CN113954108B - Tongs device and trade electric installation - Google Patents

Tongs device and trade electric installation Download PDF

Info

Publication number
CN113954108B
CN113954108B CN202111088231.9A CN202111088231A CN113954108B CN 113954108 B CN113954108 B CN 113954108B CN 202111088231 A CN202111088231 A CN 202111088231A CN 113954108 B CN113954108 B CN 113954108B
Authority
CN
China
Prior art keywords
support
clamping block
state
sliding pin
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111088231.9A
Other languages
Chinese (zh)
Other versions
CN113954108A (en
Inventor
易小刚
高志明
王茂恒
杨重
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sany Lithium Energy Co ltd
Original Assignee
Sany Lithium Energy Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sany Lithium Energy Co ltd filed Critical Sany Lithium Energy Co ltd
Priority to CN202111088231.9A priority Critical patent/CN113954108B/en
Publication of CN113954108A publication Critical patent/CN113954108A/en
Application granted granted Critical
Publication of CN113954108B publication Critical patent/CN113954108B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Battery Mounting, Suspending (AREA)

Abstract

The invention provides a gripper device and a power conversion device, which relate to the field of power conversion and comprise: the first support and the second support are arranged oppositely, and the first support is used for being connected with the displacement driving device; the number of the flexible pieces is at least three, the first ends of the flexible pieces are connected with the first support, and the second ends of the flexible pieces are connected with the second support; the telescopic component is arranged on the first support and can be arranged in a telescopic way towards the second support, and can be switched between an extended state and a retracted state, wherein the telescopic component is connected with the second support in the extended state, and the telescopic component is separated from the second support in the retracted state; and the connecting assembly is used for connecting the second support with a battery frame of the battery. So set up, tongs device is through flexible subassembly conversion in withdrawal state and extension state to can make the second support be in the state of floating when being connected with the battery frame of battery, in order to improve the adaptability of second support to the battery frame, so that the second support is connected with the battery frame, reduces the snatch the degree of difficulty.

Description

Tongs device and trade electric installation
Technical Field
The invention relates to the technical field of power conversion, in particular to a gripper device and a power conversion device.
Background
Along with the continuous popularization of new energy automobiles, an electric automobile power change link is an important problem to be solved by the electric automobile industry, and the electric automobile power change link is a technical development direction of an electric automobile charging and changing station by utilizing special battery change equipment to realize automatic power change.
The top grabbing type power conversion device in the prior art mainly comprises a grabbing device and a displacement driving device. The portion of the gripper device may be placed into and connected to the frame at the top of the battery to grip the battery. The displacement driving device is connected with the gripper device to drive the gripper device to displace.
However, due to errors and other reasons, when the displacement driving device drives the gripper device to descend in the process of grabbing the battery, the gripper device may have deviation, so that the gripper device cannot be placed into the frame to be connected with the frame. Therefore, how to solve the problem that the gripper device is easy to deviate when descending and cannot be connected with the frame at the top of the battery in the process of grabbing the battery in the prior art is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a grip device and a battery replacing device which can at least solve the problems to a certain extent.
The invention provides a gripper device, comprising:
the first support and the second support are arranged oppositely, and the first support is used for being connected with the displacement driving device;
the number of the flexible pieces is at least three, the first ends of the flexible pieces are connected with the first support, and the second ends of the flexible pieces are connected with the second support;
the telescopic assembly is arranged on the first support and can be switched between an extending state and a retracting state, wherein the extending state is used for connecting the telescopic assembly with the second support, and the retracting state is used for separating the telescopic assembly from the second support;
the connecting component is arranged on the second support and can be switched between a locking state and an unlocking state, the connecting component is connected with the battery frame in the locking state, and the connecting component is separated from the battery frame in the unlocking state.
According to the invention, the telescopic assembly comprises a sliding pin and a first driving mechanism;
the sliding pin is slidably connected with the first support, a positioning hole into which the sliding pin extends is formed in the second support, the first driving mechanism is used for driving the sliding pin to move, the sliding pin extends into the positioning hole in the extending state, and the sliding pin is separated from the positioning hole in the retracting state.
According to the hand grip device provided by the invention, one end of the sliding pin matched with the positioning hole is provided with the conical structure, the cross section diameter of the conical structure is gradually increased along the direction from one end of the sliding pin close to the positioning hole to one end of the sliding pin far away from the positioning hole, and the positioning hole comprises the conical hole matched with the conical structure.
According to the hand grip device provided by the invention, the first support is provided with the mounting seat, the mounting seat is provided with the guide hole into which the sliding pin stretches, and the sliding pin is slidably arranged in the guide hole.
According to the hand grip device provided by the invention, one side of the second support, which is far away from the first support, is provided with the guide inclined surface at the edge, and the guide inclined surface gradually inclines towards the direction approaching to the middle part of the second support in the direction from the first support to the second support.
The invention provides a gripper device, which further comprises a transition seat and a rotation driving mechanism;
the transition seat is used for connecting the first support seat with the displacement driving device, and the first support seat is rotatably connected with the transition seat;
the rotation driving mechanism is used for driving the first support to rotate relative to the transition seat.
According to the invention, the gripper device further comprises a second driving mechanism, and the connecting assembly comprises a clamping block;
the second support is provided with a supporting hole for the clamping block to extend in, the supporting hole extends along the direction perpendicular to the telescopic assembly, the first end of the clamping block can slidably extend into the supporting hole, and the second end of the clamping block is used for being in clamping fit with the battery frame;
the second driving mechanism is used for driving the clamping block to slide along the supporting hole.
According to the hand grip device provided by the invention, the connecting component further comprises a spring and a flexible shaft;
the first end of the spring is propped against the second support, and the second end of the spring is propped against the first end of the clamping block so as to push the clamping block towards the second end of the clamping block;
the first end of the flexible shaft is connected with the first end of the clamping block, the second end of the flexible shaft is connected with the second driving mechanism, and the second driving mechanism drives the clamping block to displace through the flexible shaft.
According to the hand grip device provided by the invention, the number of the clamping blocks is multiple, the clamping blocks are distributed along the circumferential direction of the second support, and the flexible shafts are in one-to-one correspondence with the clamping blocks.
The invention also provides a power conversion device which comprises a displacement driving device and the gripper device according to any one of the above, wherein the displacement driving device is used for driving the gripper device to displace.
The first support and the second support are connected through the flexible piece. In the grabbing process, the displacement driving device drives the gripper device to descend to a battery frame close to a battery, the telescopic assembly is in a retracted state, the first support and the second support are connected only through the flexible piece, and the second support can shake relative to the first support. I.e. the telescopic assembly is in the retracted state, the second support is in the floating state. Therefore, as the gripper device descends further, the second support can be adjusted in a self-adaptive mode when being in contact with the battery frame so as to be placed into the battery frame more easily, and then the second support is connected with the battery frame through the connecting assembly. Finally, the telescopic component can be converted into an extending state to be connected with the second support, and the second support is prevented from shaking relative to the first support in the operation process.
So set up, tongs device is through flexible subassembly in the state conversion of drawing back and stretching out for the second support can be in floating state and the conversion of unsteady state, and can be when being connected with the battery frame of battery, make the second support be in floating state, in order to improve the adaptability of second support to the battery frame, so that the second support is connected with the battery frame, reduces the snatch the degree of difficulty.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a gripper apparatus provided in an embodiment of the present invention;
FIG. 2 is a left side view of the grip device of FIG. 1;
reference numerals:
1: a first support; 2: a second support; 3: a flexible member;
4: a sliding pin; 5: a conical structure; 6: a mounting base;
7: a transition seat; 8: a clamping block; 9: a spring;
10: a flexible shaft; 11: a guide slope; 12: the first driving wheel:
13: the second driving wheel: 14: and driving the motor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes a grip device provided in an embodiment of the present invention with reference to fig. 1 to 2.
Specifically, the hand grasping device comprises a first support 1, a second support 2, a flexible member 3, a telescopic assembly and a connecting assembly.
Wherein the first support 1 and the second support 2 are arranged opposite to each other. The first support 1 is used for being connected with a displacement driving device. For example, the first support 1 and the second support 2 may each be a frame structure formed by joining profiles or the like by welding or threaded fasteners. When grabbing the battery, as shown in fig. 1, the second support 2 is located below the first support 1.
The first end of the flexible member 3 is connected to the first support 1 and the second end is connected to the second support 2. For example, the flexure 3 includes, but is not limited to, a chain, a wire rope, or a sling. As shown in fig. 1, the number of flexible members 3 shown in the figure is four. The number of flexible members 3 can be set according to actual requirements.
The telescopic assembly is arranged on the first support 1 and can be switched between an extended state and a retracted state. In the extended state, the telescopic assembly is connected to the second support 2 and in the retracted state, the telescopic assembly is disconnected from the second support 2.
The connecting component is arranged on the second support and can be switched between a locking state and an unlocking state. In the locking state, the connecting component is connected with the battery frame; in the unlocked state, the connection assembly is disengaged from the battery frame.
The gripper device provided in the embodiment of the invention is connected with the first support 1 and the second support 2 through the flexible piece 3. In the grabbing process, the displacement driving device drives the gripper device to descend to a battery frame close to a battery, the telescopic assembly is in a retracted state at the moment, the first support 1 and the second support 2 are connected only through the flexible piece 3, and the second support 2 can shake relative to the first support 1. I.e. the telescopic assembly is in the retracted state, the second support 2 is in the floating state.
As the gripper device further descends, the second support 2 can be adaptively adjusted when contacting the battery frame so as to be more easily placed in the battery frame, and then the second support 2 is connected with the battery frame through the connecting component. Finally, the telescopic assembly can be converted into an extending state, so that the telescopic assembly is connected with the second support 2, and the second support 2 is prevented from shaking relative to the first support 1 in the operation process, so that the effect of stably replacing electricity is achieved.
So arranged, the gripper device is switched between a retracted state and an extended state by the telescopic assembly, so that the second support 2 can be switched between a floating state and a non-floating state. And, can make second support 2 be in the state of floating when the battery frame of tongs device and battery is connected, improve the adaptability of second support 2 to the battery frame to second support 2 is connected with the battery frame, reduces and snatchs the degree of difficulty.
The second support 2 is capable of adaptively adjusting the battery frame of the battery when in a floating state, because the second support 2 in the floating state is connected with the first support 1 through the flexible piece 3, and the second support 2 can swing and deflect relative to the first support 1. Therefore, even if the second support 2 is not aligned with the battery frame of the battery, as long as the part of the second support 2 is placed in the battery frame of the battery in the descending process of the gripper device, the second support 2 can deflect or swing under the action of the gravity of the second support 2, so that the gesture is adjusted to be placed in the battery frame, the grabbing of the battery is completed, and the precision requirement on the placement position of the battery is reduced. For example, when the parking position of the electric vehicle is inaccurate, the hand grip device can still accurately grasp the battery of the electric vehicle, so that the reliability of power conversion and the efficiency of power conversion are improved.
In some embodiments provided by the invention, the telescopic assembly comprises a sliding pin 4 and a first drive mechanism.
Wherein, the sliding pin 4 is slidably connected with the first support 1, and the second support 2 is provided with a positioning hole for the sliding pin 4 to extend into. The first driving mechanism is used for driving the sliding pin 4 to displace. In the extended state, the slide pin 4 extends into the positioning hole; in the retracted state, the slide pin 4 is disengaged from the positioning hole. When the slide pin 4 is inserted into the positioning hole, the second support 2 cannot swing relative to the first support 1, and when the slide pin 4 is removed from the positioning hole, the second support 2 is in a floating state.
Further, the first driving mechanism may be an air cylinder, an oil cylinder, an electric cylinder or an electric push rod. For example, the housing of the first driving mechanism is connected with the first support 1, and the telescopic rod is in transmission connection with the sliding pin 4 so as to drive the sliding pin 4 to displace.
Of course, the first driving mechanism is not limited to the above-described form. For example, the first drive mechanism may include a motor and a gear. The motor is arranged on the first support 1, and the gear is sleeved on the output shaft of the motor. The outer wall of the sliding pin 4 is provided with meshing teeth which are axially distributed along the sliding pin 4 and are matched with a gear in a transmission way. When the motor rotates, the sliding pin 4 can be driven to displace through the gear.
In some embodiments provided by the invention, the end of the sliding pin 4, which is matched with the positioning hole, is provided with a conical structure 5. And the cross-sectional diameter of the conical structure becomes gradually larger in a direction from an end of the slide pin near the positioning hole to an end of the slide pin far from the positioning hole. The locating holes comprise conical holes which cooperate with the conical structure 5. By providing a conical structure 5 and a conical hole there are at least the following two effects.
On the one hand, the conical bore has the effect of guiding the conical structure 5. In the process of converting the sliding pin 4 from the retracted state to the extended state, the thin end of the conical structure 5 of the sliding pin 4 is opposite to the thick end of the conical hole, so that even if the second support 2 shakes relative to the first support 1 in the power exchange process, the sliding pin 4 can accurately extend into the positioning hole.
On the other hand, after the conical structure is attached to the conical hole, the interaction force between the conical structure and the conical hole generates a downward component force, namely the sliding pin 4 can prop against the second support 2, so that the first support 1 and the second support 2 form a rigid connection. In this way, the second support 2 is not displaced upward, except for being able to swing, in the extended state of the sliding pin 4.
In some embodiments of the present invention, the first support 2 is provided with a mounting seat 6. The mounting seat 6 is provided with a guide hole into which the sliding pin 4 extends, and the sliding pin 4 is slidably disposed in the guide hole. Through setting up mount pad 6 and sliding pin 4 sliding fit, at the tongs device snatch battery transportation in-process, the battery transmits to sliding pin 4 to the power that second support 2 produced to through sliding pin 4 to mount pad 6 is born by mount pad 6, thereby can reduce even avoid bearing the impact by first actuating mechanism, in order to avoid first actuating mechanism impaired, extension first actuating mechanism's life.
Referring to fig. 1, in some embodiments of the present invention, a guiding slope 11 is provided at the edge of the side of the second support 2 away from the first support 1. The guide slope is gradually inclined in a direction approaching the middle of the second support in a direction along the first support to the second support. By arranging the guiding inclined plane 11, the guiding function can be achieved in the process of placing the second support 2 into the battery frame, so that the second support 2 is more convenient to place into the battery frame. Optionally, guide inclined planes 11 are arranged at the peripheral edges of the second support.
In some embodiments provided by the present invention, the gripper device further comprises a transition seat 7 and a rotational drive mechanism. Wherein, the transition seat 7 is used for connecting the first support 1 and the displacement driving device, and the first support 1 is rotatably connected with the transition seat 7. The rotation driving mechanism is used for driving the first support 1 to rotate relative to the transition seat 7.
The first support 1 is connected with the displacement driving device through the transition seat 7, and the first support 1 is rotationally connected with the transition seat 7, so that the angular orientation of the second support 2 can be adjusted by the rotation driving mechanism to be matched with the angular orientation of the battery in the process of grabbing the battery, thereby further reducing the precision requirement on the placement position of the battery and improving the grabbing reliability and the electricity exchanging efficiency.
Alternatively, the transition seat 7 may be a part made of a profile and a plate or the like, which is independent of the displacement drive, in the form of a welded or threaded fastener connection. I.e. one end of the transition seat 7 is connected with the displacement driving device and the other end is connected with the first support 1. Of course, the transition seat 7 may also be part of the displacement drive.
Alternatively, the rotational drive mechanism comprises a first drive wheel 12, a second drive wheel 13 and a drive motor 14. For example, the first drive wheel 12 may be fixedly connected to the transition seat 7, and the centre line of the first drive wheel 12 is collinear with the axis of rotation of the first support 1. The drive motor 14 is provided on the first support 1. The second driving wheel 13 is sleeved on the output shaft of the driving motor 14 and is in transmission connection with the first driving wheel 12. The second driving wheel 13 is driven to rotate by the driving motor 14, so that the first support 1 can rotate relative to the transition seat 7.
Of course, in addition to the arrangement described above, the first transmission wheel 12 is fixedly connected to the first support 1, and the center line of the first transmission wheel 12 is collinear with the rotation axis of the first support 1. The driving motor 14 is arranged on the transition seat 7. The second driving wheel 13 is sleeved on the output shaft of the driving motor 14 and is in transmission connection with the first driving wheel 12. The second driving wheel 13 is driven to rotate by the driving motor 14, and the first support 1 can also rotate relative to the transition seat 7.
Alternatively, the first and second transmission wheels 12, 13 may each be a gear, a synchronous pulley or a sprocket.
In some embodiments provided herein, the grip device further comprises a second drive mechanism. The connection assembly comprises a latch 8.
The second support 2 is provided with a supporting hole for the clamping block 8 to extend in, and the supporting hole extends along the direction perpendicular to the telescopic assembly. The first end of the clamping block 8 can slidably extend into the supporting hole, and the second end is used for being matched with the battery frame in a clamping way. The second driving mechanism is used for driving the clamping block 8 to slide along the supporting hole. For example, the clamping block 8 may be clamped into a gap between two cross bars of the battery frame, or a clamping hole into which the clamping block 8 extends may be provided on the battery frame. In the locking state, the clamping block 8 extends out of the supporting hole and is clamped with the battery frame; in the unlocked state, the clamping block 8 is retracted into the supporting hole and separated from the battery frame.
Further, the second driving mechanism may be an electric cylinder, an air cylinder, an oil cylinder or an electric push rod. For example, the housing of the second driving mechanism is connected to the second support 2, and the telescopic rod of the second driving mechanism is connected to the clamping block 8 to drive the clamping block 8 to displace.
In the process of grabbing the battery, the clamping block 8 is retracted first, so that the second support 2 can be placed into a battery frame of the battery. After the second support 2 is placed in the battery frame of the battery, the clamping block 8 extends out and is connected with the battery frame in a clamping way, so that the second support 2 is connected with the battery frame. So set up, coupling assembling's simple structure.
In some embodiments of the invention, the connection assembly further comprises a spring 9 and a flexible shaft 10.
Wherein, the first end of the spring 9 abuts against the second support 2, and the second end abuts against the first end of the clamping block 8 to push the clamping block 8 towards the second end of the clamping block 8. The first end of the flexible shaft 10 is connected with the first end of the clamping block 8, and the second end is connected with the second driving mechanism. The second driving mechanism drives the clamping block 8 to displace through the flexible shaft 10. When the device is used, the second driving mechanism pulls the clamping block 8 to retract through driving the flexible shaft 10, and the spring 9 can reset the clamping block 8 and the flexible shaft 10.
In some embodiments provided by the present invention, the number of the clips 8 is set to be plural, and the plural clips 8 are distributed along the circumferential direction of the second support. The flexible shafts 10 are in one-to-one correspondence with the clamping blocks 8. The stability of the connection of the second holder 2 with the battery can be improved by providing a plurality of clamping blocks 8. The first end of each flexible shaft 10 is connected with the corresponding clamping block 8, and the second end can be connected with the second driving mechanism.
The second driving mechanism drives the clamping block 8 to displace through the flexible shaft 10, so that the setting position of the second driving mechanism is more flexible. For example, the second drive mechanism may be provided on the first support 1 or on the second support 2, so that the spatial arrangement of the individual components of the gripper device may be optimized. And through setting up flexible axle 10, can make and utilize a second actuating mechanism to drive a plurality of fixture blocks 8 displacement to reduce the use quantity of second actuating mechanism, simplify the structure of grabbing hand device, reduce grabbing hand device's weight and cost, and can improve the flexible synchronism of fixture block 8.
Alternatively, the second driving mechanism may be an air cylinder, an oil cylinder, an electric cylinder and an electric push rod. The housing of the second drive mechanism may be connected to the first support or the second support, and the telescopic rod may be connected to the second end of the flexible shaft 10 to drive the flexible shaft 10.
It should be noted that, in some embodiments provided in the present invention, the components in the foregoing embodiments may be combined.
For example, the gripper device comprises a first support 1, a second support 2, a flexible member 3, a telescopic assembly and a connecting assembly. The first support 1 and the second support 2 are arranged opposite to each other, and the first support 1 is used for being connected with a displacement driving device. The number of flexible members 3 is set to at least three, and each flexible member 3 has a first end connected to the first support 1 and a second end connected to the second support 2. The telescopic assembly is arranged on the first support 1 and is arranged in a telescopic way towards the second support 2, the telescopic assembly can be switched between an extended state and a retracted state, the telescopic assembly is connected with the second support 2 in the extended state, and the telescopic assembly is separated from the second support 2 in the retracted state. The connecting component is arranged on the second support and can be switched between a locking state and an unlocking state, the connecting component is connected with the battery frame in the locking state, and the connecting component is separated from the battery frame in the unlocking state.
The telescopic assembly comprises a sliding pin 4 and a first drive mechanism. The sliding pin 4 is slidably connected with the first support 1, a positioning hole into which the sliding pin 4 extends is formed in the second support 2, the first driving mechanism is used for driving the sliding pin 4 to move, the sliding pin 4 extends into the positioning hole in the extending state, and the sliding pin 4 is separated from the positioning hole in the retracting state. One end of the sliding pin 4 matched with the positioning hole is provided with a conical structure 5, and the positioning hole comprises a conical hole matched with the conical structure 5. And the cross-sectional diameter of the conical structure becomes gradually larger in a direction from an end of the slide pin near the positioning hole to an end of the slide pin far from the positioning hole. The second support 2 is provided with a mounting seat 6, the mounting seat 6 is provided with a guide hole into which the sliding pin 4 extends, and the sliding pin 4 is slidably arranged in the guide hole.
The gripper mechanism further comprises a transition seat 7 and a rotation driving mechanism. Wherein, the transition seat 7 is used for connecting the first support 1 and the displacement driving device, and the first support 1 is rotatably connected with the transition seat 7. The rotation driving mechanism is used for driving the first support 1 to rotate relative to the transition seat 7.
The grip device further includes a second drive mechanism. The connecting component comprises a clamping block 8, a spring 9 and a flexible shaft 10. The second support 2 is provided with a supporting hole into which the clamping block 8 extends, a first end of the clamping block 8 slidably extends into the supporting hole, and a second end is used for being matched with the top frame in a clamping mode. The first end of the spring 9 abuts against the second support 2 and the second end abuts against the first end of the clamping block 8 to push the clamping block 8 in the second end direction of the clamping block 8. The first end of the flexible shaft 10 is connected with the first end of the clamping block 8, and the second end is connected with the second driving mechanism. The second driving mechanism drives the clamping block 8 to displace through the flexible shaft 10. The number of the clamping blocks 8 is multiple, and the flexible shafts 10 are in one-to-one correspondence with the clamping blocks 8. The second support 2 is provided with a guiding bevel 11 at its edge on the side facing away from the first support 1. The guide slope is gradually inclined in a direction approaching the middle of the second support in a direction along the first support to the second support.
The embodiment of the invention also provides a power conversion device which comprises a displacement driving device and the gripper device. The displacement driving device is used for driving the gripper device to displace.
It should be noted that the power exchanging device includes the grip device, and all advantages thereof are not described herein.
In some embodiments provided herein, a displacement drive includes a base and a robotic arm mechanism. The fixed end of the mechanical arm mechanism is connected with the base, and the movable end of the mechanical arm mechanism is connected with the gripper device. The movable end of the mechanical arm drives the hand grasping device to displace. The number of arm sections of the mechanical arm mechanism can be set according to actual needs.
Alternatively, the fixed end of the mechanical arm mechanism may be rotatably connected with the base by a slewing bearing. So that the mechanical arm mechanism can rotate, and the operation of taking and placing the battery can be more conveniently completed.
Optionally, the displacement driving device further comprises a guide rail. The base is slidably arranged on the guide rail, and the displacement driving mechanism further comprises a third driving mechanism for driving the base to slide along the guide rail. Thereby the battery changing device can reciprocate to take out the battery. The third drive mechanism may be a screw nut drive mechanism, an oil cylinder, an air cylinder, or an electric cylinder.
In some embodiments provided by the present invention, the displacement drive comprises a gantry and a lifting mechanism. The portal frame is slidably disposed on the sliding rail. The portal frame can be driven by a screw nut driving mechanism, an oil cylinder, an air cylinder or an electric cylinder to move along the sliding rail. And the portal frame is also provided with a guide rail, and the length direction of the guide rail is perpendicular to the length direction of the slide rail. The lifting mechanism is slidably arranged on the guide rail. The lifting mechanism can be driven by the screw nut driving mechanism, the oil cylinder, the air cylinder or the electric cylinder to move along the guide rail. The gripper device is connected with a lifting mechanism, and the lifting mechanism is used for driving the gripper device to lift. The position of the gripper device in the horizontal plane can be adjusted through the displacement of the portal frame along the sliding rail and the displacement of the lifting mechanism along the guide rail. The vertical height position of the gripper device can be adjusted through the lifting mechanism.
Alternatively, the lifting mechanism may be a screw nut lifting mechanism, an oil cylinder, an air cylinder or an electric cylinder.
In some embodiments of the present invention, the displacement driving device comprises a forklift. The gripper device is arranged on a fork frame of the forklift and is driven to lift by a lifting device of the forklift. The fork truck drives the gripper device to move so as to achieve the effect of transferring the battery.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. A gripper apparatus, comprising:
the first support and the second support are oppositely arranged, the first support is used for being connected with the displacement driving device, and the second support is arranged below the first support and is used for being placed into a battery frame when a battery is grabbed;
a flexure having a first end coupled to the first mount and a second end coupled to the second mount to enable the second mount to swing or deflect relative to the first mount;
the telescopic assembly is arranged on the first support and can be switched between an extending state and a retracting state, in the extending state, the telescopic assembly is connected with the second support, in the retracting state, the telescopic assembly is separated from the second support, and the telescopic assembly comprises a sliding pin and a first driving mechanism; the sliding pin is slidably connected with the first support, a positioning hole into which the sliding pin extends is formed in the second support, the first driving mechanism is used for driving the sliding pin to move, the sliding pin extends into the positioning hole in the extending state, and the sliding pin is separated from the positioning hole in the retracting state;
the connecting component is arranged on the second support and can be converted between a locking state and an unlocking state, in the locking state, the connecting component is connected with the battery frame, in the unlocking state, the connecting component is separated from the battery frame, the connecting component comprises a clamping block, a supporting hole for the clamping block to extend in is formed in the second support, the supporting hole extends along the direction perpendicular to the telescopic component, a first end of the clamping block slidably extends into the supporting hole, and a second end of the clamping block is used for being matched with the battery frame in a clamping way;
and the second driving mechanism is used for driving the clamping block to slide along the supporting hole.
2. The grip device as claimed in claim 1, wherein an end of the slide pin that mates with the positioning hole is provided with a conical structure, and a cross-sectional diameter of the conical structure becomes gradually larger in a direction from an end of the slide pin that is close to the positioning hole to an end of the slide pin that is far from the positioning hole, the positioning hole including a tapered hole that mates with the conical structure.
3. The grip device of claim 1, wherein the first support is provided with a mounting block having a guide hole into which the sliding pin extends, the sliding pin being slidably disposed in the guide hole.
4. The grip device of claim 1, wherein a side of the second support away from the first support is provided with a guide slope at an edge thereof, the guide slope gradually sloping toward a direction approaching a middle portion of the second support in a direction along the first support to the second support.
5. The grip apparatus of claim 1, further comprising a transition seat and a rotational drive mechanism;
the transition seat is used for connecting the first support seat with the displacement driving device, and the first support seat is rotatably connected with the transition seat;
the rotation driving mechanism is used for driving the first support to rotate relative to the transition seat.
6. The gripper apparatus of claim 1, wherein the connection assembly further comprises a spring and a flexible shaft;
the first end of the spring is propped against the second support, and the second end of the spring is propped against the first end of the clamping block so as to push the clamping block to the second end of the clamping block;
the first end of the flexible shaft is connected with the first end of the clamping block, the second end of the flexible shaft is connected with the second driving mechanism, and the second driving mechanism drives the clamping block to displace through the flexible shaft.
7. The grip device as claimed in claim 6, wherein the number of the cartridges is set to be plural, the clamping blocks are distributed along the circumferential direction of the second support, and the flexible shafts are in one-to-one correspondence with the clamping blocks.
8. A power conversion device, comprising a displacement driving device and a gripper device according to any one of claims 1-7, wherein the displacement driving device is used for driving the gripper device to displace.
CN202111088231.9A 2021-09-16 2021-09-16 Tongs device and trade electric installation Active CN113954108B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111088231.9A CN113954108B (en) 2021-09-16 2021-09-16 Tongs device and trade electric installation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111088231.9A CN113954108B (en) 2021-09-16 2021-09-16 Tongs device and trade electric installation

Publications (2)

Publication Number Publication Date
CN113954108A CN113954108A (en) 2022-01-21
CN113954108B true CN113954108B (en) 2023-08-11

Family

ID=79461755

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111088231.9A Active CN113954108B (en) 2021-09-16 2021-09-16 Tongs device and trade electric installation

Country Status (1)

Country Link
CN (1) CN113954108B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201525027U (en) * 2009-09-15 2010-07-14 万向集团公司 Quick change robot
CN107719331A (en) * 2017-11-02 2018-02-23 蔚来汽车有限公司 Floating docking facilities, electricity changing robot, docking calculation and repositioning method
WO2018090668A1 (en) * 2016-11-17 2018-05-24 蔚来汽车有限公司 Floating alignment device and method for battery swapping apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201525027U (en) * 2009-09-15 2010-07-14 万向集团公司 Quick change robot
WO2018090668A1 (en) * 2016-11-17 2018-05-24 蔚来汽车有限公司 Floating alignment device and method for battery swapping apparatus
CN107719331A (en) * 2017-11-02 2018-02-23 蔚来汽车有限公司 Floating docking facilities, electricity changing robot, docking calculation and repositioning method

Also Published As

Publication number Publication date
CN113954108A (en) 2022-01-21

Similar Documents

Publication Publication Date Title
CN209259111U (en) A kind of crystal bar takes brilliant vehicle
CN113954108B (en) Tongs device and trade electric installation
CN214560389U (en) A machine of shifting for among aircraft wheel hub assembly line
CN113184359A (en) Automobile part positioning and storing device and trolley
CN111779813A (en) Horizontal reciprocating mechanism for mechanical transmission and use method thereof
CN112060066B (en) Robot capable of automatically replacing street lamp adapter
CN113060538B (en) Multifunctional clamping jaw for assembling injection molding machine
CN210968934U (en) Hub snatchs triaxial manipulator
CN205087808U (en) Hoist mechanism and have this hoist mechanism's transportation equipment
CN112499531A (en) Power equipment installs hoist device
CN112757959A (en) Battery replacement mechanical arm and battery replacement method
CN212581464U (en) Transfer device for street lamp installation
CN110341660B (en) Hidden flat supporting mechanism and level changing platform
CN212825354U (en) Multifunctional robot
CN218785942U (en) Battery replacing equipment
CN214398861U (en) Multifunctional clamping jaw for assembling injection molding machine
CN115123417B (en) Electric iron tower-oriented robot climbing clamping mechanism
CN215883375U (en) Clamping jaw and grabbing device of battery pack of battery replacing station
CN220906427U (en) Automatic feeding and discharging manipulator
CN220149115U (en) Steel construction hoist and mount frame
CN220316527U (en) Truss feeding structure
CN113910283B (en) Clamping device
CN117444605B (en) Cabin cover assembly adjusting device
CN220463921U (en) U rib plate transfer robot
CN216151580U (en) Industrial robot welding jig

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20230712

Address after: 410100 201, Floor 2, Maker Building, Sany Industrial City, No. 1, Sany Road, Changsha Economic Development Zone, Changsha, Hunan Province, China (Hunan) Pilot Free Trade Zone

Applicant after: Sany Lithium Energy Co.,Ltd.

Address before: 102206 5th floor, building 6, 8 Beiqing Road, Changping District, Beijing

Applicant before: SANY HEAVY INDUSTRY Co.,Ltd.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant