CN113998395A - Battery replacing device of unmanned forklift - Google Patents
Battery replacing device of unmanned forklift Download PDFInfo
- Publication number
- CN113998395A CN113998395A CN202111286515.9A CN202111286515A CN113998395A CN 113998395 A CN113998395 A CN 113998395A CN 202111286515 A CN202111286515 A CN 202111286515A CN 113998395 A CN113998395 A CN 113998395A
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- opening
- pushing
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- locking
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- 210000000078 claw Anatomy 0.000 claims abstract description 92
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 238000009434 installation Methods 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 description 12
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 5
- 235000017491 Bambusa tulda Nutrition 0.000 description 5
- 241001330002 Bambuseae Species 0.000 description 5
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 5
- 239000011425 bamboo Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 239000011120 plywood Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/02—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having different forward and return paths of movement, e.g. walking beam conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/08—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having impellers, e.g. pushers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/80—Turntables carrying articles or materials to be transferred, e.g. combined with ploughs or scrapers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of forklifts, in particular to a battery replacing device of an unmanned forklift. It has solved loaded down with trivial details and slow problem when current device is changed. It includes base, mounting disc, gets the thing mouth, goes out the thing mouth, stand-by battery, push mechanism, sharp module, connecting rod, removes seat, first connecting claw, second connecting claw, mechanism, locking mechanism and advancing mechanism that opens and shuts, and at the connecting rod to getting the in-process that the thing mouth removed, earlier through advancing mechanism drive remove the seat to getting the thing mouth and remove, should move apart from being less than the flexible length of sharp module, then open and shut mechanism and locking mechanism and work in proper order. According to the invention, accurate positioning of the processing position of the battery to be replaced, grabbing of the battery to be replaced and locking of the first connecting claw and the second connecting claw in the current state are sequentially realized through the movement of the linear module, and the battery grabbing device has the advantages of ingenious structure, compact installation, convenience in grabbing the battery, quickness in replacement and wide application range.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to a battery replacing device of an unmanned forklift.
Background
At present unmanned aerial vehicle is in the continuous change of application of society, and unmanned aerial vehicle is in the aspect of taking photo by plane, plant protection, seeding and commodity circulation and the like the leap and leap forward suddenly, and the trade recognition also is constantly improving, and unmanned aerial vehicle is intelligent and the reliability is at the constant perfection, and in unmanned aerial vehicle automatic flight, because battery power is limited, unmanned aerial vehicle can not realize can long distance flight, will regularly carry out the battery and change.
In order to facilitate unmanned operation, the forklift also utilizes an unmanned operation mode, the battery compartment is generally disassembled manually to replace the battery of the existing unmanned forklift, but most of the existing unmanned forklift adopts a manual replacement mode, the whole replacement process is tedious and slow, the manual operation burden is improved, the time and the manpower are wasted, and the work efficiency is reduced.
Disclosure of Invention
The invention provides a battery replacing device of an unmanned forklift, which can accurately position a processing position of a battery to be replaced, grab the battery to be replaced and lock a first connecting claw and a second connecting claw in the current state sequentially before and after the movement of a linear module, and finally retract the output end of the linear module to drive a connecting rod and the grabbed battery to be replaced to move back, so that the battery to be replaced is placed in an installation disc.
In order to solve the technical problems, the invention adopts the following technical scheme:
a battery replacing device of an unmanned forklift comprises a base, wherein a mounting disc is connected to the base in a rotating mode, a material taking opening and a material taking opening are formed in the mounting disc, a standby battery is arranged in the material taking opening, a pushing mechanism used for pushing the standby battery out and making linear motion is arranged on the mounting disc, a linear module stretching towards the material taking opening is further arranged in the mounting disc, the output end of the linear module is coaxially and fixedly connected with a connecting rod, a moving seat moving along the moving direction of the linear module is connected in the mounting disc in a sliding mode, a first connecting claw is connected to the moving seat in a rotating mode, a second connecting claw is hinged to the middle of the first connecting claw, an opening and closing mechanism is arranged among the connecting rod, the first connecting claw and the second connecting claw, when the connecting rod moves to the material taking opening in place, one end, close to the material taking opening, of the first connecting claw and one end, close to the material taking opening, of the second connecting claw are driven by the opening and closing mechanism, be equipped with locking mechanism between connecting rod and the removal seat, work as when first connecting claw and second connecting claw are close to the one end of getting the thing mouth and move in place in opposite directions, connect claw locking at the current state with first connecting claw and second through locking mechanism, be equipped with pusher jack between connecting rod and the removal seat the connecting rod is to getting the in-process that the thing mouth removed, drives earlier through pusher jack and removes the seat and remove to getting the thing mouth and remove, and this displacement is less than the flexible length of sharp module, then mechanism and locking mechanism work in proper order open and shut.
Furthermore, the pushing mechanism comprises a mounting plate, a pushing spring, a pushing groove, a pushing plate and a main pushing plate, the pushing groove is of an L-shaped structure, one side of the pushing groove extends along the direction of the linear module and faces the linear module, a supporting groove is formed in the side face of the pushing groove, the bottom end of the pushing plate is located in the pushing groove and is in sliding fit with the supporting groove, the mounting plate is arranged on the moving seat, the bottom end of the pushing plate is arranged between the mounting plate and the linear module, the pushing spring stretches in the moving direction of the linear module, one end of the pushing spring is fixedly connected with the mounting plate, the other end of the pushing spring abuts against one side of the pushing plate, which is far away from the linear module, the main pushing plate is arranged on the connecting rod, the distance between the top end of the pushing plate and the bottom end of the main pushing plate is smaller than the depth of the pushing groove, and when the connecting rod moves towards the object taking opening, the main pushing plate contacts with the pushing plate and compresses the pushing spring, the pushing plate falls into the pushing groove before the pushing spring is compressed to the shortest length.
Furthermore, the opening and closing mechanism comprises a first opening and closing groove, a second opening and closing groove, an opening and closing plate, an opening and closing column and an opening and closing part, wherein the first opening and closing groove and the second opening and closing are respectively arranged on the first connecting claw and the second connecting claw and are both arc-shaped, one end of each arc-shaped opening and closing column faces to a hinge joint of the first connecting claw and the second connecting claw, the opening and closing column is connected in the second opening and closing groove in a sliding mode, a limiting opening is formed in the side face of the opening and closing column, one end of the bottom of the opening and closing plate is connected in the first opening and closing groove in a sliding mode, the other end of the bottom of the opening and closing plate extends into the limiting opening, a yielding opening is formed in the opening and closing plate, the bottom end of the yielding opening is equal to the top end of the limiting opening, the opening and closing part is arranged on the connecting rod, and when the connecting rod moves towards the fetching opening, the opening and closing plate is driven to move to the hinge joint and drive the opening and closing column to slide along the yielding opening and closing opening.
Further, reset spring has been linked firmly on the first connecting claw, reset spring stretches out and draws back along the flexible direction of parallel with sharp module, reset spring's the other end acts on the one side that the opening plate is close to the thing mouth of getting, works as when reset spring is in normal condition, opening plate and opening and shutting post be sliding connection respectively in first opening and shutting groove and second opening and shutting inslot.
Further, locking mechanism includes a locking section of thick bamboo, locking spring, locking plate, installation tooth and locking tooth, a locking section of thick bamboo is located and is moved on the seat and be located between open-close board and the mounting panel, the top opening of a locking section of thick bamboo, locking spring locates in a locking section of thick bamboo and vertically stretches out and draws back, locking plate longitudinal sliding and locking section of thick bamboo in, locking spring's top links firmly with the locking plate, the installation tooth is located on the locking plate and is followed the flexible direction evenly distributed of sharp module, one side that the installation tooth is close to the mounting panel is equipped with first paste and lean on the inclined plane, the locking tooth is located on the connecting rod and is located between open-close portion and the main push plate, the bottom of locking tooth is less than the top of installing the tooth, it pastes the inclined plane to be equipped with the second on the locking tooth, the second pastes the inclined plane and leans on the inclined plane and first paste and lean on the inclined plane parallel just to setting.
Furthermore, a lifting opening extending longitudinally is formed in the locking cylinder, a lifting rod penetrates through the lifting opening, and one end of the lifting rod is fixedly connected with the side face of the mounting tooth.
Furthermore, a pushing rod is arranged on the pushing plate, and when the pushing plate falls into the pushing groove, the pushing rod is located above the pushing groove.
Further, be equipped with the sliding seat on the base, the spout has been seted up on the sliding seat, be equipped with the locating piece in the spout, set up the mounting groove that extends along the flexible direction of sharp module on the locating piece, remove seat sliding fit in the mounting groove, the one end that removes the seat and keeps away from and get the thing mouth is equipped with the anticreep piece, the width of anticreep piece is greater than the width of mounting groove.
Further, the outside of base is equipped with servo motor, the last output shaft of servo motor is coaxial to be linked firmly first gear, the rotation chamber has been seted up at the top of base, the mounting disc rotates to be connected in rotating the intracavity, one side of rotating the chamber runs through to the side of base, the coaxial second gear that has linked firmly on the mounting disc, the one end of second gear stretches into and rotates the intracavity, second gear and first gear engagement.
The invention has the beneficial effects that:
1. realize treating the accurate positioning of the processing position of changing the battery, treat the battery of changing and snatch and with first connecting claw and second connecting claw locking at current state around the removal of sharp module in proper order, the output of at last sharp module contracts back and drives the connecting rod and what snatched treats that the battery of changing moves back to place this treat that the battery of changing in the mounting disc, the structure is ingenious, and the installation is compact, and it is convenient to snatch the battery, changes swiftly, and application scope is wide.
2. When the output through sharp module drives the connecting rod and removes, because the distance between pushing board top and the main push pedal bottom is less than the degree of depth of pushing away the groove, and the other end of pushing away the spring supports and leans on the one side of keeping away from sharp module in the pushing away board, the connecting rod drives the pushing away board and removes when locating directly over the opposite side of pushing away the groove, the pushing away board falls into the bottom of this side under the action of gravity, the top of pushing away the board this moment is less than the bottom of main push pedal, and the pushing away spring is compressed can only produce before the shortest length and promote the thrust that removes the seat and remove to getting the thing mouth and remove, thereby drive and remove the seat and remove to getting the thing mouth and removing, because this migration distance is less than the flexible length of sharp module, be convenient for remove first connection claw and second connection claw to the battery department of waiting to change.
3. When the connecting rod moves to getting the thing mouth, drive the division board through the portion that opens and shuts and remove to this pin joint to drive the post that opens and shuts and slide along the mouth of stepping down, drive simultaneously first connecting claw and second connecting claw round this pin joint rotation, first connecting claw and second connecting claw are close to the one end of getting the thing mouth and draw close to mutually, thereby snatch the battery of treating the change.
4. When the connecting rod moves towards the fetching opening, the opening-closing plate is driven by the opening-closing part to move towards the hinge point, and the return spring is compressed; when the connecting rod moves back, drive the opening plate through reset spring and remove to sharp module, when reset spring was in normal condition, opening plate and opening and shutting post sliding connection respectively in first opening and shutting groove and second opening and shutting inslot, the opening plate of being convenient for and opening and shutting post reset to initial position.
5. The connecting rod drives the locking tooth to getting the thing mouth and removing when removing, this second is leaned on the inclined plane and is leaned on the inclined plane along first the top of leaning on the inclined plane slip messenger locking tooth and remove to the installation tooth, this in-process locking spring is compressed and is driven the top of installing the tooth and move down, cross and drive installation tooth rebound under locking spring's effect behind the top of installing the tooth, when first connecting claw and second connecting claw were close to the one end of getting the thing mouth and move in place in opposite directions, the one end that gets the thing mouth was kept away from to this corresponding locking tooth acts on this locking tooth and is close to the side of getting the thing mouth, thereby connect claw locking at current state with first connecting claw and second.
Drawings
Fig. 1 is a schematic structural view of a battery replacing device of the unmanned forklift;
FIG. 2 is a schematic structural view of the opening and closing mechanism;
FIG. 3 is a sectional view of an assembled structure of a servo motor;
FIG. 4 is a schematic structural view of the locking mechanism;
FIG. 5 is a schematic view of an assembled structure of the sliding seat;
FIG. 6 is a schematic structural view of a plywood;
FIG. 7 is a schematic structural view of a connecting rod;
FIG. 8 is a schematic view of the pusher jack;
FIG. 9 is a sectional view of the pusher jack;
description of reference numerals:
1. a base; 2. mounting a disc; 3. an article taking opening; 4. an outlet; 5. a backup battery; 6. a pushing mechanism; 7. a linear module; 8. a connecting rod; 9. a movable seat; 10. a first connecting claw; 11. a second connecting claw; 12. an opening and closing mechanism; 121. a first opening and closing groove; 122. a second opening and closing groove; 123. opening and closing the board; 124. opening and closing the column; 125. an opening and closing part; 13. a locking mechanism; 131. a locking cylinder; 132. a locking spring; 133. a locking plate; 134. mounting teeth; 135. a locking tooth; 14. a pushing mechanism; 141. mounting a plate; 142. a pushing spring; 143. a pushing groove; 144. a pushing plate; 145. a main push plate; 15. a support groove; 16. a limiting port; 17. a let position port; 18. a return spring; 19. a first leaning inclined plane; 20. a second leaning inclined plane; 21. lifting the opening; 22. lifting a pull rod; 23. a push rod; 24. a sliding seat; 25. a chute; 26. positioning blocks; 27. mounting grooves; 28. an anti-drop block; 29. a servo motor; 30. a first gear; 31. a rotation chamber; 32. a second gear.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
As shown in fig. 1-9, a battery replacing device for an unmanned forklift comprises a base 1, a mounting plate 2 is rotatably connected to the base 1, a material taking opening 3 and a material taking opening 4 are formed in the mounting plate 2, a spare battery 5 is arranged in the material taking opening 4, a pushing mechanism 6 for pushing out the spare battery 5 and making a linear motion is arranged on the mounting plate 2, a linear module 7 extending towards the material taking opening 3 is further arranged in the mounting plate 2, a connecting rod 8 is coaxially and fixedly connected to an output end of the linear module 7, a moving seat 9 moving along a moving direction of the linear module 7 is slidably connected in the mounting plate 2, a first connecting claw 10 is rotatably connected to the moving seat 9, a second connecting claw 11 is hinged to the middle of the first connecting claw 10, an opening and closing mechanism 12 is arranged between the connecting rod 8, the first connecting claw 10 and the second connecting claw 11, when the connecting rod 8 moves to the material taking opening 3, drive first connecting claw 10 and second connecting claw 11 through mechanism 12 that opens and shuts and be close to the one end of getting thing mouth 3 and draw close in opposite directions, be equipped with locking mechanism 13 between connecting rod 8 and the removal seat 9, when first connecting claw 10 and second connecting claw 11 are close to the one end of getting thing mouth 3 and move in place in opposite directions, connect claw 10 and second connecting claw 11 to lock at current state through locking mechanism 13, connecting rod 8 and remove and be equipped with pusher jack 14 between the seat 9, in-process that connecting rod 8 removed to getting thing mouth 3, drive removal seat 9 through pusher jack 14 earlier and remove to getting thing mouth 3 and remove, this migration distance is less than the flexible length of sharp module 7, then mechanism 12 and locking mechanism 13 work in proper order open and shut.
As shown in fig. 1-9, in use, the object-taking opening 3 is aligned with a window of a battery to be replaced on the unmanned forklift, then the pushing mechanism 14 drives the moving seat 9 to move towards the object-taking opening 3, since the moving distance is smaller than the telescopic length of the linear module 7, the first connecting claw 10 and the second connecting claw 11 are conveniently moved to the position of the battery to be replaced, so as to accurately position the processing position of the battery to be replaced, then the output end of the linear module 7 continues to move in the same direction and drives the connecting rod 8 to move towards the object-taking opening 3, the opening and closing mechanism 12 drives one ends of the first connecting claw 10 and the second connecting claw 11 close to the object-taking opening 3 to be closed towards each other, the battery to be replaced is grabbed, then the first connecting claw 10 and the second connecting claw 11 are locked in the current state by the locking mechanism 13, the output end of the linear module 7 retracts to drive the connecting rod 8 and the grabbed battery to be replaced to move back, therefore, the battery to be replaced is placed in the mounting disc 2, the structure is ingenious, the mounting is compact, and the battery is convenient to grab; then the mounting disc 2 is rotated to enable the discharge opening 4 to correspond to the vacant position of the battery, the standby battery 5 is pushed to the battery through the pushing mechanism 6, wherein a supporting plate (not marked in the figure) is arranged on the pushing mechanism 6, the standby battery 5 is placed on the supporting plate, and the standby battery is supported through the supporting plate, so that the replacement stability of the battery is improved; accurate positioning of a processing position of a battery to be replaced, grabbing of the battery to be replaced and locking of the first connecting claw 10 and the second connecting claw 11 in the current state are sequentially achieved through movement of the linear module 7, and finally the output end of the linear module 7 retracts to drive the connecting rod 8 and the grabbed battery to be replaced to move back, so that the battery to be replaced is placed in the mounting disc 2, the structure is ingenious, the mounting is compact, the battery is convenient to grab, the replacement is rapid, and the application range is wide; wherein, the linear module 7 and the pushing mechanism 6 are cylinders.
As shown in fig. 8, in this embodiment, the pushing mechanism 14 includes a mounting plate 141, a pushing spring 142, a pushing groove 143, a pushing plate 144, and a main pushing plate 145, the pushing groove 143 is L-shaped, one side of the pushing groove extends along the direction of the linear module 7 and faces the linear module 7, a supporting groove 15 is disposed on a side surface of the pushing groove 143, a bottom end of the pushing plate 144 is disposed in the pushing groove 143 and slidably engages with the supporting groove 15, the mounting plate 141 is disposed on the moving seat 9, a bottom end of the pushing plate 144 is disposed between the mounting plate 141 and the linear module 7, the pushing spring 142 extends and contracts along the moving direction of the linear module 7, one end of the pushing spring 142 is fixedly connected to the mounting plate 141, the other end of the pushing plate 144 abuts against a side of the pushing plate 144 away from the linear module 7, the main pushing plate 145 is disposed on the connecting rod 8, a distance between a top end of the pushing plate 144 and a bottom end of the main pushing plate 145 is smaller than a depth of the pushing groove 143, when the connecting rod 8 moves toward the object taking opening 3, the main push plate 145 contacts the push plate 144 to compress the push spring 142, and the push plate 144 falls into the push groove 143 before the push spring 142 is compressed to the shortest length.
As shown in fig. 7, 8 and 9, when the output end of the linear module 7 drives the connecting rod 8 to move, since the distance between the top end of the push plate 144 and the bottom end of the main push plate 145 is smaller than the depth of the push groove 143, and the other end of the pushing spring 142 is abutted against one side of the pushing plate 144 far away from the linear module 7, when the connecting rod 8 drives the pushing plate 144 to move to the position right above the other side of the pushing groove 143, the push plate 144 falls under gravity into the bottom end of the side, where the top end of the push plate 144 is lower than the bottom end of the main push plate 145, and the pushing spring 142 can only generate the pushing force for pushing the moving seat 9 to move towards the object taking opening 3 before being compressed to the shortest length, thereby driving the moving seat 9 to move towards the object taking opening 3, since the moving distance is smaller than the telescopic length of the linear module 7, it is convenient to move the first connecting claw 10 and the second connecting claw 11 to the battery to be replaced.
As shown in fig. 1, 2, 6, and 7, in this embodiment, the opening and closing mechanism 12 includes a first opening and closing groove 121, a second opening and closing groove 122, a opening and closing plate 123, an opening and closing pillar 124, and an opening and closing portion 125, the first opening and closing groove 121 and the second opening and closing pillar are respectively opened and closed on the first connecting claw 10 and the second connecting claw 11 and are both arc-shaped, one end of the arc-shaped groove faces a hinge point of the first connecting claw 10 and the second connecting claw 11, the opening and closing pillar 124 is slidably connected in the second opening and closing groove 122, a limit opening 16 is formed on a side surface of the opening and closing pillar 124, one end of a bottom of the opening and closing plate 123 is slidably connected in the first opening and closing groove 121, and the other end thereof extends into the limit opening 16, a let opening 17 is formed on the opening and closing plate 123, a bottom end of the let opening 17 is equal to a top end of the limit opening 16, the opening and closing portion 125 is disposed on the connecting rod 8, when the connecting rod 8 moves to the fetching opening and closing portion 3, the opening and closing portion 125 drives the opening and closing plate 123 to move to the hinge point, and drives the opening and closing column 124 to slide along the abdicating opening 17.
As shown in fig. 2, when the connecting rod 8 moves towards the object-taking opening 3, the opening-closing plate 123 is driven to move towards the hinge point through the opening-closing portion 125, and the opening-closing column 124 is driven to slide along the abdicating opening 17, and simultaneously the first connecting claw 10 and the second connecting claw 11 are driven to rotate around the hinge point, and one ends of the first connecting claw 10 and the second connecting claw 11 close to the object-taking opening 3 are closed to each other, so as to grab the battery to be replaced.
As shown in fig. 2, in this embodiment, the first connecting claw 10 is fixedly connected with a return spring 18, the return spring 18 extends and retracts along the extending and retracting direction parallel to the linear module 7, the other end of the return spring 18 acts on one side of the opening and closing plate 123 close to the article taking opening 3, and when the return spring 18 is in a normal state, the opening and closing plate 123 and the opening and closing column 124 are respectively slidably connected in the first opening and closing groove 121 and the second opening and closing groove 122.
As shown in fig. 1, 2, 6 and 7, when the connecting rod 8 moves towards the fetching opening 3, the opening-closing plate 123 is driven by the opening-closing part 125 to move towards the hinge point, the return spring 18 is compressed; when the connecting rod 8 moves back, the opening plate 123 is driven to move towards the linear module 7 through the return spring 18, and when the return spring 18 is in a normal state, the opening plate 123 and the opening and closing column 124 are respectively connected in the first opening and closing groove 121 and the second opening and closing groove 122 in a sliding manner, so that the opening plate 123 and the opening and closing column 124 can be conveniently reset to initial positions.
As shown in fig. 4, the locking mechanism 13 includes a locking cylinder 131, a locking spring 132, the locking device comprises a locking plate 133, mounting teeth 134 and locking teeth 135, wherein a locking cylinder 131 is arranged on a movable seat 9 and is positioned between an opening plate 123 and a mounting plate 141, the top end of the locking cylinder 131 is open, a locking spring 132 is arranged in the locking cylinder 131 and longitudinally extends, the locking plate 133 longitudinally slides and is positioned in the locking cylinder 131, the top end of the locking spring 132 is fixedly connected with the locking plate 133, the mounting teeth 134 are arranged on the locking plate 133 and are uniformly distributed along the extension direction of a linear module 7, a first abutting inclined surface 19 is arranged on one side, close to the mounting plate 141, of the mounting teeth 134, the locking teeth 135 are arranged on a connecting rod 8 and are positioned between an opening and closing part 125 and a main push plate 145, the bottom end of the locking teeth 135 is lower than the top end of the mounting teeth 134, a second abutting inclined surface 20 is arranged on the locking teeth 135, and the second abutting inclined surface 20 is parallel to and opposite to the first abutting inclined surface 19.
As shown in fig. 4, the connecting rod 8 drives the locking tooth 135 to move towards the object-taking opening 3 when moving, the second abutting inclined surface 20 slides along the first abutting inclined surface 19 to move the bottom end of the locking tooth 135 to the top end of the mounting tooth 134, in the process, the locking spring 132 is compressed to drive the top end of the mounting tooth 134 to move downwards, the mounting tooth 134 is driven to move upwards by the locking spring 132 after passing over the top end of the mounting tooth 134, and when the ends of the first connecting claw 10 and the second connecting claw 11 close to the object-taking opening 3 move in place oppositely, the end of the corresponding locking tooth 135 far from the object-taking opening 3 acts on the side of the locking tooth 135 close to the object-taking opening 3, so as to lock the first connecting claw 10 and the second connecting claw 11 in the current state.
As shown in fig. 4, in this embodiment, the locking cylinder 131 is provided with a longitudinally extending lifting opening 21, a lifting rod 22 penetrates through the lifting opening 21, and one end of the lifting rod 22 is fixedly connected with the side surface of the mounting tooth 134.
When the device needs to be used repeatedly, the lifting rod 22 drives the mounting teeth 134 to move downwards, the top ends of the mounting teeth 134 are lower than the bottom ends of the locking teeth 135, the linear module 7 retracts to drive the connecting rod 8 to move back, and therefore the device is moved to the initial position.
As shown in fig. 8, in the present embodiment, pushing plate 144 is provided with pushing rod 23, and pushing rod 23 is located above pushing groove 143 when pushing plate 144 falls into pushing groove 143. The pushing rod 23 drives the pushing slot 143 to move to the end of the top portion close to the linear module 7, so as to facilitate the resetting of the pushing plate 144.
As shown in fig. 5, in this embodiment, a sliding seat 24 is disposed on the base 1, a sliding slot 25 is disposed on the sliding seat 24, a positioning block 26 is disposed in the sliding slot 25, a mounting slot 27 extending along the extension direction of the linear module 7 is disposed on the positioning block 26, the movable seat 9 is slidably fitted in the mounting slot 27, an anti-separation block 28 is disposed at one end of the movable seat 9 away from the object-taking opening 3, and a width of the anti-separation block 28 is greater than a width of the mounting slot 27. The disengagement of the movable base 9 is prevented by the anti-disengagement block 28 restricting the movement of the movable base 9.
As shown in fig. 3, in this embodiment, the outside of the base 1 is equipped with the servo motor 29, the output shaft is coaxially connected with the first gear 30 on the servo motor 29, the top of the base 1 has been seted up and has been rotated the chamber 31, the mounting disc 2 rotates to be connected in rotating the chamber 31, one side of rotating the chamber 31 runs through to the side of base 1, the coaxial second gear 32 that has been connected with on the mounting disc 2, the one end of second gear 32 stretches into and rotates the chamber 31, the second gear 32 meshes with the first gear 30.
The output end of the servo motor 29 is driven to rotate, and the mounting disc 2 is driven to rotate under the action of the first gear 30 and the second gear 32, so that the mounting disc 2 is driven to rotate.
As shown in fig. 1-9, the working principle is: aligning the object taking opening 3 with a window of a battery to be replaced on the unmanned forklift, then driving the moving seat 9 to move towards the object taking opening 3 through the pushing mechanism 14, because the moving distance is smaller than the telescopic length of the linear module 7, conveniently moving the first connecting claw 10 and the second connecting claw 11 to the battery to be replaced, conveniently and accurately positioning a processing position of the battery to be replaced, then continuously moving the output end on the linear module 7 along the same direction and driving the connecting rod 8 to move towards the object taking opening 3, driving one ends of the first connecting claw 10 and the second connecting claw 11 close to the object taking opening 3 to be closed mutually through the opening and closing mechanism 12, grabbing the battery to be replaced, then locking the first connecting claw 10 and the second connecting claw 11 at the current state through the locking mechanism 13, retracting the output end of the linear module 7 to drive the connecting rod 8 and the grabbed battery to be replaced to move back, thereby placing the battery to be replaced in the mounting disc 2, the structure is ingenious, the installation is compact, the battery is convenient to grab, the replacement is rapid, and the application range is wide; then the mounting disc 2 is rotated, so that the discharge opening 4 corresponds to the vacant position of the battery, the standby battery 5 is pushed to the battery through the pushing mechanism 6, the supporting plate is arranged on the pushing mechanism 6, the standby battery 5 is placed on the supporting plate, the standby battery is supported through the supporting plate, and the replacement stability of the battery is improved.
All the technical features in the embodiment can be freely combined according to actual needs.
The above embodiments are preferred implementations of the present invention, and other implementations are also included, and any obvious substitutions are within the scope of the present invention without departing from the spirit of the present invention.
Claims (9)
1. The utility model provides an unmanned fork truck's battery replacement device, includes base (1), it is connected with mounting disc (2) to rotate on base (1), seted up on mounting disc (2) and got thing mouth (3) and go out thing mouth (4), be equipped with reserve battery (5) in going out thing mouth (4), be equipped with on mounting disc (2) and be used for propelling reserve battery (5) and do linear motion's push mechanism (6), its characterized in that, still be equipped with in mounting disc (2) to getting thing mouth (3) flexible sharp module (7), the output of sharp module (7) is coaxial to be linked firmly connecting rod (8), sliding connection has removal seat (9) along the moving direction motion of sharp module (7) in mounting disc (2), it is connected with first connecting claw (10) to rotate on removal seat (9), the middle part of first connecting claw (10) articulates there is second connecting claw (11), an opening and closing mechanism (12) is arranged between the connecting rod (8), the first connecting claw (10) and the second connecting claw (11), when the connecting rod (8) moves to the object taking opening (3) in place, one end of the first connecting claw (10) and one end of the second connecting claw (11) close to the object taking opening (3) are driven to draw close towards each other through the opening and closing mechanism (12), a locking mechanism (13) is arranged between the connecting rod (8) and the moving seat (9), when one ends of the first connecting claw (10) and the second connecting claw (11) close to the object taking opening (3) move to place towards each other, the first connecting claw (10) and the second connecting claw (11) are locked at the current state through the locking mechanism (13), a pushing mechanism (14) is arranged between the connecting rod (8) and the moving seat (9), and in the process that the connecting rod (8) moves to the object taking opening (3), the moving seat (9) is driven to move towards the object taking opening (3) through the pushing mechanism (14), the moving distance is smaller than the telescopic length of the linear module (7), and then the opening and closing mechanism (12) and the locking mechanism (13) work in sequence.
2. The battery replacing device of the unmanned forklift as claimed in claim 1, wherein the pushing mechanism (14) comprises a mounting plate (141), a pushing spring (142), a pushing groove (143), a pushing plate (144) and a main pushing plate (145), the pushing groove (143) is of an L-shaped structure, one side of the pushing groove extends along the direction of the linear module (7) and faces the linear module (7), a supporting groove (15) is formed in the side of the pushing groove (143), the bottom end of the pushing plate (144) is located in the pushing groove (143) and is in sliding fit with the supporting groove (15), the mounting plate (141) is arranged on the movable seat (9), the bottom end of the pushing plate (144) is arranged between the mounting plate (141) and the linear module (7), the pushing spring (142) extends and retracts along the moving direction of the linear module (7), and one end of the pushing spring (142) is fixedly connected with the mounting plate (141), its other end supports and leans on in pushing away one side that sharp module (7) was kept away from in push pedal (144), main push pedal (145) is located on connecting rod (8), the distance between push pedal (144) top and main push pedal (145) bottom is less than the degree of depth of pushing away groove (143), works as connecting rod (8) are to getting thing mouth (3) and removing, main push pedal (145) and push away board (144) contact and compress and pass spring (142) push away before push away spring (142) is compressed to shortest length push away board (144) and fall into in pushing away groove (143).
3. The battery replacing device of the unmanned forklift as claimed in claim 2, wherein the opening and closing mechanism (12) comprises a first opening and closing groove (121), a second opening and closing groove (122), an opening and closing plate (123), an opening and closing column (124) and an opening and closing part (125), the first opening and closing groove (121) and the second opening and closing are respectively opened and closed on the first connecting claw (10) and the second connecting claw (11) and are both arc-shaped, one end of the arc-shaped opening and closing column faces to a hinge point of the first connecting claw (10) and the second connecting claw (11), the opening and closing column (124) is slidably connected in the second opening and closing groove (122), a limit opening (16) is formed in a side surface of the opening and closing column (124), one end of the bottom of the opening and closing plate (123) is slidably connected in the first opening and closing groove (121), the other end of the opening and closing column extends into the limit opening and closing opening (16), a position-letting opening (17) is formed in the opening and closing plate (123), let the bottom of position mouth (17) and the top of spacing mouthful (16) be equal in height, on connecting rod (8) were located in portion (125) that opens and shuts, work as connecting rod (8) move to getting thing mouth (3) when removing through portion (125) that opens and shuts drive division board (123) and remove to this pin joint to it slides along position mouth (17) to drive the post (124) that opens and shuts.
4. The battery replacing device of the unmanned forklift as recited in claim 3, wherein the first connecting claw (10) is fixedly connected with a return spring (18), the return spring (18) extends and retracts along the extending and retracting direction of the parallel and linear module (7), the other end of the return spring (18) acts on one side of the opening and closing plate (123) close to the fetching opening (3), and when the return spring (18) is in a normal state, the opening and closing plate (123) and the opening and closing column (124) are respectively connected in the first opening and closing groove (121) and the second opening and closing groove (122) in a sliding manner.
5. The battery replacing device of an unmanned forklift as defined in claim 4, wherein the locking mechanism (13) comprises a locking cylinder (131), a locking spring (132), a locking plate (133), a mounting tooth (134) and a locking tooth (135), the locking cylinder (131) is disposed on the movable base (9) and located between the opening plate (123) and the mounting plate (141), the top end of the locking cylinder (131) is open, the locking spring (132) is disposed in the locking cylinder (131) and longitudinally extends and retracts, the locking plate (133) longitudinally slides and is disposed in the locking cylinder (131), the top end of the locking spring (132) is fixedly connected with the locking plate (133), the mounting tooth (134) is disposed on the locking plate (133) and uniformly distributed along the extending and retracting direction of the linear module (7), one side of the mounting tooth (134) close to the mounting plate (141) is provided with a first leaning inclined surface (19), locking tooth (135) are located on connecting rod (8) and are located between portion of opening and shutting (125) and main push pedal (145), the bottom of locking tooth (135) is less than the top of installation tooth (134), it pastes inclined plane (20) to be equipped with the second on locking tooth (135), the second is pasted inclined plane (20) and is pasted inclined plane (19) parallel and just to setting with the first.
6. The battery replacing device of the unmanned forklift as defined in claim 5, wherein the locking cylinder (131) is provided with a longitudinally extending lifting opening (21), a lifting rod (22) is inserted into the lifting opening (21), and one end of the lifting rod (22) is fixedly connected with the side surface of the mounting tooth (134).
7. The battery replacing device of an unmanned forklift according to claim 2, wherein a pushing bar (23) is provided on the pushing plate (144), and when the pushing plate (144) falls into the pushing groove (143), the pushing bar (23) is located above the pushing groove (143).
8. The battery replacing device of the unmanned forklift as defined in claim 1, wherein a sliding seat (24) is provided on the base (1), a sliding slot (25) is provided on the sliding seat (24), a positioning block (26) is provided in the sliding slot (25), a mounting slot (27) extending along a telescopic direction of the linear module (7) is provided on the positioning block (26), the movable seat (9) is slidably fitted in the mounting slot (27), an anti-falling block (28) is provided at an end of the movable seat (9) far away from the object taking opening (3), and a width of the anti-falling block (28) is greater than a width of the mounting slot (27).
9. The battery replacing device of the unmanned forklift as defined in claim 1, wherein a servo motor (29) is arranged on the outer side of the base (1), a first gear (30) is coaxially connected to an output shaft of the servo motor (29), a rotating cavity (31) is formed in the top of the base (1), the mounting disc (2) is rotatably connected in the rotating cavity (31), one side of the rotating cavity (31) penetrates through the side surface of the base (1), a second gear (32) is coaxially connected to the mounting disc (2), one end of the second gear (32) extends into the rotating cavity (31), and the second gear (32) is meshed with the first gear (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111286515.9A CN113998395A (en) | 2021-11-02 | 2021-11-02 | Battery replacing device of unmanned forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111286515.9A CN113998395A (en) | 2021-11-02 | 2021-11-02 | Battery replacing device of unmanned forklift |
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| Publication Number | Publication Date |
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| CN113998395A true CN113998395A (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111286515.9A Pending CN113998395A (en) | 2021-11-02 | 2021-11-02 | Battery replacing device of unmanned forklift |
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| CN (1) | CN113998395A (en) |
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