CN104118404B - Change robot with battery - Google Patents
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- CN104118404B CN104118404B CN201410310444.5A CN201410310444A CN104118404B CN 104118404 B CN104118404 B CN 104118404B CN 201410310444 A CN201410310444 A CN 201410310444A CN 104118404 B CN104118404 B CN 104118404B
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Abstract
A kind of robot with battery of changing includes framework, walking mechanism, elevating mechanism, battery carrier and push-pull mechanism.Walking mechanism is located at the outside of the bottom of framework.Multiple spaced battery carriers.Hoistable platform and framework slidable connection, hoistable platform is positioned at the side of battery carrier.Push-pull mechanism includes expansion plate, guide rail and cantilever.Expansion plate is located on hoistable platform, and expansion plate stretches along the lifting direction being perpendicular to hoistable platform, and expansion plate can with hoistable platform elevating movement.Guide rail one end is fixed on expansion plate, and guide rail can with hoistable platform elevating movement.Cantilever can move along the bearing of trend of guide rail.Push-pull device at fixed is fixed on cantilever.Push-pull device at fixed advances with cantilever along the bearing of trend of guide rail or retreats, and can rise or fall with hoistable platform.Above-mentioned replacing battery and robot once can change polylith battery to automobile.The number of times that minimizing replacing battery and robot walk up and down between battery charging rack and automobile, saves the time, improves the efficiency changing battery.
Description
Technical field
The present invention relates to automatic robot, particularly relate to a kind of replacing robot with battery.
Background technology
Current electric automobile is generally provided with multiple battery.When the electricity of battery is used up, it is necessary to when changing battery, great majority change battery apparatus disposable can not complete the replacing of all batteries on car.Generally requiring and repeatedly take out battery from charging rack, obtain new battery from new battery carrier, walking back and forth so that changing, battery efficiency is relatively low, required time is longer.Further, traditional replacing battery apparatus, volume is big, quality weight, and motion is slowly.
Summary of the invention
Based on this, it is necessary to provide a kind of put without repeatedly going and back running, the replacing robot with battery in power taking pond.
A kind of replacing robot with battery, is used for changing automobile batteries, including:
Framework；
Walking mechanism, is located at the outside of the bottom of described framework, and described walking mechanism is used for driving described framework to walk；
Multiple spaced battery carriers, one end of described battery carrier is fixed at the side of described framework, and multiple described battery carrier is arranged in parallel,
Elevating mechanism, being located in described framework, described elevating mechanism includes hoistable platform, described hoistable platform and described framework slidable connection, described hoistable platform place plane is all parallel with each described battery carrier place plane, and described hoistable platform is positioned at the side of described battery carrier；
Push-pull mechanism, including:
Expansion plate, is located on described hoistable platform, and described expansion plate stretches along the lifting direction being perpendicular to described hoistable platform, and described expansion plate can with described hoistable platform elevating movement；Guide rail, one end is fixed on described expansion plate, and described guide rail and described battery carrier are oppositely arranged, and described guide rail can with described hoistable platform elevating movement, and described guide rail can stretch with described expansion plate；
Cantilever, is slidably located on described guide rail, and described cantilever can move along the bearing of trend of described guide rail, and, described cantilever stretching with described expansion plate；And
Push-pull device at fixed, is fixed on described cantilever；
Wherein, described push-pull device at fixed advances with described cantilever along the bearing of trend of described guide rail or retreats, and rises or falls with described hoistable platform.
Wherein in an embodiment, described push-pull device at fixed is provided with aligned portions, and described aligned portions, for being directed at the location division on battery, makes described push-pull device at fixed be directed at described battery.
Wherein in an embodiment, the surface of described expansion plate is provided with multiple roller, and the axis of symmetry of multiple described rollers is parallel to each other.
Wherein in an embodiment, also including slew gear, described slew gear includes revolution matrix and floating bearing, and described revolution matrix is fixing with described framework to be connected, and described floating bearing and described revolution matrix are rotatably connected.
Wherein in an embodiment, described walking mechanism includes walking matrix and multiple road wheel, and described floating bearing and described walking matrix are rotatably connected, and multiple described road wheels are all located on the bottom surface of described walking matrix.
Wherein in an embodiment, the surface of described battery carrier is provided with roller.
Wherein in an embodiment, described hoistable platform and described expansion plate abut against near one end of described hoistable platform with described battery carrier near one end of battery carrier.
Wherein in an embodiment, the number of described battery carrier is more than the half of the number of described automobile batteries.
Wherein in an embodiment, described framework is provided with the gathering sill of the bearing of trend being perpendicular to described guide rail, and the two ends of described hoistable platform are contained in described gathering sill, and described hoistable platform lifts along described gathering sill.
Wherein in an embodiment, described expansion plate can outwards stretch formation extension away from one end of described battery carrier, and described extension may extend to the outside of described framework, makes described push-pull device at fixed near described battery.
Above-mentioned replacing robot with battery can carry polylith battery, changes battery and robot once can change polylith battery to automobile.Can reduce and change the number of times that battery and robot walk up and down between battery charging rack and automobile, save the time, improve the efficiency changing battery.
Even, above-mentioned replacing robot with battery at least can carry the half of the number of batteries required for an automobile, namely when automobile is replaced battery time, changing robot with battery for two can simultaneously in the both sides of automobile, disposable complete an automobile change electricity demand, without walking up and down between battery charging rack and automobile, save the time, improve the efficiency changing battery.
Further, above-mentioned replacing robot with battery by cantilever and battery holder structure, make the simple in construction of whole replacing robot with battery, overall dimensions is less, and the motion making above-mentioned replacing robot with battery is comparatively convenient, convenient uses.
Above-mentioned replacing robot with battery enables above-mentioned replacing robot with battery divertical motion by revolving structure, it is not necessary to realize break-in campaign by turning round, and improves and changes robot with battery kinematic accuracy.
Accompanying drawing explanation
Fig. 1 is the perspective view changing robot with battery of an embodiment；
Fig. 2 is the front view changing robot with battery shown in Fig. 1；
Fig. 3 is the right view changing robot with battery shown in Fig. 1；
Fig. 4 is the top view changing robot with battery shown in Fig. 1；
Fig. 5 is the structural representation of the push-pull device at fixed shown in Fig. 1；
Fig. 6 is the visible axonometric chart of push-pull device at fixed partial internal structure shown in Fig. 5；
Fig. 7 is the cross-sectional view of the active hands shown in Fig. 5；
Fig. 8 is the structural representation that the transfer bar mechanism shown in Fig. 6 is in one of them state；
Fig. 9 is the structural representation that the transfer bar mechanism shown in Fig. 6 is in another state.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.Accompanying drawing gives the better embodiment of the present invention.But, the present invention can realize in many different forms, however it is not limited to embodiments described herein.On the contrary, provide the purpose of these embodiments be make the disclosure is understood more thorough comprehensively.
It should be noted that be referred to as " being fixed on " another element when element, it can directly on another element or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly to another element or may be simultaneously present centering elements.For illustrative purposes only, being not offered as is unique embodiment for term as used herein " vertical ", " level ", "left", "right" and similar statement.
Unless otherwise defined, all of technology used herein is identical with the implication that the those skilled in the art belonging to the present invention are generally understood that with scientific terminology.The term used in the description of the invention herein is intended merely to the purpose describing specific embodiment, it is not intended that in the restriction present invention.Term as used herein " and/or " include the arbitrary and all of combination of one or more relevant Listed Items.
Referring to Fig. 1 and Fig. 2, the replacing robot with battery of present embodiment is used for changing automobile batteries (figure does not mark).Change robot with battery 10 and include body 110, walking mechanism 120, elevating mechanism 130, battery carrier 140, push-pull mechanism 150, slew gear 160 and lockable mechanism.
Body 110 includes framework (figure does not mark) and two fixing plates 111.Two fixing plates 111 are fixed in the opposite sides of framework.Fixing plate 111 offers the gathering sill 112 being perpendicular to ground.
Being appreciated that fixing plate 111 can omit, body 110 can be a framework.Battery carrier 140 is directly anchored in framework.
Walking mechanism 120 is located at the outside of the bottom of body 110.Walking mechanism 120 is used for driving body 110 to walk.Walking mechanism 120 can adjust the position between body 110 and battery in left and right.Walking mechanism 120 completes to change the alignment task of automobile batteries right position.Specifically in the present embodiment, walking mechanism 120 includes walking matrix 121 and multiple road wheel 122.Walking matrix 121 is connected with the bottom of body 110.Multiple road wheels 122 are all located on the side of walking matrix 121.
Elevating mechanism 130 is located in framework, and elevating mechanism 130 includes hoistable platform 131.Hoistable platform 131 lifts along gathering sill 112.Elevating mechanism 130 is for changing the lifting carrying in cell process.Specifically in the present embodiment, two fixing plates 111 all offer gathering sill 112, then the two ends of hoistable platform 131 are contained in gathering sill 112, it is ensured that hoistable platform 131 can keep vertical motion, it is prevented that hoistable platform 131 is shifted over.
It is appreciated that elevating mechanism 130 can also include lifting drive (not shown).Elevating mechanism 130 can also adopt lead or guide runner.
Battery carrier 140 is multiple.Multiple battery carrier 140 intervals are arranged.One end of battery carrier 140 is fixed therein on a fixing plate 111.Each battery carrier 140 place plane is all parallel with hoistable platform 131 place plane, and battery carrier 140 is positioned at the side of hoistable platform 131.Battery carrier 140 can bear the weight of polylith battery and ensure that battery positions.The surface of battery carrier 140 is provided with roller 141.Arrange that roller 141 can be easy to the push-and-pull of battery.Specifically in the present embodiment, hoistable platform 131 abuts against near one end of hoistable platform 131 with battery carrier 140 near one end of battery carrier 140.
The number of battery carrier 140 is more than the half of the number of battery used by automobile.Owing to the both sides of automobile are equipped with replacing battery position, change robot with battery for two automobile can be replaced battery simultaneously.
Please refer to Fig. 3 and Fig. 4, push-pull mechanism 150 includes expansion plate 152, guide rail 151, cantilever 153, push-pull device at fixed 154 and aligned portions (not shown).
Expansion plate 152 is located on hoistable platform 131.Expansion plate 152 stretches along the lifting direction being perpendicular to hoistable platform 140, and expansion plate 152 can with hoistable platform 131 elevating movement.The surface of expansion plate 152 is provided with multiple roller 1521.The axis of symmetry of multiple rollers 1521 is parallel to each other.Roller 1521 can be easy to the moving on expansion plate 152 of battery.Expansion plate 152 can outwards stretch formation extension (not shown) away from one end of battery carrier 140.Extension may extend to the outside of framework, near battery.Hoistable platform 131 and expansion plate 152 abut against near one end of hoistable platform 131 with battery carrier 140 near one end of battery carrier 140.One end of guide rail 151 is fixed on expansion plate 152.Guide rail 151 and battery carrier 140 are oppositely arranged, and guide rail 151 can with hoistable platform 130 elevating movement, and guide rail 151 can stretch with expansion plate 152.Specifically, guide rail 151 is located on another fixing plate 111 relative to battery carrier 140.Expansion plate 152 is located on guide rail 151, and expansion plate 152 stretches along the bearing of trend of guide rail 151.Expansion plate 152 can outwards stretch formation extension (not shown) away from one end of battery carrier 140, and extension may extend to the outside of framework, makes extension near battery.
Cantilever 153 is slidably located on guide rail 151, and cantilever 153 can move along the bearing of trend of guide rail 151.Further, time guide rail 151 stretches with expansion plate 152, cantilever 153 also stretches with expansion plate 152.
It is fixed on expansion plate 152.Cantilever 153 moves with the flexible bearing of trend along guide rail 151 of expansion plate 152, and cantilever 153 also can with hoistable platform 131 elevating movement.Expansion plate 152 is provided with extension (not shown).When cantilever 153 moves to the two ends of guide rail 151 time, cantilever 153 can continue to move on extension, and extension can be easy to cantilever 153 and seesaw.
Push-pull device at fixed 154 is fixed on cantilever 153, and push-pull device at fixed 154 advances along the bearing of trend of guide rail 151 or retreats.
Push-pull device at fixed 154 for unlocking by battery and take out in battery compartment (not shown), and be stored in battery compartment by battery and lock.
Referring to Fig. 5 and Fig. 6, push-pull device at fixed 154 includes housing 100, power set 200, actively hands 300, transfer bar mechanism the 400, first signal lever 500, secondary signal bar 600 and changes electric car 700.
Housing 100 is connected with power set 200, and power set 200 are used for driving housing 100 to move back and forth.In the present embodiment, power set 200 are servomotor.
Actively hands 300 is installed on housing 100, and actively hands 300 is for being connected with battery, and battery is unlocked and pulled out in battery compartment, and by battery lock in battery compartment.
Transfer bar mechanism 400 is contained in housing 100.
First signal lever 500 and secondary signal bar 600 are slidably connected with housing 100 on the pointing direction of active hands 300.
Housing 100 is installed on and changes on electric car 700, and housing 100 is changing slip on electric car 700 under the driving of power set 200.
As it is shown in fig. 7, the cross-sectional view that it is actively hands 300.Actively hands 300 includes: motor 310, shell 320, shaft coupling 330, gear shaft 340, lock lobe 350.Shell 320 passes and is fixed on housing 100 and arranges.Shaft coupling 330 is connected with gear shaft 340 and is contained in shell 320.Lock lobe 350 runs through shell 320 and engages with gear shaft 340.Motor 310 is connected through shell 320 with shaft coupling 330.
As shown in Figure 8 and Figure 9, its respectively transfer bar mechanism 400 structural representation under two different conditions.Transfer bar mechanism 400 includes: push rod 412, guide flange 414, first connecting rod 422, second connecting rod the 424, first connector the 426, second connector 428, projection 430, crank 440, connecting rod 450, rocking bar 460, disc cam 470 and torsion spring 480.
Guide flange 414 is fixed on housing 100, and push rod 412 is through guide flange 414 and is slidably connected with it, and push rod 412 end stretches out outside housing 100, and the other end is positioned at housing 100, and push rod 412 is identical with the pointing direction of actively hands 300.First connector 426 is positioned at push rod 412 that one end of housing 100 is fixing to be connected.One end of first connecting rod 422 and the first connector 426 are rotationally connected, and one end of the other end and second connecting rod 424 is rotationally connected, and the other end and second connector 428 of second connecting rod 424 are rotationally connected.Second connector 428 is fixed on the inwall of housing 100.Torsion spring 480 is fixed in housing 100, and its two ends abut with the inwall of housing 100 and second connecting rod 424 respectively.Projection 430 is located on second connecting rod 424.
The middle part of crank 440 and cam 470 is all rotationally connected with housing 100.Change and electric car 700 offers through hole 710, one end of crank 440 stretches out in outside housing 100 and is contained in the through hole 710 changing electric car 700, connecting rod 450 two ends are rotationally connected with crank 440 and rocking bar 460 respectively, rocking bar 460 is fixing with cam 470 to be connected, crank 440, connecting rod 450, rocking bar 460, cam 470 constitute crank-motion, and cam 470 abuts with projection 430.
In the present embodiment, the quantity of first connecting rod 422, second connecting rod 424, projection 430 and torsion spring 480 is respectively two, and is symmetrically distributed in the both sides of push rod 412 axis.
In the present embodiment, projection 430 is bearing.Projection 430 adopts design bearing, when projection 430 is connected with cam 470, it is possible to reduce the frictional force in power transmission process so that realize better between the two being connected.
In the present embodiment, cam 470 offering the depression 472 corresponding with projection 430, projection 430 is contained in depression 472.
In the present embodiment, the quantity of transfer bar mechanism 400 is two, and is distributed in the both sides of actively hands 300.
Push-pull device at fixed 154 work process is divided into battery from the drawing process of taking-up in battery compartment, and battery is stored in the pushing course in battery compartment.
Be noted that battery is provided with snap close, described snap close coordinates with actively hands 300 for by battery lock in battery compartment, and by battery from unblock in battery compartment.
Further to illustrate that, push-pull device at fixed 154 is provided with PLC (ProgrammableLogicController, programmable logic controller (PLC)), the PLC triggering signal for receiving the first signal lever 500 and secondary signal bar 600 sends, and produce control signal by described triggering signal, and then controlling associated components generation action, specific works process will be described in detail in following process.
Push-pull device at fixed 154 is as follows from the procedure declaration of taking-up in battery compartment by battery:
Push-pull device at fixed 154 moves toward battery compartment direction, move into place when changing electric car 700, push rod 412 on housing 100 touches battery surface, and now the crank 440 of transfer bar mechanism 400 stretches out in one end of housing 100 and stopped by the hole wall of through hole 710, and crank 440 is triggered and rotates.
Crank 440 rotates and drives connecting rod 450 to rotate, and connecting rod 450 rotates and drives rocking bar 460 to rotate, and rocking bar 460 rotates band moving cam 470 and rotates, and cam 470 rotates and drives the projection 430 abutted with it to move.
Projection 430 motion makes the first connecting rod 422 being rotationally connected and second connecting rod 424 to curving, and first connecting rod 422 drives the opposite direction that the push rod 412 being attached thereto moves toward battery to shrink, and second connecting rod 424 drives torsion spring 480 to compress simultaneously.
In the process that push rod 412 shrinks, the first signal lever 500 and secondary signal bar 600 can touch the snap close on battery and start to shrink at.Now the first signal lever 500 sends to touch and signals to PLC, after PLC detects described triggering signal, sending control signal to make to change electric car 700 stop motion, PLC sends control signal to power set 200 simultaneously, and power set 200 drive shell 100 is being changed on electric car 700 toward the continuation motion of battery compartment direction.
Housing 100 drives actively hands 300 to enter in the snap close of battery, and the distance of housing 100 motion is preset by PLC, and it is set in advance apart from rear stop motion that housing 100 moves to PLC.Then PLC sends order-driven motor 310 and rotates, motor 310 drives shaft coupling 330 to rotate, shaft coupling 330 driven gear axle 340 rotates, and gear shaft 340 drives the lock lobe 350 engaged to stretch out in outside shell 320, and now actively hands 300 passes through to lock lobe 350 and the snap close clamping on battery.
Then, PLC controls power set 200 and reverses, and power set 200 drive housing 100 toward away from battery compartment one lateral movement, and the snap close of battery and battery compartment unlock, and battery is pulled out outside battery compartment by actively hands 300.
Secondary signal bar 600 for detect battery in the process of pull-out whether with active hands 300 clamping, when battery is from disengaging active hands 300, secondary signal bar 600 resets and sends triggering signal to PLC, after PLC detects described triggering signal, sending control signal to alarm, alarm sends alarm signal；Being drawn out in the process outside battery compartment at battery, push rod 412, first connecting rod 422, second connecting rod 424, crank 440, connecting rod 450, rocking bar 460 all reset under the effect of torsion spring 480.
So far, battery from pull-out in battery compartment, is completed the action of power taking pond by push-pull device at fixed 154.
The procedure declaration that battery is stored in battery compartment by push-pull device at fixed 154 is as follows:
Battery is connected with active hands 300 by its snap close, and is positioned at and changes on electric car 700.
Push-pull device at fixed 154 drives battery to move toward battery compartment direction, and when battery moves to the appointment position in battery compartment, now crank 440 is triggered, and makes push rod 412 back shrinkage through a series of actions.
Actively hands 300 drives snap close to continue toward the motion of battery compartment direction so that snap close and battery compartment mounting, so that battery lock is in battery compartment.
Then the lock lobe 350 that PLC controls on active hands 300 shrinks, and after lock lobe 350 shrinks, PLC controls power set 200 action, and power set 200 drive housing 100 toward the motion away from battery compartment direction, and actively hands 300 separates with battery.
Arriving this, battery is stored in battery compartment by push-pull device at fixed 154, completes to deposit battery action.
Battery is stored in battery compartment or by battery from when taking out in battery compartment, the crank 440 of transfer bar mechanism 400 drives connected component actuation, make push rod 412 back shrinkage, realize actively hands 300 and the snap fit on battery, thus battery lock being unlocked from battery compartment in battery compartment or by battery, and then complete the action of access battery.This push-pull device at fixed 154 structure is ingenious, it is accurate to coordinate, reliability is higher.
When push-pull device at fixed 154 push-and-pull battery time, the roller 141 on battery carrier 140 and the roller 1521 on expansion plate 152 are all conducive to push-pull device at fixed 154 to be moved between battery carrier 140 and expansion plate 152 by battery.
Slew gear 160 includes revolution matrix 161 and floating bearing 162.Revolution matrix 161 is fixing with body 110 to be connected, and floating bearing 162 is rotatably connected with revolution matrix 161 and walking mechanism 120.Floating bearing 162 is rotatably connected with walking matrix 161.Slew gear 160 switches between automobile and the position changing battery of battery charging rack (not shown) for changing robot with battery 10, it is ensured that changes robot with battery 10 and can select dress smoothly, and arrives position of rotation accurately.
The process changing battery in conjunction with automobile illustrates the structure of above-mentioned replacing robot with battery 10, as shown in Figure 1, Figure 2, Figure 3, Figure 4.Expansion plate 152 forward extends out, and completes the tandem docking task with automobile batteries frame.Push-pull device at fixed 154 travels forward, and push-pull device at fixed 154 continues to walk forward on the extension of expansion plate 152, unlocks, battery rearward movement to be changed in pull-out automobile, arrives on hoistable platform 131.Hoistable platform 131 is elevated to the empty frame place of battery carrier 140.Battery to be changed is moved on the empty frame of cantilever mounted battery carrier 1-2 by push-pull device at fixed 154, locks.Push-pull device at fixed 154, under the effect of hoistable platform 131, arrives the new battery place of battery carrier 140, and push-pull device at fixed 154 travels forward, and is released by new battery, arrives on expansion plate 152.Hoistable platform 131 completes the task that is directed at up and down with automobile batteries frame, push-pull device at fixed 154 and expansion plate 152 combined effect, is pushed in bus by new battery, locks.Then, walking mechanism about 120 walking, it is achieved second time changes the left and right alignment of electricity, until all of battery altering to be changed is complete.The course of action principle realizing automobile second layer replacing battery is similar, is not repeated.
When changing battery with battery charging rack (not shown), now, the shelfful of the used batteries on battery carrier 140.Slew gear turns round 180 °, towards battery charging rack.Walking mechanism 120 quickly runs to battery charging rack place, and completes left and right alignment.Push-pull device at fixed 154, under the effect of hoistable platform 131, arrives the used batteries place of battery carrier 140, is released by used batteries, through expansion plate 152, and expansion plate 152 combined effect, and used batteries are pushed in battery charging rack, lock.Until all of used batteries are all pushed in battery charging rack, walking mechanism 120 quickly runs to the new battery place of battery charging rack.Push-pull device at fixed 154 under the effect of elevating mechanism 130, and expansion plate 120 combined effect, new battery is pulled out, through expansion plate 152, arrives in battery carrier 140, lock.Until the new battery shelfful of battery carrier 140.
Above-mentioned replacing robot with battery 10 at least can carry the half of the number of batteries required for an automobile, namely when automobile is replaced battery time, changing robot with battery 10 for two can simultaneously in the both sides of automobile, disposable complete an automobile change electricity demand, without walking up and down between battery charging rack and automobile, the saving time, improve the efficiency changing battery.
Further, above-mentioned replacing robot with battery 10 by cantilever 153 and battery carrier 140 structure, make the simple in construction of whole replacing robot with battery 10, overall dimensions is less, and the motion making above-mentioned replacing robot with battery 10 is comparatively convenient, convenient uses.
Above-mentioned replacing robot with battery 10 enables above-mentioned replacing robot with battery divertical motion by revolving structure 160, it is not necessary to realize break-in campaign by turning round, and improves and changes robot with battery 10 kinematic accuracy.
Specifically in the present embodiment, the number of battery carrier 140 is more than the quantity of battery needed for automobile.It may therefore be assured that above-mentioned replacing robot with battery 10 can not be used between automobile and battery charging rack and walk up and down, the replacing to an automobile can be completed battery operated, save the time, improve the efficiency changing battery.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. change a robot with battery, be used for changing automobile batteries, it is characterised in that including:
Framework；
Two fixing plates, are fixed in the opposite sides of described framework；
Walking mechanism, is located at the outside of the bottom of described framework, and described walking mechanism is used for driving described framework to walk；
Multiple spaced battery carriers, one end of described battery carrier is fixed at the side of described framework, and multiple described battery carrier is arranged in parallel,
Elevating mechanism, being located in described framework, described elevating mechanism includes hoistable platform, described hoistable platform and described framework slidable connection, described hoistable platform place plane is all parallel with each described battery carrier place plane, and described hoistable platform is positioned at the side of described battery carrier；
Push-pull mechanism, including:
Expansion plate, is located on described hoistable platform, and described expansion plate stretches along the lifting direction being perpendicular to described hoistable platform, and described expansion plate can with described hoistable platform elevating movement；Guide rail, one end is fixed on described expansion plate, and described guide rail and described battery carrier are oppositely arranged, and described guide rail can with described hoistable platform elevating movement, and described guide rail can stretch with described expansion plate；
Cantilever, is slidably located on described guide rail, and described cantilever can move along the bearing of trend of described guide rail, and, described cantilever can stretch with described expansion plate；And
Push-pull device at fixed, is fixed on described cantilever；
Wherein, when described guide rail stretches with described expansion plate, described cantilever stretches with described expansion plate, and described push-pull device at fixed advances with described cantilever along the bearing of trend of described guide rail or retreats, and rises or falls with described hoistable platform.
2. replacing robot with battery according to claim 1, it is characterised in that described push-pull device at fixed is provided with aligned portions, described aligned portions, for being directed at the location division on battery, makes described push-pull device at fixed be directed at described battery.
3. replacing robot with battery according to claim 1, it is characterised in that the surface of described expansion plate is provided with multiple roller, and the axis of symmetry of multiple described rollers is parallel to each other.
4. replacing robot with battery according to claim 1, it is characterized in that, also include slew gear, described slew gear includes revolution matrix and floating bearing, described revolution matrix is fixing with described framework to be connected, and described floating bearing and described revolution matrix are rotatably connected.
5. replacing robot with battery according to claim 4, it is characterized in that, described walking mechanism includes walking matrix and multiple road wheel, and described floating bearing and described walking matrix are rotatably connected, and multiple described road wheels are all located on the bottom surface of described walking matrix.
6. replacing robot with battery according to claim 1, it is characterised in that the surface of described battery carrier is provided with roller.
7. replacing robot with battery according to claim 1, it is characterised in that described hoistable platform and described expansion plate abut against near one end of described hoistable platform with described battery carrier near one end of battery carrier.
8. replacing robot with battery according to claim 1, it is characterised in that the number of described battery carrier is more than the half of the number of described automobile batteries.
9. replacing robot with battery according to claim 1, it is characterized in that, all offering the gathering sill of the bearing of trend being perpendicular to described guide rail on two described fixing plates, the two ends of described hoistable platform are contained in described gathering sill, and described hoistable platform lifts along described gathering sill.
10. replacing robot with battery according to claim 1, it is characterised in that described expansion plate can outwards stretch formation extension away from one end of described battery carrier, and described extension may extend to the outside of described framework, makes described extension near described battery.
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| CN201410310444.5A CN104118404B (en) | 2014-06-30 | 2014-06-30 | Change robot with battery |
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| CN201410310444.5A CN104118404B (en) | 2014-06-30 | 2014-06-30 | Change robot with battery |
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| CN104118404B true CN104118404B (en) | 2016-07-06 |
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| EP3307585B1 (en) * | 2015-06-10 | 2019-12-18 | Battswap, Inc. | Battery exchange system |
| CN108115697A (en) * | 2016-11-28 | 2018-06-05 | 深圳市阿童木文化传播有限公司 | The control method of service robot and service robot |
| CN107565638A (en) * | 2017-09-15 | 2018-01-09 | 江西爱驰亿维实业有限公司 | The integrated service system of electrokinetic cell bag |
| KR101882749B1 (en) * | 2018-02-22 | 2018-07-30 | 주식회사 에이치엔에이치 | Ess battery rack dedicated storge device |
| CN110606056B (en) * | 2019-10-28 | 2020-11-27 | 广东博智林机器人有限公司 | Battery replacing method of battery replacing robot |
| CN110606057B (en) * | 2019-10-28 | 2021-02-19 | 广东博智林机器人有限公司 | Battery replacing robot |
| CN110752333A (en) * | 2019-10-28 | 2020-02-04 | 广东博智林机器人有限公司 | Blocking mechanism, battery compartment and battery replacing robot |
| CN112677814A (en) * | 2021-01-29 | 2021-04-20 | 齐桂珍 | Automatic battery replacement device and method for electric automobile |
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| CN203511607U (en) * | 2013-10-25 | 2014-04-02 | 沈阳中科正方新能源技术有限公司 | Servo-type battery replacing system of electric vehicle |
| CN203937651U (en) * | 2014-06-30 | 2014-11-12 | 王俊 | Change robot with battery |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201538304U (en) * | 2009-12-04 | 2010-08-04 | 贵阳普天物流技术股份有限公司 | Electric bus power battery-rapidly-replaced vehicle |
| WO2012105530A1 (en) * | 2011-01-31 | 2012-08-09 | 日本電産サンキョー株式会社 | Battery-replacing robot and battery-replacement system |
| CN203142639U (en) * | 2013-03-28 | 2013-08-21 | 山东鲁能智能技术有限公司 | Single-way replacing robot for battery box of electric commercial vehicle |
| CN103507785A (en) * | 2013-09-18 | 2014-01-15 | 深圳精智机器有限公司 | Battery replacement device |
| CN203511607U (en) * | 2013-10-25 | 2014-04-02 | 沈阳中科正方新能源技术有限公司 | Servo-type battery replacing system of electric vehicle |
| CN203937651U (en) * | 2014-06-30 | 2014-11-12 | 王俊 | Change robot with battery |
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| CN104118404A (en) | 2014-10-29 |
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Effective date of registration: 20171124 Address after: 518057 Beek science and Technology Building No. 9, Nanshan District Hi-tech Zone, Shenzhen City, Guangdong Province, 1101-B Patentee after: Shenzhen Jingzhi Machine Co., Ltd. Address before: 518000 Guangdong city of Shenzhen province Nanshan District science and Technology Park Keyuan Road Boxun technology building seven floor Patentee before: Wang Jun |