CN110867544B - Delivery mechanism and battery replacing robot adopting same - Google Patents
Delivery mechanism and battery replacing robot adopting same Download PDFInfo
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- CN110867544B CN110867544B CN201911029269.1A CN201911029269A CN110867544B CN 110867544 B CN110867544 B CN 110867544B CN 201911029269 A CN201911029269 A CN 201911029269A CN 110867544 B CN110867544 B CN 110867544B
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- link
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- battery
- delivery
- tray assembly
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
- H01M50/256—Carrying devices, e.g. belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention discloses a delivery conveying mechanism and a battery replacing robot adopting the delivery conveying mechanism, wherein a load is arranged on a tray assembly, the tray assembly is driven to move on a supporting assembly through a driving device, the supporting assembly is kept balanced when the load is delivered out of a bin through a connecting rod assembly, the suspension delivery of batteries is realized, the problems of weak load capacity, unstable delivery of the load during delivery out of the bin and inaccurate stop and positioning of the load are solved, and the battery delivery transmission requirement of the battery replacing robot can be met. The delivery conveying mechanism is suitable for all occasions needing to carry out load delivery conveying.
Description
Technical Field
The invention relates to a conveying mechanism, in particular to a delivery conveying mechanism, and particularly relates to a delivery conveying mechanism applied to a battery replacing robot.
Background
When the battery of the robot is replaced, the battery needs to be pushed out of the bin body to be in butt joint with the battery replacing robot, and when the battery is taken out of the bin body, the battery needs to be pushed out and hung outside the bin body. The conveying mechanism for realizing the delivery of the battery in the prior art mainly has two forms: the first type is a drawer type conveying mechanism, however, the conveying mechanism in the form is weak in load capacity, and the guide rail is easy to deform when a heavy battery is conveyed, so that the guide rail is damaged in structure, and the requirement of discharging the heavy battery from a warehouse cannot be met; the second type is a rope wheel traction type conveying mechanism, which is easy to cause battery slipping when conveying batteries, so that the batteries are difficult to keep balance in the conveying process, and the batteries cannot be accurately positioned and stopped when being taken out of a bin.
Disclosure of Invention
In view of the above, the present invention provides a delivery mechanism with large load, stable transmission and accurate positioning and stopping, and a battery replacing robot using the same, and the delivery mechanism specifically comprises:
a delivery conveying mechanism for realizing the delivery of loads is characterized in that the delivery conveying mechanism comprises,
the bin body is provided with an inlet and an outlet for loading;
the tray assembly is arranged in the bin body and is used for bearing load;
the driving device is arranged in the bin body and drives the tray assembly to extend out of and retract into the bin body;
the supporting assembly is arranged at the bottom of the bin body and supports the tray assembly in the process of extending and retracting the tray assembly out of and into the bin body;
driven link assembly, driven link assembly's one end is close to with storehouse body top the access & exit end side connection, driven link assembly's the other end with tray assembly is close to storehouse body access & exit end side connection tray assembly retracts the storehouse body in-process, driven link assembly converts fold condition into by straightening the state tray assembly stretches out during the storehouse body, driven link assembly converts the state of straightening into by fold condition.
Preferably, the driven connecting rod assembly comprises a first connecting rod and a second connecting rod, wherein the first connecting rod is connected with the second connecting rod
The first end of the rod is hinged with the side, close to the inlet and outlet of the bin body, of the tray component, the second end of the rod is hinged with the second end of the second connecting rod, and the first end of the second connecting rod is hinged with the top of the bin body.
Preferably, the delivery mechanism further comprises a guiding device, the guiding device is arranged in the bin body and is parallel to the moving direction of the tray assembly; the delivery mechanism further comprises a pushing connecting rod assembly, one end of the pushing connecting rod assembly is hinged to the guide device, and the other end of the pushing connecting rod assembly is fixed with a second connecting rod of the driven connecting rod assembly.
Preferably, the pushing connecting rod assembly comprises an intermediate connecting piece, a third connecting rod and a fourth connecting rod, the second end of the intermediate connecting piece of the pushing connecting rod assembly is fixed at the second end of the second connecting rod, the first end of the intermediate connecting piece is hinged with the first end of the third connecting rod, the second end of the third connecting rod is hinged with the second end of the fourth connecting rod, and the first end of the fourth connecting rod is hinged with the guide device.
Preferably, the delivery mechanism further comprises a tension and compression rod, a first end of the tension and compression rod is fixed with the guide device, and a second end of the tension and compression rod is fixed with the side, far away from the inlet and the outlet, of the tray assembly.
Preferably, the supporting assembly comprises a first pulley and a second pulley, wherein the first pulley is arranged at the bottom of the bin body close to the inlet and the outlet; the second pulley is arranged at the bottom of the bin body and is far away from the entrance, wherein the first pulley always keeps a supporting effect on the tray assembly, and the second pulley only generates a supporting effect on the tray assembly within a preset range.
Preferably, the guiding device is a sliding block, and a guide rail is correspondingly formed in the bin body to be in movable fit with the bin body.
Preferably, the first connecting rod and the second connecting rod are provided with rotation restraining structures, so that the first connecting rod and the second connecting rod are always out of a straight line when the first connecting rod and the second connecting rod are linked to the straight state in the folded state.
The present invention also provides a battery replacing robot, comprising:
the battery replacing mechanism is used for taking down a dead battery from the operation robot and placing the dead battery into the battery compartment, and placing a fully charged battery in the battery compartment into a battery box of the operation robot;
the battery rack is provided with at least one battery bin, and the battery bin is provided with the delivery mechanism provided by the invention.
The invention realizes the suspension delivery of the load through the connecting rod, and has the effects of large load capacity, stable delivery and accurate stop positioning. The delivery conveying mechanism is suitable for all occasions with the requirement of conveying loads to deliver the materials.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.
FIG. 1 is a schematic view of the load discharge of embodiment 1 of the present invention;
FIG. 2 is a schematic view showing the completion of the load discharging in embodiment 1 of the present invention;
FIG. 3 is a schematic view of example 2 of the present invention;
in the figure:
1-a tray assembly; 2-a battery;
3-a driven linkage assembly; 31-a first link; 32-a second link; 4-pushing the connecting rod assembly; 41-intermediate connectors; 42-a third link; 43-a fourth link; 5-pulling and pressing the rod;
6-a guiding device;
7-a support assembly; 71-a first pulley; 72-a second pulley;
8-a drive device; 9-fixing block; 10-a cartridge body.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples and claims of this invention, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "the plural" includes at least two in general, but does not exclude the presence of at least one, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
The invention is used for driving the tray assembly to move on the supporting assembly through the driving device, and the load keeps balance on the supporting assembly when the load is delivered out of the bin, so that the load is suspended and delivered out of the bin, and the problems that the existing load delivery mechanism is weak in load capacity, easy to damage in structure, unstable in load delivery and inaccurate in stop and positioning are solved.
Example 1:
as shown in fig. 1 and 2, the present embodiment provides an example of a delivery conveying mechanism, the load conveyed by the delivery conveying mechanism is a battery 2, and the delivery conveying mechanism includes a tray assembly 1, a driven connecting rod assembly 3, a pushing connecting rod assembly 4, a pulling and pressing rod 5, a guiding device 6, a supporting assembly 7, a driving device 8, a fixed block 9, and a bin 10.
Wherein the battery 2 is placed on the tray assembly 1, and the tray assembly 1 is disposed above the support assembly 7.
Preferably, the tray assembly 1 is a rectangular tray for carrying the battery 2.
Preferably, the supporting components 7 comprise a first pulley 71 and a second pulley 72, which are respectively arranged at the front end and the rear end of the bottom of the bin body 10, and the two supporting components 7 are used for supporting the tray assembly 1 independently in the process of extending and retracting the tray assembly 1 into and out of the bin body 10 respectively until the load is completely put into the bin body. The first pulley 71 and the second pulley 72 support the tray assembly 1 in a point contact manner, so that the friction force generated in the moving process of the tray assembly 1 can be reduced, the movement of the tray assembly is smoother, and the driving load of the driving device 8 is reduced.
The driving device 8 is arranged in the bin body 10 and is in driving connection with the tray component 1; the guide means 6 are arranged inside the bin 10 and parallel to the direction of movement of the tray assembly 1.
Preferably, the driving device 8 can be electrically driven or hydraulically driven, and the embodiment is preferably electrically driven, so that the control precision is high, the moving position of the tray assembly 1 can be accurately controlled, and the stop positioning can be accurately realized. The driving device 8 comprises a driving motor, a lead screw and a transmission sleeve, the driving motor is arranged at one end of the lead screw, the other end of the lead screw penetrates through the transmission sleeve, and the lead screw is connected with the transmission sleeve through threads to realize driving. Further preferably, a synchronous belt is arranged between the driving motor and the screw rod, and the driving motor drives the screw rod to rotate through the synchronous belt.
Preferably, the afterbody of tray subassembly 1 is equipped with a fixing base, and this fixing base and drive arrangement 8's transmission cover fixed connection move on the lead screw by drive arrangement 8 drive transmission cover, and transmission cover rethread fixing base exerts the effect to tray subassembly 1 and makes it realize moving.
Preferably, the guiding device 6 is a sliding block, and the top of the inner side of the bin body 10 correspondingly forms a guide rail to move and cooperate with the guide rail.
Driven link assembly 3's one end and storehouse body 10 top are close to the access & exit end side and are connected, and the other end is close to storehouse body 10 bottom access & exit end side with tray assembly 1 and is connected, retracts storehouse body 10 in-process at tray assembly 1, and driven link assembly 3 converts fold condition into by the state of straightening, and when tray assembly 1 stretched out storehouse body 10, driven link assembly 3 converted into by fold condition and straightened the state.
Preferably, the first link 31 and the second link 32 have a rotation restriction structure, preferably a fixed block 9 in this embodiment, the fixed block 9 is disposed on one side of the end of the guiding device 6 facing the second link 32, and limits the movement of the guiding device 6 towards the direction of the outlet and inlet of the cabin body 10, so that the first link 31 and the second link 32 are not always on a dead point position, i.e. a straight line, when being linked from the folded state to the straightened state.
Preferably, the driven connecting rod assembly 3 comprises a first connecting rod 31 and a second connecting rod 32, a first end of the first connecting rod 31 is hinged with the side of the tray assembly 1 close to the inlet and outlet end of the cabin 10, a second end of the first connecting rod is hinged with a second end of the second connecting rod 32, and a first end of the second connecting rod 32 is hinged with the top of the inside of the cabin 10.
The push link assembly 4 is hinged to the guide 6 at one end and fixed to the second link 32 of the driven link assembly 3 at the other end.
Preferably, the push link assembly 4 comprises an intermediate connecting member 41, a third connecting member 42 and a fourth connecting member 43, wherein the second end of the intermediate connecting member 41 of the push link assembly 4 is fixed to the second end of the second connecting member 32, the first end of the intermediate connecting member 41 is hinged to the first end of the third connecting member 42, the second end of the third connecting member 42 is hinged to the second end of the fourth connecting member 43, and the first end of the fourth connecting member 43 is hinged to the guide 6.
Preferably, the intermediate link 41 may be integrally formed with the second link 32.
Preferably, a first end of the tension and compression rod 5 is fixed with the guide device 6, and a second end of the tension and compression rod 5 is fixed with the end side of the tray assembly 1 far away from the entrance and the exit.
After the driving device 8 applies a pushing force to the tray assembly 1 to move the tray assembly to the outside of the bin 10, the tray assembly 1 carries the battery 2 loaded thereon to move to the outside of the bin 10. Meanwhile, the tray component 1 drives the tension and compression rod 5 and the guide device 6 to move towards the outside of the bin, the first end of the fourth connecting rod 43 is pushed by the guide device 6 towards the outside of the bin, the third connecting rod 42 is driven by the pushing force, and the middle connecting piece 41, the second connecting rod 32 and the first connecting rod 31 are linked.
In the process that the tray assembly 1 moves to the outside of the bin body 10, when the gravity center of the battery 2 moves from the inside of the bin to the outside of the bin but does not pass through the first pulley 71, the gravity center of the battery 2 is between the first pulley 71 and the tension and compression rod 5, the battery 2 applies a pressure equal to the gravity of the tray assembly 1 in the vertical downward direction, the vertical upward supporting force provided by the first pulley 71 to the tray assembly 1 cannot completely balance the pressure, the tray assembly 1 also needs an upward pulling force for keeping balance, the pulling force is provided by the tension and compression rod 5, and according to the opposite action of the forces, the tension and compression rod 5 receives the vertical downward pulling force applied by the tray assembly 1 in the vertical direction.
When the guiding device 6 stops moving due to the limiting effect of the fixing block 9, the discharging movement of the discharging conveying mechanism is completed, the gravity center of the battery 2 is arranged on one side of the first pulley 71 facing the outside of the bin and has a certain distance with the first pulley 71, at the moment, the tray assembly 1 can be regarded as a lever structure under the condition that the first pulley 71 carries out point support on the tray assembly, and the specific stress is as follows:
the tray assembly 1 is subjected to pressure which is applied by the batteries 2 vertically downwards and has the same magnitude as the gravity of the batteries, and is also subjected to pulling force applied by the first connecting rod 31, the pulling force is obliquely upwards along the direction of the first connecting rod 31, a vertically upwards component force can be decomposed to balance the gravity of a part of the batteries 2, the action points of the rest of the gravity are still on the side, facing the outside of the bin, of the first pulley 71, for keeping balance, the tray assembly 1 is further required to be applied by a vertically downwards force on the side, facing the inside of the bin, of the first pulley 71, the force is generated by the tension and compression rod 5, and according to the opposite action of the force, the tension and compression rod 5 is subjected to upwards pressure applied by the tray assembly 1 in the vertical direction.
The delivery mechanism that this embodiment provided moves on supporting component 7 through drive arrangement 8 drive tray subassembly 1, and battery 2 remains stable, balanced state throughout when delivering from godown, finally realizes hanging the delivery from godown, realizes the heavy load transmission, and moves steadily, stops the location accuracy.
Example 2
Compared with embodiment 1, the present embodiment further provides a delivery conveying mechanism, which is improved in that a fixing block 9 disposed at one side of the end of the guiding device 6 facing the second link 32 is eliminated, and a protruding structure is disposed on a side surface of the first link 31 near the second end, as shown in fig. 3, so that when the second link 32 rotates around the second end of the first link 31, the rotation is stopped due to the obstruction of the protruding structure, and thus the first link 31 and the second link 32 are always not located at a dead point position, i.e., a straight line when being linked from the folded state to the straightened state.
Example 3
The embodiment provides a battery replacing robot, which is provided with a battery replacing mechanism and is used for taking a dead battery from an operating robot and placing the dead battery into a battery compartment and placing a full-charge battery in the battery compartment into a battery box of the operating robot; when this kind of battery replacement robot needs to carry out battery 2 and change, carry out the conveying of battery 2 through adopting the delivery transport mechanism that embodiment 1 or embodiment 2 provided for battery 2 remains steady state throughout the in-process of conveying, and it is accurate to stop the location, can fine satisfy the battery replacement demand of battery replacement robot.
In summary, the delivery conveying mechanism and the battery replacing robot provided by the embodiments have the advantages of large load capacity, stable motion and accurate stop and positioning, the tray assembly is driven by the driving device to move on the supporting assembly, and the load is kept balanced on the supporting assembly during delivery, so that the suspended delivery of the battery is realized, the problems of weak load capacity, easy damage to the structure, unstable delivery of the load during delivery and inaccurate stop and positioning of the existing load delivery conveying mechanism are solved, and the battery delivery transmission requirement of the battery replacing robot can be met.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the claims.
Claims (10)
1. A delivery conveying mechanism for realizing the delivery of loads is characterized in that the delivery conveying mechanism comprises,
the bin body is provided with an inlet and an outlet for loading;
the tray assembly is arranged in the bin body and is used for bearing load;
the driving device drives the tray assembly to extend out and retract into the bin body;
the supporting assembly is arranged at the bottom of the bin body and supports the tray assembly in the process of extending and retracting the tray assembly out of and into the bin body;
driven link assembly, driven link assembly's one end is close to with storehouse body top the access & exit end side connection, driven link assembly's the other end with tray assembly is close to storehouse body access & exit end side connection tray assembly retracts the storehouse body in-process, driven link assembly converts fold condition into by straightening the state tray assembly stretches out during the storehouse body, driven link assembly converts the state of straightening into by fold condition.
2. The discharge conveyor mechanism according to claim 1, wherein said driven link assembly comprises a first link and a second link, wherein a first end of said first link is hinged to said tray assembly adjacent said access end of said bin body, a second end of said first link is hinged to a second end of said second link, and a first end of said second link is hinged to a top portion of said bin body.
3. The discharge conveyor mechanism according to claim 2, wherein said discharge conveyor mechanism further comprises a guide disposed within said cartridge body and disposed parallel to the direction of movement of said tray assembly; the delivery mechanism further comprises a pushing connecting rod assembly, one end of the pushing connecting rod assembly is hinged to the guide device, and the other end of the pushing connecting rod assembly is fixed with a second connecting rod of the driven connecting rod assembly.
4. A discharge conveyor according to claim 3, wherein said push link assembly comprises an intermediate link, a third link and a fourth link, the intermediate link second end of said push link assembly being secured to the second end of the second link, the first end of said intermediate link being hingedly connected to the first end of said third link, the second end of said third link being hingedly connected to the second end of said fourth link, the first end of said fourth link being hingedly connected to said guide.
5. The discharge conveyor mechanism according to claim 4 further comprising a tension and compression bar, a first end of said tension and compression bar being secured to said guide means and a second end of said tension and compression bar being secured to said tray assembly distal to said inlet and outlet ends.
6. The discharge conveying mechanism according to any one of claims 3 to 5, wherein said support assembly comprises a first pulley and a second pulley, wherein the first pulley is disposed at the bottom of the bin body near the discharge opening; the second pulley is arranged at the bottom of the bin body and is far away from the entrance, wherein the first pulley always keeps a supporting effect on the tray assembly, and the second pulley only generates a supporting effect on the tray assembly within a preset range.
7. A delivery mechanism according to claim 6, wherein the guide means is a slider and the cartridge body has correspondingly formed therein a guide track for moving engagement therewith.
8. The discharge conveyor mechanism of claim 6, wherein said first and second links have rotational restraint structure such that said first and second links are not always in a straight line when said collapsed state is linked to said extended state.
9. A battery exchange robot having the delivery transport mechanism of any one of claims 1 to 8.
10. A battery replacing robot is characterized in that: the method comprises the following steps:
the battery replacing mechanism is used for taking down a dead battery from the operation robot and placing the dead battery into the battery compartment, and placing a fully charged battery in the battery compartment into a battery box of the operation robot;
a battery rack provided with at least one battery compartment provided with a bin out transport mechanism according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911029269.1A CN110867544B (en) | 2019-10-28 | 2019-10-28 | Delivery mechanism and battery replacing robot adopting same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911029269.1A CN110867544B (en) | 2019-10-28 | 2019-10-28 | Delivery mechanism and battery replacing robot adopting same |
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| CN110867544A CN110867544A (en) | 2020-03-06 |
| CN110867544B true CN110867544B (en) | 2022-03-25 |
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| JP2003095590A (en) * | 2001-09-26 | 2003-04-03 | Komatsu Forklift Co Ltd | Battery laterally drawing device |
| FR2905355B1 (en) * | 2006-08-31 | 2009-05-22 | Airbus Groupement D Interet Ec | AIRCRAFT CAR AND AIRCRAFT CABIN SUB-ASSEMBLY COMPRISING SUCH A SUBSET |
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| CN201670210U (en) * | 2010-05-28 | 2010-12-15 | 湖南丰日电源电气股份有限公司 | Quick replacement connector for drawer type battery |
| CN201901116U (en) * | 2010-12-16 | 2011-07-20 | 深圳市许继自动化技术有限公司 | Device for replacing battery box of electric vehicle |
| JP6166942B2 (en) * | 2013-05-01 | 2017-07-19 | 三菱マヒンドラ農機株式会社 | Work vehicle |
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| CN104973025B (en) * | 2015-07-03 | 2017-03-08 | 昆明欧迈科技有限公司 | A kind of device of automatic quick-replaceable automatic vehicle battery |
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| CN105399003B (en) * | 2015-12-03 | 2018-08-28 | 林德（中国）叉车有限公司 | The battery replacement device of fork truck |
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