CN110757506B

CN110757506B - Battery transfer part and battery replacing robot

Info

Publication number: CN110757506B
Application number: CN201911032422.6A
Authority: CN
Inventors: 邬全兵; 陈加添; 李宁
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-10-28
Filing date: 2019-10-28
Publication date: 2021-06-01
Anticipated expiration: 2039-10-28
Also published as: CN110757506A

Abstract

The application discloses piece is transported to battery includes: at least two trays; and the pose adjusting device is arranged between the adjacent trays and can adjust the relative position between the adjacent trays. Certain error of fault tolerance, butt joint cooperation are more stable safety. Therefore, certain error can be tolerated during butt joint/alignment matching, so that the butt joint/alignment matching is more stable and safer, and the stable operation of battery replacement is ensured. The application provides a pair of change battery robot, including the battery transport piece, because the battery transport piece has above-mentioned beneficial effect, the change battery robot that corresponds also has above-mentioned beneficial effect.

Description

Battery transfer part and battery replacing robot

Technical Field

The application relates to the technical field of battery replacement, especially, relate to a battery transports piece and changes battery robot.

Background

At present, various navigation techniques of robot all are difficult to reach millimeter level precision, though through thick location and smart positioning many times, also can not guarantee the stable counterpoint cooperation between the counterpoint target, counterpoint cooperation when for example changing the battery, because counterpoint mechanism is rigid connection structure usually, when counterpoint cooperation each other, certain angle error or the position error that produce when unable fault-tolerant counterpoint cooperation, lead to the emergence collision damage between the counterpoint mechanism because of angle error or position error easily, lead to the robot to empty the circumstances such as because of the collision when serious.

Disclosure of Invention

In view of this, the present application aims to provide a battery transfer piece, which can tolerate a certain error generated by the butt joint matching during the battery replacement, so that the butt joint matching is more stable and safer.

The application also provides a docking device, which can be used for tolerating certain errors when being docked with another docking target, and the docking coordination is more stable and safer.

To achieve the above technical object, the present application provides a battery transfer member, including:

at least two trays;

and the pose adjusting device is arranged between the adjacent trays and can adjust the relative position between the adjacent trays.

Further, the posture adjustment device includes at least a horizontal adjustment mechanism that includes:

a screw assembly;

the fixing seat is connected with one of the adjacent trays;

and the sliding seat is fixedly connected with the other adjacent tray and is in sliding fit with the fixed seat through the screw rod assembly.

Further, the posture adjustment device further includes a rotation adjustment mechanism, and the rotation adjustment mechanism includes:

and the inner ring of the slewing bearing is connected with the fixed seat, the outer ring of the slewing bearing is connected with one of the adjacent trays, and the inner ring and the outer ring can rotate relatively.

and the inner ring of the slewing bearing is fixedly connected with one of the adjacent trays, the outer ring of the slewing bearing is connected with the other adjacent tray, and the inner ring and the outer ring can rotate relatively.

Furthermore, a sliding groove is formed in the side wall of the fixed seat;

and the side part of the sliding seat is provided with a sliding rail which is in sliding fit with the sliding groove.

Further, the lead screw subassembly includes:

the screw rod is arranged on the sliding seat through a bearing seat;

the sliding block is sleeved on the screw rod and is fixedly connected with the fixed seat;

the first driving piece is fixedly arranged on the sliding seat and is used for driving the screw rod to rotate;

the top of sliding seat is equipped with the edge sliding seat slip direction sets up and is used for dodging the groove of dodging of slider.

Furthermore, a buffer part is arranged on the fixed seat on at least one side of the slewing bearing;

and a stop block corresponding to the buffer piece is arranged on one of the adjacent trays.

Furthermore, one of the buffer piece and the stop block is provided with a pressure detection sensor to detect the pressure applied by the fixing seat to one of the adjacent trays.

Further, the rotation adjusting mechanism further comprises a second driving element for driving the fixed seat to rotate relative to the adjacent other tray.

Further, the number of the trays is two:

one of the trays is a temporary storage tray for temporarily storing the batteries;

the other tray is a taking and placing tray and is arranged below the temporary storage tray and used for replacing the battery.

The application also provides a robot for replacing the battery, which comprises a base; a battery transport.

According to the technical scheme, the battery transfer piece is used for adjusting the relative position between the trays by arranging the pose adjusting device between at least two adjacent trays. Therefore, certain error can be tolerated during butt joint/alignment matching, so that the butt joint/alignment matching is more stable and safer, and the stable operation of battery replacement is ensured.

According to the technical scheme, the battery replacing robot comprises a battery transferring piece, and the corresponding battery replacing robot also has the beneficial effects because the battery transferring piece has the beneficial effects.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic view of the overall structure of a battery transport provided herein;

FIG. 2 is a schematic view of a portion of a battery transport provided herein;

FIG. 3 is a schematic partially exploded view of a battery transport level adjustment structure provided herein;

fig. 4 is a schematic view of a battery transport member in a butt-joint fit state provided herein;

fig. 5 is a schematic view illustrating a state of a battery transfer member provided in the present application in a case where a position error exists in a butt-joint fit;

fig. 6 is a schematic view of a battery transport member provided in the present application before mating under an angular error condition;

fig. 7 is a schematic view of a battery transport member provided in the present application in a state after mating under an angular error condition;

in the figure: 1. a temporary storage tray; 11. a stopper; 2. taking and placing a tray; 21. a narrow disc portion; 22. a wide disc portion; 3. a first driving member; 31. a bearing seat; 32. a screw rod; 33. a slider; 34. a sliding seat; 341. a guide rail; 4. a slew bearing; 5. a buffer member; 6. a battery box; 61. a support plate; 62. a groove; 7. a power battery; 8. a fixed seat; 81. an avoidance groove; 82. a chute.

Detailed Description

The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.

The embodiment of the application discloses at least two trays; and the pose adjusting device is arranged between the adjacent trays and can adjust the relative position between the adjacent trays.

The above is a first embodiment of a battery transfer piece provided in the embodiments of the present application, and the following is a second embodiment of a battery transfer piece provided in the embodiments of the present application, specifically referring to fig. 1 to 7.

A battery transport, comprising: at least two trays; and the pose adjusting device is arranged between the adjacent trays and can adjust the relative position between the adjacent trays.

Further, as shown in fig. 1 and 2, the number of trays may be two: one of the temporary storage trays is specifically a temporary storage tray 1 and is used for moving the power battery 7 out of and into a battery bin of the battery replacing robot, so that the taking and placing tray 2 can take out the fully charged power battery 7 behind the power battery 7 conveniently or a battery position is provided for the dead power battery 7 taken off by the taking and placing tray 2; another specifically is getting and puts tray 2, sets up in the tray 1 below of keeping in for take off power battery 7 of lack of power from operating robot and place on the battery compartment of change battery robot and take off power battery 7 of full charge from changing battery robot and place operating robot's battery box 6. The temporary storage tray 1 is arranged on a displacement mechanism such as a lifting mechanism, is fixed relative to the position of the lifting mechanism, and moves the whole power battery 7 to a battery cabin of a battery replacing robot and a battery box 6 of an operating robot through the lifting mechanism. Of course both trays may be pick and place trays 2, one of which is mounted to the displacement mechanism.

In addition, taking fig. 2 as an example, the taking and placing tray 2 may have a structure of a wide tray part 22 and a narrow tray part 21, wherein the narrow tray part 21 is designed to be convenient to be in butt joint with a groove 62 of a support plate 61 extending from a battery box 6 of an operation robot; when the battery is replaced, the narrow tray part 21 of the taking and placing tray 2 is inserted into the groove 62 and then is in butt joint fit with the support plate 61, the power battery 7 positioned on the support plate 61 is taken out, and then the power battery 7 is replaced by a new power battery 7, so that the battery replacement can be completed.

Further, the posture adjustment device includes at least a horizontal adjustment mechanism, and the horizontal adjustment mechanism includes: a screw assembly; the fixed seat 8 is connected with one of the adjacent trays; and the sliding seat 34 is fixedly connected with the other adjacent tray and is in sliding fit with the fixed seat 8 through a screw rod assembly. The sliding seat 34 is driven by the screw rod assembly to slide relative to the fixed seat 8, so that the requirement for adjusting the tray in the horizontal direction is met.

Further, as shown in fig. 3, a sliding groove 82 is formed in the side wall of the fixing seat 8; the sliding seat 34 is provided at its side with a sliding rail 341 which is slidably engaged with the sliding groove 82. Of course, the slide rail 341 may be disposed on the fixed seat 8, and the slide groove 82 may be disposed on the slide seat 34, which is not limited specifically.

Further, as shown in fig. 2, the screw assembly includes: a screw rod 32 mounted on the sliding seat 34 through a bearing seat 31; the sliding block 33 is sleeved on the screw rod 32 and is fixedly connected with the fixed seat 8; the first driving piece 3 is fixedly arranged on the sliding seat 34 and is used for driving the screw rod 32 to rotate; the top of the sliding seat 34 is provided with an avoiding groove 81 which is arranged along the sliding direction of the sliding seat 34 and is used for avoiding the sliding block 33. Such a structure can install the screw rod 32 and the first driving element 3 on the sliding seat 34 without being installed on the fixed seat 8, so that the fit between the fixed seat 8 and the sliding seat 34 is more compact. In addition, connecting plates (not shown) can be additionally arranged at two ends of the sliding seat 34, the connecting plates can be conveniently connected with the taking and placing tray 2, and the installation is more convenient.

Further, the posture adjustment device may further include a rotation adjustment mechanism including: and the inner ring of the rotary bearing 4 is connected with the fixed seat 8, the outer ring of the rotary bearing is connected with one of the adjacent trays, and the inner ring and the outer ring can rotate relatively. That is to say the outer lane of gyration pivot can be connected with the tray of keeping in 1, just so can realize keeping in the relative rotation between tray 1 and the fixing base 8 to the realization is kept in tray 1 and is got the relative rotation of putting between the tray 2. In addition, the rotary adjusting mechanism can be only configured, namely, the rotary bearing 4 is connected with one tray at the inner ring and connected with the other adjacent tray at the outer ring, and the relative rotation between the two trays is directly realized. Furthermore, a buffer piece 5 is arranged on at least one side of the rotary bearing 4 on the fixed seat 8; and a stop block 11 corresponding to the buffer piece 5 is arranged on one of the adjacent trays. Through setting up bolster 5 and dog 11, can realize reseing to fixing base 8 after the rotational adjustment, make it have the effect that self-correcting resets. For example, as shown in fig. 1 and fig. 2, two buffering members 5 may be provided and symmetrically disposed on two sides of the slewing bearing 4, and the symmetrical buffering members 5 are distributed to better limit the rotation angle of the fixing base 8. The buffer 5 may be a conventional buffer spring, and those skilled in the art can make appropriate changes based on the buffer spring, and the invention is not limited to the above.

Further, one of the buffer member 5 and the stopper 11 is provided with a pressure detecting sensor (not shown) to detect the pressure applied by the fixing base 8 to the adjacent one of the trays. The pressure detection sensor may be used to detect whether the buffer 5 reaches a preset amount of compression. When putting tray 2 and work robot's battery box 6's backup pad 61 and counterpoint the cooperation, cooperation error between is too big, results in the 8 turned angle of fixing base too big for when dog 11 reaches predetermined compression amount to the extrusion of bolster 5, the inductor can send detected signal for changing battery robot, stops to counterpoint the cooperation, avoids getting and puts tray 2 and backup pad 61 collision damage. Similarly, in the case where only the rotation adjusting mechanism is provided, the buffer member 5 may be provided on the pick-and-place tray 2.

In addition, a groove-type photo-electricity (not shown) may be provided; the groove-shaped photoelectricity is arranged on the fixed seat 8; the buffer piece 5 is provided with a baffle sheet (not shown); when the buffer piece 5 is contacted and abutted with the stop block 11 to reach the preset compression amount, the blocking piece extends into the groove-shaped photoelectric sensing notch to trigger the groove-shaped photoelectric sensor.

Further, the rotation adjusting mechanism further includes a second driving member (not shown) to drive the fixing base 8 to rotate relative to another adjacent tray. The second driving motor can be a rotating motor, the rotating motor can be arranged on the temporary storage tray 1, and a rotating shaft of the rotating motor penetrates through the rotary bearing 4 to be fixedly connected with the fixed seat 8; and then can realize the rotation of initiative and adjust, can make and get the right-hand member portion that gets tray 2 and just in time rotate tray in the work robot battery box 6 for it is more stable to get to put tray 2. If the second driving member is not provided, the pick-and-place tray 2 is biased toward the tray in the battery box 6 of the working robot although it can also be rotated under pressure to be parallel to the tray in the battery box 6 of the working robot.

The counterpoint cooperation process of battery transportation piece:

as shown in fig. 4, when a horizontal position deviation occurs in the butt joint of the supporting plate 61 and the picking and placing tray 2, the picking and placing tray 2 can be driven by the horizontal adjusting mechanism to move left and right to align with the battery box 6 of the working robot, and the screw rod 32 can be driven by the first driving part 3 to rotate to drive the sliding seat 34 to slide, so that the picking and placing tray 2 can be horizontally adjusted.

As shown in fig. 5 to 6, when an angle deviation occurs in the butt joint of the support plate 61 and the pick-and-place tray 2, the pick-and-place tray 2 can rotate relative to the temporary storage tray 1 under the action of the rotation adjusting mechanism in the process of inserting the narrow tray part 21 of the pick-and-place tray 2 into the groove 62, so that the narrow tray part 21 can be smoothly inserted into the groove 62, and after the narrow tray is smoothly inserted into the groove 62, the narrow tray part 21 can move right below the power battery 7 through adjustment of the horizontal adjusting mechanism, and then the battery is replaced. Therefore, the discharging tray 2 can be guaranteed to be always used for taking the discharging battery from the position right below the power battery 7, and the risk of toppling over of the power battery 7 is reduced. And the collision damage condition caused by the failure of fault tolerance error during alignment matching can be reduced, and the alignment matching is more stable and safer.

The application also provides a robot for replacing the battery, which comprises a base; a battery transport. Because the battery transports the piece and has above-mentioned beneficial effect, the change battery robot that corresponds also has above-mentioned beneficial effect.

While the battery transfer part and the battery replacing robot provided by the present application have been described in detail, for those skilled in the art, according to the idea of the embodiment of the present application, the specific implementation and the application scope may be changed, and in summary, the content of the present application should not be construed as limiting the present application.

Claims

1. A battery transport, comprising:

at least two trays;

the pose adjusting device is arranged between the adjacent trays and can adjust the relative position between the adjacent trays;

the position appearance adjusting device includes horizontal adjustment mechanism and rotation adjustment mechanism at least, horizontal adjustment mechanism includes:

a screw assembly;

the fixing seat is connected with one of the adjacent trays;

the sliding seat is fixedly connected with the other adjacent tray and is in sliding fit with the fixed seat through the screw rod assembly; wherein the content of the first and second substances,

the lead screw subassembly includes:

the screw rod is arranged on the sliding seat through a bearing seat;

2. The battery transport of claim 1, wherein the rotational adjustment mechanism comprises:

3. The battery transport of claim 1, wherein the rotational adjustment mechanism comprises:

4. The battery transfer piece of claim 1, wherein the side wall of the fixing seat is provided with a sliding groove;

5. The battery transport member of claim 2, wherein the mounting base has a buffer on at least one side of the slew bearing;

6. The battery transport member of claim 5, wherein a pressure detecting sensor is disposed on one of the buffer member and the stopper to detect a pressure applied by the fixing base to an adjacent one of the trays.

7. The battery transport of claim 2, wherein the rotational adjustment mechanism further comprises a second drive member to drive the fixed seat to rotate relative to the adjacent other tray.

8. The battery transport of claim 1, wherein the number of trays is two:

9. A robot for replacing a battery, comprising; the battery transporter of any one of claims 1 to 8.