CN113524226A - Equal-differential free counterweight four-axis battery replacement robot - Google Patents
Equal-differential free counterweight four-axis battery replacement robot Download PDFInfo
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- CN113524226A CN113524226A CN202110929759.8A CN202110929759A CN113524226A CN 113524226 A CN113524226 A CN 113524226A CN 202110929759 A CN202110929759 A CN 202110929759A CN 113524226 A CN113524226 A CN 113524226A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention provides an equal-differential-speed free counterweight four-axis battery-changing robot which is provided with a cantilever type conveying tower frame, wherein a counterweight trolley and a load trolley are respectively arranged at two ends of the cantilever type conveying tower frame, and the lower end of the load trolley is connected with a rigid-flexible integrated cross-shaped support type synchronous lifting mechanism. And a light rail track is also arranged at the cantilever position of the cantilever type conveying tower frame, and the counterweight trolley and the load trolley can respectively run to the other end of the cantilever type conveying tower frame along the light rail track to finish the conveying of the load. The load trolley is connected above the light rail in a rolling manner, the counterweight trolley can be arranged above the light rail and also can be arranged below the light rail, and when the counterweight trolley is arranged below the light rail, the gravity center moves downwards more stably. The cantilever type conveying tower is conveyed to a load assembly point by the conveying trolley, the load is grabbed and hoisted by the rigid-flexible integrated cross-bracing type synchronous lifting mechanism, and the load is conveyed under the condition of equal-differential-speed free conveying of the counterweight trolley and the load trolley.
Description
Technical Field
The invention relates to the technical field of new energy battery replacement, for example, a heavy truck battery replacement project, in particular to an equal-differential-speed free counterweight four-axis battery replacement robot.
Background
The new energy vehicle using the power battery as the driving energy has the great advantage of environmental protection. The heavy truck has large power consumption, so that the economical efficiency and the popularization of the new energy heavy truck are restricted, and the battery replacement type heavy truck is produced at the same time.
At present, in the field of replacing batteries of electric heavy trucks, a battery box adopts a quick and full-automatic battery replacing mode, a special battery replacing lifting device is utilized to take down a discharged battery box in a fixed or mobile battery replacing station, the discharged battery box is placed on a charging station, and the charged battery box is mounted on the electric heavy truck, so that the aim of safely continuing the electric vehicle. The battery box of heavy truck is big, need use special power conversion hoisting equipment when trading the electricity, to the great object of load, mechanical hoisting equipment commonly used has hoist engine, longmen tower crane etc.. However, the conventional battery replacement lifting equipment is generally complex in structure, large in occupied space and high in cost, is generally determined as special equipment due to the limitation of lifting height and weight, needs to be reported and checked every year, is time-consuming and labor-consuming, and indirectly increases the production cost.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides an equal-differential-speed free counterweight four-axis electric-changing robot which is simple in structure, convenient to operate, does not belong to special equipment and can quickly and stably complete load conveying.
The invention provides an equal-differential-speed free counterweight four-axis battery-changing robot which is provided with a cantilever type conveying tower, wherein a counterweight trolley and a load trolley are respectively arranged at two ends of the cantilever type conveying tower, the lower end of the load trolley is connected with a rigid-flexible integrated cross-bracing type synchronous lifting mechanism, a light rail track is further arranged at a cantilever of the cantilever type conveying tower, and the counterweight trolley and the load trolley can respectively move towards the other end of the cantilever type conveying tower along the light rail track to finish the conveying of loads.
Preferably, the counterweight trolley and the load trolley are arranged above the light rail track, the light rail track comprises an inner rail and an outer rail which are arranged in parallel, the load trolley is in rolling connection with the inner rail through wheels, and the counterweight trolley is in rolling connection with the outer rail through wheels.
Preferably, the light rail track includes parallel arrangement's interior rail and outer rail, and the top of outer rail is located to the load dolly, through wheel and outer rail roll connection, and the below of interior rail is located to the counter weight dolly, through wheel and interior rail roll connection.
Preferably, the counterweight trolley is U-shaped.
Preferably, the bottom end of the cantilever type conveying tower frame is also provided with a conveying trolley, and the bottom end of the conveying trolley is in rolling connection with the conveying track through wheels.
Preferably, the driving wheels of the load trolley, the counterweight trolley and the conveying trolley are connected with the servo motor.
Preferably, the rigid-flexible integrated cross-shaped supporting type synchronous lifting mechanism is provided with a lifting machine fixing frame, a synchronous lifting machine, a cross-shaped supporting lifting tool and a cross-shaped supporting guide mechanism, the lifting machine fixing frame is fixedly connected with the lower end face of the load trolley, the synchronous lifting machine is fixedly installed on the lifting machine fixing frame, a load shaft of the synchronous lifting machine is connected with the cross-shaped supporting lifting tool, the cross-shaped supporting guide mechanism is installed on the lower end face of the lifting machine fixing frame, and the cross-shaped supporting lifting tool moves up and down along the cross-shaped supporting guide mechanism under the action of the synchronous lifting machine.
Preferably, the cross brace lifting appliance comprises a synchronous lifting cross arm, a flexible lifting assembly, an electric permanent magnet lifting base and an electric permanent magnet, the upper end of the synchronous lifting cross arm is connected with a load shaft of the synchronous lifter, and the lower end of the synchronous lifting cross arm is connected with the upper end of the flexible lifting assembly. The flexible hoisting components are provided with two groups which are symmetrically arranged below the synchronous lifting cross arm; the lower extreme of flexible hoist and mount subassembly is connected and is equipped with electric permanent magnetism hoist and mount base, and the upper portion of electric permanent magnetism hoist and mount base is column hollow structure, and flexible hoist and mount subassembly is fixed in electric permanent magnetism hoist and mount base hollow structure's inside, and the lower extreme in electric permanent magnetism hoist and mount base is pegged graft to electric permanent magnet.
The cross bracing guide mechanism comprises a cross bracing fixing frame and a cross bracing guide wheel, the cross bracing fixing frame is arranged between the two flexible hoisting assemblies, the upper end of the cross bracing fixing frame penetrates through the synchronous hoisting cross arm to be fixedly connected with the bottom surface of the elevator fixing frame, and two sides of the lower end of the cross bracing fixing frame are respectively provided with the cross bracing guide wheel. The cross bracing leading wheel is equipped with the arc guide way, and the arc guide way still extends to be equipped with the conical surface with the face of cylinder adaptation roll connection of electric permanent magnetism hoist and mount base, the face of cylinder upper edge of electric permanent magnetism hoist and mount base, and the cross-sectional area of conical surface is less than the cross-sectional area of face of cylinder.
Preferably, when the load shaft of the synchronous elevator drives the cylindrical surface of the electro-permanent magnet hoisting base to move up and down along the cross brace guide wheel, the cross brace guide mechanism limits the cross brace hoisting tool in the horizontal direction, and the electro-permanent magnet does vertical movement. When the conical surface of the electric permanent magnet hoisting base descends to the cross support guide wheel, the cross support hoisting tool is relieved of the limit of the cross support guide mechanism in the horizontal direction, and the electric permanent magnet can rotate in the horizontal direction due to the existence of the flexible hoisting assembly.
Preferably, the two ends of the light rail track are provided with anti-collision blocks for mechanical limiting.
The invention provides an equal-differential-speed free counterweight four-axis electric-changing robot which has the following beneficial effects:
(1) the invention firstly utilizes the conveying trolley to convey the cantilever type conveying tower frame, the load trolley and the weight-balancing trolley to a specified assembly position. And then the load trolley and the balance weight trolley simultaneously move to the other end of the cantilever type conveying tower frame, so that the uniform-differential free conveying of the load is realized, and the stability of the whole device is ensured.
The counterweight trolley can be arranged above the light rail track according to actual conditions and can also be arranged below the light rail track. When the device is arranged below the light rail, the whole gravity center of the device moves downwards, the stability is good, and the requirement on space is high.
(2) The invention adopts the rigid-flexible integrated cross-shaped support type synchronous lifting mechanism to complete the lifting and the lowering of the load, not only can meet the requirement of stable lifting of the load, but also can meet the requirement of accurate positioning of the load, and avoids the load from shaking in the process of conveying the load along with the load trolley, thereby ensuring the stability of the whole device.
The invention has simple structure and small occupied space, and does not belong to special equipment; the operation is simple and convenient, the stability is higher, the service life of the equipment is prolonged, the production efficiency is greatly improved, the production cost is reduced, and the method can be widely applied to the technical field of conveying hoisting machinery equipment.
Drawings
FIG. 1 is a schematic structural view of a front view of the present invention;
FIG. 2 is a schematic left side view of the present invention;
FIG. 3 is a schematic structural view of a perspective view of the present invention;
FIG. 4 is a schematic structural diagram of a rigid-flexible integrated cross-brace type synchronous lifting mechanism of the present invention;
FIG. 5 is a schematic view of the construction of the spreader cross-brace of the present invention;
fig. 6 is a schematic structural view of the cross brace guide mechanism of the present invention.
The labels in the figure are: 1. the system comprises a cantilever type conveying tower frame, 11 parts of an inner rail, 12 parts of an outer rail, 13 parts of an anti-collision block, 14 parts of a conveying trolley, 15 parts of a conveying rail, 16 parts of a servo motor, 2 parts of a counterweight trolley, 3 parts of a load trolley, 4 parts of a rigid-flexible integrated cross bracing type synchronous lifting mechanism, 41 parts of a lifter fixing frame, 42 parts of a synchronous lifter, 43 parts of a cross bracing lifting appliance, 431 parts of a synchronous lifting cross arm, 432 parts of a flexible lifting assembly, 433 parts of an electric permanent magnet lifting base, 4331 parts of a cylindrical surface, 4332 parts of a conical surface, 434 parts of an electric permanent magnet, 44 parts of a cross bracing guide mechanism, 441 parts of a cross bracing fixing frame, 442 parts of a cross bracing guide wheel, 4421 parts of an arc guide groove, 443 parts of a cross bracing guide wheel ear plate and 444 parts of a cross bracing guide wheel support.
Detailed Description
The invention is further described below in conjunction with the drawings and the specific embodiments to assist in understanding the contents of the invention. The method used in the invention is a conventional method if no special provisions are made; the raw materials and the apparatus used are, unless otherwise specified, conventional commercially available products.
Example 1
As shown in fig. 1 to 3, the invention provides an equal-differential-speed free counterweight four-axis battery-changing robot, which is provided with a cantilever type conveying tower frame 1, wherein two ends of the cantilever type conveying tower frame 1 are respectively provided with a counterweight trolley 2 and a load trolley 3, the lower end of the load trolley 3 is connected with a rigid-flexible integrated cross support type synchronous lifting mechanism 4, and the rigid-flexible integrated cross support type synchronous lifting mechanism 4 is used for grabbing and lifting a load. The cantilever of the cantilever type conveying tower frame 1 is also provided with a light rail track which is fixedly connected with the cantilever type conveying tower frame 1, the balance weight trolley 2 and the load trolley 3 are respectively arranged at two ends of the cantilever type conveying tower frame 1 and can respectively move towards the other end of the cantilever type conveying tower frame 1 along the light rail track, and the load is conveyed to the other end from one end of the cantilever type conveying tower frame 1 to finish the equal-differential free conveying of the load. According to the layout condition of the battery replacement operation site and the requirement of the production process, the lengths of the cantilevers on the two sides of the cantilever type conveying tower frame 1 can be the same or different.
The upper portion of the light rail track is all located to counter weight dolly 2 and load dolly 3, the light rail track is including parallel arrangement's interior rail 11 and outer rail 12, load dolly 3 passes through wheel and interior rail 11 roll connection, counter weight dolly 2 is the U-shaped and passes through wheel and outer rail 12 roll connection, the both ends of interior rail 11 and outer rail 12 all are equipped with anticollision piece 13 that play mechanical limiting displacement, produce the collision when avoiding counter weight dolly 2 and load dolly 3 to move the extreme point. The driving wheels of the load trolley 3 and the counterweight trolley 2 are also connected with a servo motor 16, and the servo motor 16 is electrically connected with the PLC control device.
Before the load is conveyed, the weight of the counterweight trolley 2 and the running speed of the counterweight trolley 3 are set according to the lever principle and the weight of the load trolley 3. When the weight of the balance weight trolley 2 is equal to that of the load trolley 3, the balance weight trolley 2 and the load trolley 3 perform opposite or reverse constant-speed motion by taking the geometric center of the cantilever type conveying tower frame 1 as the center, and the balance weight trolley and the load trolley respectively run from one end of the cantilever type conveying tower frame 1 to the other end of the cantilever type conveying tower frame 1, so that the balance of the cantilever type conveying tower frame 1 is guaranteed, and the load is conveyed.
For the purpose of energy saving, the weight of the counterweight trolley 2 can be set to be smaller than that of the load trolley 3 on the premise of fully utilizing and ensuring the stability of the cantilever type conveying tower frame 1. When the counterweight trolley 2 and the load trolley 3 move oppositely, the speed of the counterweight trolley 2 is set to be smaller than that of the load trolley 3; when the two move reversely, the speed of the counterweight trolley 2 is set to be higher than that of the load trolley 3. Therefore, the counterweight trolley 2 does differential motion relative to the load trolley 3, so that the purpose of amplifying the moment generated by the counterweight trolley 2 is achieved, the cantilever type conveying tower frame 1 is guaranteed to be balanced, and load conveying is realized.
The bottom end of the cantilever type conveying tower frame 1 is also provided with a conveying trolley 14, the bottom end of the conveying trolley 14 is in rolling connection with a conveying track 15 through wheels, driving wheels of the conveying trolley 14 are also connected with a servo motor 16, and the servo motor 16 is electrically connected with a PLC control device. The PLC control device program controls the conveying trolley 14 to carry the cantilever type conveying tower frame 1, the load trolley 3 and the balance weight trolley 2 to the specified assembly position.
As shown in fig. 4 to 6, when the load is lifted and assembled, the rigid-flexible integrated cross bracing type synchronous lifting mechanism 4 is used for completing the lifting. The rigid-flexible integrated cross-bracing type synchronous lifting mechanism 4 is provided with a lifter fixing frame 41, a synchronous lifter 42, a cross-bracing hanger 43 and a cross-bracing guide mechanism 44, the lifter fixing frame 41 is fixedly connected with the lower end face of the load trolley 3, the synchronous lifter 42 is fixedly installed on the lifter fixing frame 41, the cross-bracing hanger 43 is arranged below the lifter fixing frame 41, and the upper end of the cross-bracing hanger is connected with a load shaft of the synchronous lifter 42. The cross brace guide mechanism 44 is installed on the lower end surface of the elevator fixing frame 41, and under the action of the synchronous elevator 42, the cross brace lifting tool 43 moves up and down along the cross brace guide mechanism 44 to lift a load. The synchronous lifter 42 is electrically connected with the PLC control device to realize automatic control.
The cross brace lifting appliance 43 comprises a synchronous lifting cross arm 431, flexible lifting assemblies 432, an electric permanent magnet lifting base 433 and an electric permanent magnet 434, the upper end of the synchronous lifting cross arm 431 is connected with a load shaft of the synchronous lifter 42, the lower end of the synchronous lifting cross arm 431 is connected with the upper end of the flexible lifting assemblies 432 through lifting connection seats, the flexible lifting assemblies 432 are provided with two groups, and the synchronous lifting cross arm 431 is symmetrically arranged below the flexible lifting cross arm 432. Further, the flexible hoisting component 432 may be a soft cable, a steel wire rope or a hoisting ring component, and in this embodiment, the hoisting ring component is formed by serially connecting a hoisting ring and a sawtooth ring to meet the requirement of the hoisting load on the rotational displacement in the horizontal direction. The lower end of the flexible hoisting component 432 is connected with an electric permanent magnet hoisting base 433, the upper part of the electric permanent magnet hoisting base 433 is of a cylindrical hollow structure, the flexible hoisting component 432 is fixed inside the hollow structure of the electric permanent magnet hoisting base 433, and the electric permanent magnet 434 is bolted to the lower end of the electric permanent magnet hoisting base 433. The lower part of the columnar hollow structure of the electric permanent magnet hoisting base 433 is provided with a cylindrical surface 4331, the upper edge of the cylindrical surface 4331 is provided with a conical surface 4332 in an extending manner, the cross-sectional area of the conical surface 4332 is smaller than that of the cylindrical surface 4331, and the arrangement of the cylindrical surface 4331 and the conical surface 4332 realizes the limitation of the hoisting load in the horizontal direction.
The lower end of the electric permanent magnet hoisting base 433 is connected with an electric permanent magnet 434, and the electric permanent magnet 434 is used for hoisting a load. The adoption replaces the lifting hook with electric permanent magnet 434 and lifts by crane the load, need not accurate location when lifting by crane on the one hand, and is succinct convenient, and on the other hand lifts by crane back load and electric permanent magnet 434 and keeps fixed state, can not produce and rock and lead to the displacement friction, influences its life-span. Moreover, the electric permanent magnet 434 is only switched on with an instant power supply when the magnetizing and demagnetizing states are switched, no power is needed in the working process, the working force of the electric permanent magnet cannot be lost when the electric permanent magnet is powered off or a power supply circuit fails, and the electric permanent magnet is safe, reliable and energy-saving; the interior of the electro-permanent magnet 434 is also free of any moving parts, so that the whole strength is high, the device is reliable and durable, special maintenance is not needed, and the service life of the whole device is correspondingly prolonged.
The cross bracing guide mechanism 44 comprises a cross bracing fixing frame 441 and a cross bracing guide wheel 442, the cross bracing fixing frame 441 is arranged between the two flexible hoisting components 432, the upper end of the cross bracing fixing frame 441 penetrates through a through hole in the middle of the synchronous lifting cross arm 431 to be fixedly connected with the bottom surface of the elevator fixing frame 41, two sides of the lower end of the cross bracing fixing frame 441 are respectively provided with the cross bracing guide wheel 442, and the cross bracing guide wheel 442 is connected with the lower end of the cross bracing fixing frame 441 through a cross bracing guide wheel lug plate 443 and a cross bracing guide wheel support 444. Specifically, the bottom surface of the cross support guide wheel support 444 is fixedly connected with the cross support fixing frame 441, the upper end of the cross support guide wheel support 444 is connected with a cross support guide wheel lug plate 443, the cross support guide wheel lug plate 443 is connected with the central shaft of the cross support guide wheel 442, and the cross support guide wheel 442 is rotatably connected with the central shaft. The periphery of the cross brace guide wheel 442 is provided with an arc-shaped guide groove 4421, and the arc-shaped guide groove 4421 is in adaptive rolling connection with the cylindrical surface 4331 of the electro-permanent magnet hoisting base 433.
When the load shaft of the synchronous elevator 42 drives the cylindrical surface 4331 of the electro-permanent magnet hoisting base 433 to move up and down along the cross brace guide wheel 442, the cylindrical surface 4331 of the electro-permanent magnet hoisting base 433 is in tangential rolling connection with the arc-shaped guide groove 4421 of the cross brace guide wheel 442, the cross brace guide mechanism 44 limits the cross brace lifting appliance 43 in the horizontal direction, the cross brace lifting appliance 43 can only do vertical lifting movement under the action of the synchronous elevator 42, and the electro-permanent magnet 434 fixedly connected with the cross brace lifting appliance 43 and the load sucked by the electro-permanent magnet 434 can only do vertical movement. When the conical surface 4332 of the electric permanent magnet hoisting base 433 descends to the cross brace guide wheel 442, because the radius of the conical surface 4332 is reduced, the conical surface 4332 of the electric permanent magnet hoisting base 433 is separated from the cross brace guide wheel 442, the cross brace hoisting tool 43 is relieved by the limit of the cross brace guide mechanism 44 in the horizontal direction, and because the electric permanent magnet 434 is flexibly connected with the synchronous lifting cross arm 431 by adopting the hoisting ring assembly, the electric permanent magnet 434 can be rotated and finely adjusted in the horizontal direction, and the requirement of accurately positioning the load in the horizontal direction during load releasing is met.
Example 2
The difference between this embodiment and embodiment 1 is that the load trolley 3 is disposed above the outer rail 12 and is connected to the outer rail 12 in a rolling manner through wheels, the counterweight trolley 2 is disposed below the inner rail 11 and is connected to the inner rail 11 in a rolling manner through wheels, and the load can shuttle in a U-shaped groove of the counterweight trolley 2. The arrangement enables the gravity center of the cantilever type conveying tower frame 1 to be lowered, is more beneficial to keeping balance of the whole device, ensures the stability of the operation of the whole device, and has higher relative space requirement.
The working process of the invention is as follows:
the cantilever type transport tower 1, the load carriage 3 and the counterweight carriage 2 are first transported to a designated assembly location by the transport carriage 14. The synchronous lifter 42 is started, the cross brace lifting appliance 43 descends, the electro-permanent magnet 434 is electrified to suck and grab the load, and the cross brace lifting appliance 43 then ascends to the initial position. In the process of ascending the load, when the arc-shaped guide groove 4421 of the cross brace guide wheel 442 is in adaptive rolling connection with the cylindrical surface 4331 of the electro-permanent magnet hoisting base 433, the cross brace hoisting tool 43 and the cross brace guide mechanism 44 form a limit structure in the horizontal direction, the load vertically moves along with the electro-permanent magnet 434 and the cross brace hoisting tool 43, and friction damage caused by load shaking due to the use of a lifting hook is avoided. And then the PLC control device program controls the counterweight trolley 2 and the load trolley 3 to respectively move towards the other end of the cantilever type conveying tower frame 1, and the load is conveyed to the other end from one end of the cantilever type conveying tower frame 1, so that the equal-differential-speed free conveying of the load is completed. In the process of equal differential speed free conveying, because the cross brace lifting appliance 43 is limited by the cross brace guide mechanism 44 in the horizontal direction, displacement and shaking do not occur between the load and the electro-permanent magnet 434 and between the electro-permanent magnet 434 and the cross brace lifting appliance 43, so that the stability of the load trolley 3 and the cantilever type conveying tower frame 1 is ensured.
After the load moves to the position to be placed along with the load trolley 3, the synchronous lifter 42 is started again, and the load descends along with the cross brace lifting appliance 43. In the descending process, the cross brace lifting appliance 43 is limited by the horizontal position of the cross brace guide mechanism 44, and the cross brace lifting appliance 43, the electro-permanent magnet 434 and the load synchronously move vertically, so that the stability of load operation is ensured. When the conical surface 4332 of the electric permanent magnet hoisting base 433 descends to the cross brace guide wheel 442, the conical surface 4332 of the electric permanent magnet hoisting base 433 is separated from the cross brace guide wheel 442, the horizontal limit relation is released, and because the electric permanent magnet 434 is flexibly connected with the synchronous lifting cross arm 431 through the hanging ring assembly, the electric permanent magnet 434 can rotate and adjust in the horizontal direction along with the turning of the hanging ring, so that the requirement of accurate positioning in the horizontal direction during load releasing is met.
The invention firstly utilizes the conveying trolley 14 to convey the cantilever type conveying tower frame 1, the load trolley 3 and the counterweight trolley 2 to the appointed assembly position. And then the load trolley 3 and the balance weight trolley 2 simultaneously move to the other end of the cantilever type conveying tower frame 1, so that the uniform-differential-speed free conveying of the load is realized, and the integral stability of the device is ensured. The hoisting and the lowering of the load are completed by the rigid-flexible integrated cross-shaped support type synchronous lifting mechanism 4, so that the requirement of stable lifting of the load can be met, and the requirement of accurate positioning of the load can also be met. The invention has simple structure and small occupied space, and does not belong to special equipment; the operation is simple and convenient, the stability is higher, the service life of the equipment is prolonged, meanwhile, the production efficiency is greatly improved, the production cost is reduced, and the method can be widely applied to the technical field of new energy battery replacement.
In the description of the present invention, it is to be understood that the terms "left", "right", "upper", "lower", "top", "bottom", "front", "rear", "inner", "outer", "back", "middle", and the like, indicate orientations and positional relationships based on those shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
However, the above description is only an embodiment of the present invention, and the scope of the present invention should not be limited thereby, and the replacement of the equivalent components or the equivalent changes and modifications made according to the protection scope of the present invention should still be covered by the scope of the claims of the present invention.
Claims (10)
1. The equal-differential free counterweight four-axis battery replacement robot is characterized by being provided with a cantilever type conveying tower frame, wherein a counterweight trolley and a load trolley are arranged at two ends of the cantilever type conveying tower frame respectively, the lower end of the load trolley is connected with a rigid-flexible integrated cross support type synchronous lifting mechanism, a light rail track is further arranged at a cantilever of the cantilever type conveying tower frame, and the counterweight trolley and the load trolley can move towards the other end of the cantilever type conveying tower frame along the light rail track respectively to complete load conveying.
2. The constant-differential-speed free counterweight four-axis electric-changing robot is characterized in that the counterweight trolley and the load trolley are both arranged above the light rail track, the light rail track comprises an inner rail and an outer rail which are arranged in parallel, the load trolley is in rolling connection with the inner rail through wheels, and the counterweight trolley is in rolling connection with the outer rail through wheels.
3. The four-axis electric changing robot with the constant differential speed and the free balance weight as claimed in claim 1, wherein the light rail track comprises an inner rail and an outer rail which are arranged in parallel, the load trolley is arranged above the outer rail and is in rolling connection with the outer rail through wheels, and the balance weight trolley is arranged below the inner rail and is in rolling connection with the inner rail through wheels.
4. The four-axis electric changing robot with the constant differential speed and the free balance weight as claimed in claim 2 or 3, wherein the balance weight trolley is U-shaped.
5. The four-axis electric changing robot with the constant differential speed and the free balance weight as claimed in claim 4, wherein a conveying trolley is further arranged at the bottom end of the cantilever type conveying tower, and the bottom end of the conveying trolley is in rolling connection with a conveying rail through wheels.
6. The four-axis electric changing robot with the constant differential speed and the free balance weight as claimed in claim 5, wherein the driving wheels of the load trolley, the balance weight trolley and the conveying trolley are all connected with a servo motor.
7. The four-axis electric changing robot with the constant differential speed and the free balance weight is characterized in that the rigid-flexible integrated cross-brace type synchronous lifting mechanism is provided with a lifting machine fixing frame, a synchronous lifting machine, a cross-brace lifting tool and a cross-brace guide mechanism, the lifting machine fixing frame is fixedly connected with the lower end face of the load trolley, the synchronous lifting machine is fixedly installed on the lifting machine fixing frame, a load shaft of the synchronous lifting machine is connected with the cross-brace lifting tool, the cross-brace guide mechanism is installed on the lower end face of the lifting machine fixing frame, and under the action of the synchronous lifting machine, the cross-brace lifting tool moves up and down along the cross-brace guide mechanism.
8. The four-axis electric changing robot with the equal differential speed and the free balance weight as claimed in claim 7, wherein the cross brace lifting appliance comprises a synchronous lifting cross arm, a flexible lifting assembly, an electric permanent magnet lifting base and an electric permanent magnet, the upper end of the synchronous lifting cross arm is connected with a load shaft of the synchronous lifting machine, and the lower end of the synchronous lifting cross arm is connected with the upper end of the flexible lifting assembly; the two groups of flexible hoisting components are symmetrically arranged below the synchronous lifting cross arm; the lower end of the flexible hoisting assembly is connected with the electric permanent magnet hoisting base, the upper part of the electric permanent magnet hoisting base is of a cylindrical hollow structure, the flexible hoisting assembly is fixed inside the hollow structure of the electric permanent magnet hoisting base, and the electric permanent magnet is bolted to the lower end of the electric permanent magnet hoisting base;
the cross support guide mechanism comprises a cross support fixing frame and a cross support guide wheel, the cross support fixing frame is arranged between the two flexible hoisting components, the upper end of the cross support fixing frame penetrates through the synchronous hoisting cross arm to be fixedly connected with the bottom surface of the elevator fixing frame, and two sides of the lower end of the cross support fixing frame are respectively provided with the cross support guide wheel; the cross brace guide wheel is provided with an arc guide groove, the arc guide groove is in adaptive rolling connection with the cylindrical surface of the electric permanent magnet hoisting base, the upper edge of the cylindrical surface of the electric permanent magnet hoisting base is further provided with a conical surface in an extending mode, and the cross sectional area of the conical surface is smaller than that of the cylindrical surface.
9. The four-axis electric changing robot with the constant differential speed and the free balance weight is characterized in that when a load shaft of the synchronous lifter drives a cylindrical surface of the electric permanent magnet hoisting base to move up and down along the cross brace guide wheel, the cross brace guide mechanism limits the cross brace lifting appliance in the horizontal direction, and the electric permanent magnet moves vertically; when the conical surface of the electric permanent magnet hoisting base descends to the cross support guide wheel, the cross support hoisting tool is relieved of the limit of the cross support guide mechanism in the horizontal direction, and the electric permanent magnet can rotate in the horizontal direction due to the existence of the flexible hoisting assembly.
10. The four-axis electric changing robot with the constant differential speed and the free balance weight as claimed in claim 1, wherein two ends of the light rail track are provided with anti-collision blocks for mechanical limiting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110929759.8A CN113524226A (en) | 2021-08-13 | 2021-08-13 | Equal-differential free counterweight four-axis battery replacement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110929759.8A CN113524226A (en) | 2021-08-13 | 2021-08-13 | Equal-differential free counterweight four-axis battery replacement robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113524226A true CN113524226A (en) | 2021-10-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110929759.8A Pending CN113524226A (en) | 2021-08-13 | 2021-08-13 | Equal-differential free counterweight four-axis battery replacement robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113524226A (en) |
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2021
- 2021-08-13 CN CN202110929759.8A patent/CN113524226A/en active Pending
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