foot close to switch and position
In the side of the telescopic cylinder.
5. electric automobile power battery haulage equipment according to claim 1, which is characterized in that connected on the top panel
There are at least two positioning components, the positioning component successively includes pilot pin, linear axis, linear bearing 13, spring from the bottom to top
And first support, the pilot pin, linear axis and spring are successively end to end and are vertically arranged, and the linear bearing is along perpendicular
To being arranged through the top panel and being fixed in the top panel, the linear axis is slidably arranged in the linear bearing
The upper end of the interior and described linear axis is connect with the lower end of the spring, and the first support is fixed on the upper table of the top panel
Face, the upper end of the spring is fixedly connected with the first support and the spring is in compressive state and has the linear axis
Have the tendency that moving downward.
6. electric automobile power battery haulage equipment according to claim 5, which is characterized in that the electric powered motor
Battery haulage equipment further includes alarm assemblies, and the alarm assemblies include that alarm, first position sensor and the second position pass
Sensor, the alarm, first position sensor and second position sensor are electrically connected with the controlling terminal respectively, described
First support includes the riser for being arranged in parallel and being located at the side of the linear bearing with the linear bearing, the first position
Sensor and second position sensor are fixedly installed on the end face of linear bearing described in the riser face and respectively along described
The vertical interval of riser is arranged.
7. electric automobile power battery haulage equipment according to claim 1, which is characterized in that the electric powered motor
Battery haulage equipment further includes multiple limit assemblies, and the limit assembly includes gag lever post, limited block and in hollow cylindrical
Wave washer, the gag lever post are arranged in the interior of the top panel vertically and are fixedly connected with the top panel, the limited block
It is connect with the lower end of the gag lever post, the wave washer is sheathed on the both ends of the lower end of the gag lever post and the wave washer
It is connected between the limited block and the lower surface of top panel respectively.
8. electric automobile power battery haulage equipment according to claim 1, which is characterized in that the apparatus for detecting position and posture
It is set to the lower section of the top panel and including vision camera, second support and light source, the second support and the top panel
Lower surface be fixedly connected, the vision camera and light source is individually fixed in the second support and the mirror of the vision camera
It is arranged upside down.
9. electric automobile power battery haulage equipment according to claim 1, which is characterized in that the artificial four selfs of machine
By degree manipulator and including pedestal, the first armed lever, the second armed lever and third armed lever, input terminal and the bottom of first armed lever
Seat is rotatably connected and can rotate around vertical axes, and the input terminal of second armed lever is connect simultaneously with the output end of first armed lever
It can be driven around trunnion axis, the input terminal of the third armed lever connect with the output end of second armed lever and can be around trunnion axis
Transmission, the upper end of the top panel connect with the output end of the third armed lever and can be around the upper surface perpendicular to the top panel
Axis rotation.
10. a kind of method for carrying of electric automobile power battery, which is characterized in that including in power battery and claim 1-9
Electric automobile power battery haulage equipment described in any one, the upper surface of the power battery are equipped with fisrt feature hole and the
Two feature holes, and specifically includes the following steps: (1) described controlling terminal control robot drives according to the first desired guiding trajectory
Apparatus for detecting position and posture moves to the top in the fisrt feature hole, and the apparatus for detecting position and posture claps the fisrt feature hole
It takes and captured picture is transferred to controlling terminal；(2) controlling terminal controls the robot according to the second default rail
Mark drives apparatus for detecting position and posture to move to the top in the second feature hole, and the apparatus for detecting position and posture is to the second feature hole
It is taken pictures and captured photo is transferred to controlling terminal；(3) controlling terminal is according to the shooting of apparatus for detecting position and posture
As a result the pose of the power battery is determined；(4) controlling terminal adjusts the crawl according to the pose of the power battery
The pose of mechanism, pose grasping mechanism adjusted, which is located at the surface of the power battery and is aligned with the power battery, to be set
It sets；(5) controlling terminal controls the grasping mechanism and moves downward and the grabbing assembly is made to move to the power battery
Lower section, wherein during the grasping mechanism moves downward, the pilot pin is inserted into the location hole of the power battery
It is interior；(6) controlling terminal control telescopic cylinder act and make the tray move to the underface of the power battery with
Hold the power battery；(7) controlling terminal controls the robot and moves according to third desired guiding trajectory, the power electric
Pond will be crawled mechanism and hold up and be carried to designated position, complete the carrying of the power battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811527449.8A CN109436785A (en) | 2018-12-13 | 2018-12-13 | A kind of electric automobile power battery haulage equipment and method for carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811527449.8A CN109436785A (en) | 2018-12-13 | 2018-12-13 | A kind of electric automobile power battery haulage equipment and method for carrying |
Publications (1)
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| CN109436785A true CN109436785A (en) | 2019-03-08 |
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| CN201811527449.8A Pending CN109436785A (en) | 2018-12-13 | 2018-12-13 | A kind of electric automobile power battery haulage equipment and method for carrying |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110562741A (en) * | 2019-10-21 | 2019-12-13 | 苏州和自兴智能科技有限公司 | Machine vision fused separating type station robot and production platform |
| CN113232312A (en) * | 2021-05-13 | 2021-08-10 | 杭州电子科技大学 | Automatic positioning and bonding equipment for seat sponge and bonding method for multiple layers of sponge plates of automatic positioning and bonding equipment |
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