CN114475342A

CN114475342A - Combined battery replacing robot

Info

Publication number: CN114475342A
Application number: CN202011250769.0A
Authority: CN
Inventors: 陈文仿
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2022-05-13

Abstract

The combined type battery replacing robot is a separable combined type combined battery replacing robot consisting of a lifting robot and a battery replacing robot. The lifting robot is responsible for positioning the lifting vehicle and provides a battery replacement operation space for the battery replacement robot. The battery replacement robot is responsible for battery replacement operation according to position information provided by the lifting machine, and the battery replacement robot and the lifting machine are coordinated and matched. Wherein: the lifting robot adopts a variable-pitch shear type lifting frame, and the main components of the lifting robot comprise a shear type lifting device, an adjustable-wheelbase tire clamping device, a lifting frame variable-pitch connecting rod, a variable-pitch sliding block, a variable-pitch adjustable screw and a central guide rail; the battery replacement robot integrates a suspension height-adjustable driving wheel, a central guide groove, a control device and a battery pack assembling and disassembling mechanical arm. The two are mechanically and electrically connected through the central guide rail of the lifting robot and the central guide groove of the battery replacement robot, and the battery replacement robot can move along the direction of the central guide rail of the lifting robot to carry out separation, combination and positioning adjustment. The combined battery replacing robot can meet different vehicle types and battery replacing requirements of battery assemblies of various specifications, has the advantages of flexibility, low investment and the like, and can meet the construction requirements of future unmanned battery replacing stations and reduce the operation cost.

Description

Combined battery-replacing robot

The technical field is as follows:

the invention relates to a power exchanging robot technology for a new energy electric automobile, which can be used for building a power exchanging station or a power exchanging facility.

Background art:

the new energy electric automobile supplements the electric energy and usually adopts two kinds of modes of charging and power changing, and due to the limitation of the existing lithium battery technology, no matter the electric energy is charged through an alternating current charging pile or a direct current quick charging pile, the charging time and the coverage range of charging facilities can not be comparable with those of a fuel oil automobile. On the other hand, the existing new energy automobile has short endurance mileage, which causes the idea of mileage anxiety commonly existing in the use process of new energy automobile owners, and is particularly prominent in long-distance traveling. And because the restriction in urban space, parking stall is difficult for one thing, and power supply facility is not enough and fire control safety worry causes to fill electric pile difficult serious when applying for the installation, and these shortcomings let new energy automobile's potential consumer stop. Through building the battery replacement station, the battery replacement service can be provided for the new energy automobile, and the battery with full capacity can be replaced within a few minutes. The battery replacement process is experienced as fast and convenient as fuel automobile refuels at a gas station, the anxiety of the automobile owner on the endurance mileage is solved, and the dilemma that the automobile owner is difficult to install the charging pile can also be solved. The battery replacement mode is also beneficial to implementing vehicle-electricity separation, reduces the initial door threshold of a vehicle purchased by a user, and is beneficial to vehicle popularization and new service development. Although the battery replacement mode has the advantages, due to the lack of relevant standards, the vehicle types and the battery specification parameters of various automobile manufacturers are inconsistent, the weight and the cost of the battery module are higher, the design and the investment of the battery replacement equipment are also difficult, and the problems cause that the battery replacement technology is difficult to popularize at present and is only limited to the battery replacement facility which is provided by a single manufacturer and is less for a single vehicle type.

The invention content is as follows:

aiming at the difficulty in the prior art of battery replacement, the invention provides a combined battery replacement robot design. Can satisfy different motorcycle types, the battery module of multiple specification trades the electric demand, has nimble mobile, trades the electric fast, advantage such as the small investment, can also satisfy future unmanned demand, reduces the operation cost.

In order to achieve the purpose, the invention is technically characterized in that: the combined type battery replacing robot is a separable combined type robot which is composed of a lifting robot and a battery replacing robot. The lifting robot is responsible for positioning the lifting vehicle and provides a battery replacement operation space for the battery replacement robot. The battery replacement robot is responsible for battery replacement operation according to position information provided by the lifting machine, and the battery replacement robot and the lifting machine are coordinated and matched. Wherein: the lifting robot adopts a variable-pitch shear type lifting frame, and the main components of the lifting robot comprise a shear type lifting device, an adjustable-wheelbase tire clamping device, a lifting frame variable-pitch connecting rod, a variable-pitch adjustable screw rod, a variable-pitch sliding block and a central guide rail; the battery replacement robot integrates a suspension height-adjustable driving wheel, a central guide groove, a control device and a battery pack assembling and disassembling mechanical arm. The lifting robot central guide rail and the battery replacing robot central guide groove are mechanically and electrically connected, and the battery replacing robot can move along the direction of the lifting robot central guide rail to be separated, combined and positioned and adjusted.

The invention discloses a variable-spacing shear type lifting frame for a lifting robot, which is designed for meeting the requirements of vehicle width lifting of different vehicle types. The variable-pitch mechanism consists of a variable-pitch connecting rod, a sliding block and an adjustable screw rod. One end of the variable pitch connecting rod is connected with the two side shearing type lifting frames, the other end of the variable pitch connecting rod is connected with the variable pitch sliding block, the sliding block is installed on the adjustable screw rod through a central internal thread, the screw rod is a centrosymmetric reverse-direction threaded screw rod, when the adjustable screw rod rotates, the 2-end sliding block synchronously and reversely moves along the screw rod due to the fact that the directions of the threads at the two ends are opposite, then the variable pitch connecting rod is driven to expand and contract, and adjustment of the pitch of the two side shearing type lifting frames is achieved. The adjustable screw, the adjusting driving device and the sliding block are arranged in the central guide rail of the lifting robot to form an integral part.

The wheel clamping device with the adjustable wheel base for the lifting robot is designed for clamping and lifting wheels with wheel bases of different vehicle types. The 4-wheel clamping devices of the lifting robot are arranged at two ends of the upper arm of the two-side scissor type lifting frame, and the 2-wheel clamping devices of the lifting frame at each side are respectively driven by a gear rack and can slide along the upper arm of the lifting frame according to the wheelbase of the vehicle to adjust the relative distance. The clamping mechanism is composed of a rotatable outer arm and a fixed inner arm, the rotatable outer arm and the fixed inner arm are driven by a threaded pull rod, when a wheel needs to be clamped, the threaded pull rod pulls the rotatable outer arm to rotate gradually, when the axis of the rotatable outer arm is parallel to the pull rod, the clamping mechanism is F-shaped, then the pull rod continues to drive the outer arm to enter the circular hole, at the moment, the angle of the outer arm is fixed, the distance between the fixed inner arm and the rotatable outer arm of the clamping mechanism is reduced, and the clamping action is completed when the fixed inner arm and the rotatable outer arm of the clamping mechanism are tightly clamped to the outer edge of the wheel. The action of the unlocking wheel is opposite to that of the unlocking wheel, the rotatable outer arm is pushed by the threaded pull rod to unlock the wheel, when the outer arm rod is pushed out of the round hole, the outer arm is unlocked in the angle direction, when the outer arm continues to move forwards to the action position of the connecting rod, the external connecting rod pulls the outer arm to rotate and open, and the clamping mechanism returns to the initial position.

The battery replacement robot comprises a suspended high-end adjustable driving wheel, a central guide groove, a control device, a battery assembly assembling and disassembling mechanical arm and the like.

Drawings

FIG. 1 is a schematic view of a combined battery-swapping robot

FIG. 2 is a schematic diagram of a lifting robot and a battery replacing robot separated and combined

FIG. 3 is a schematic diagram of the lifting robot positioning according to the 4 wheels of the vehicle

FIG. 4 is a schematic view of the adjustment of the distance between the scissors lifts

FIG. 5 is a schematic view of the wheel clamping device for adjusting the wheel base

FIG. 6 is a schematic view of the components of the wheel clamp assembly

FIG. 7 is a schematic view of the structure and operation of the wheel clamping device

FIG. 8 is a schematic view of a planar structure of a battery swapping robot

FIG. 9 is a schematic view of an adjustment of an adjustable suspension drive wheel of the battery replacement robot

FIG. 10 is an operation diagram of a power exchanging process of the combined power exchanging robot

The specific implementation mode is as follows:

the following describes the structure and the working principle of each component of the combined type battery replacing robot by referring to the drawings, and the implementation method is only used for further explaining the technical scheme of the invention and is not used for limiting the protection scope of the invention.

As shown in the schematic diagram of the whole combined type battery replacing robot in the attached figure 1, the combined type battery replacing robot is composed of a lifting robot 2 and a battery replacing robot 1, and a 4-wheel clamping device 3 with an adjustable wheelbase is installed at two ends of an upper arm of a scissor type lifting frame of the lifting robot.

As shown in fig. 2, the lifting robot and the swapping robot are separated and combined, and the lifting robot and the swapping robot are separated, combined and positioned and adjusted through a lifting robot central guide rail 7 and a swapping robot central guide groove 19. An electrical interface is integrated between the central guide rail and the central guide groove, the electric replacing robot can provide power and control signals for the lifting robot, and the lifting robot can lift or descend according to instructions of the electric replacing robot.

As shown in fig. 3, the lifting robot positions the vehicle according to the schematic diagram of the vehicle 4-wheel positioning, after the four-wheel clamping mechanism of the lifting robot clamps the 4-wheel of the vehicle, the lifting robot positions the vehicle, and provides accurate wheel position information for the next battery assembly loading and unloading of the battery replacing robot. The battery replacement robot moves along the direction of the central guide rail to adjust the relative position of the battery replacement robot and the lifting robot, and then the position of the vehicle battery assembly is positioned.

As shown in fig. 4, a schematic diagram of adjusting the pitch of the scissor-type lifting frames, the pitch adjusting mechanism of the scissor-type lifting frame of the lifting robot is composed of a pitch-variable connecting rod 4, an adjustable screw 5 and a pitch-variable sliding block 6. Two ends of the variable pitch connecting rod 4 are respectively connected with a sliding block 6 and two side shear type lifting frames. The thread directions of two ends of the adjustable screw are centrosymmetric reverse threads, and the variable-pitch slide block 6 is arranged on the screw through the central threads. As shown in the attached figure 4, when the adjustable screw rotates clockwise, the two variable-pitch sliding blocks 6 move outwards in opposite directions synchronously, so that the variable-pitch connecting rods 4 are driven to open, the lifting frames on the two sides are driven to open, and the distance between the lifting frames on the two sides is increased. When the screw rotates counterclockwise, the pitch becomes smaller. The adjustable screw and the variable-pitch sliding block are arranged in the central guide rail 7 to form an integral component.

As shown in fig. 5, the wheel clamping devices 3 at the two ends of the scissor lift are driven by the symmetrical racks 9 and the gears 8, and when the gears 8 rotate, the racks 9 are driven to drive the wheel clamping devices 3 to slide along the upper arm of the lift, so that the wheel clamping and lifting requirements for wheel clamping and lifting of wheel bases of different vehicle types can be met.

As shown in fig. 6, the wheel clamping device 3 is composed of a rotatable clamping upper arm 14, a fixed lower arm 15, a limit connecting rod 16 and a threaded pull rod 18, the rotatable clamping upper arm is connected with the threaded pull rod 18 through a cylindrical pin 17, and the threaded pull rod 18 is installed in a threaded hole on the fixed lower arm. The spacing link 16 acts to angularly adjust the rotatable upper arm 14.

As shown in the structural and operation diagram of the wheel clamping device shown in fig. 7, when clamping a vehicle wheel, the threaded pull rod 18 is driven by the driving device to move downward, and drives the rotatable clamping upper arm 14 to rotate counterclockwise until being parallel to the pull rod axis, at which time the rotatable clamping upper arm 14 and the fixed lower arm 15 are in an "F" shape. When the threaded pull rod 18 continues to move downwards, the connecting part of the pin shaft of the cylinder 17 is driven to enter the round hole of the fixed lower arm 15, the angle position of the rotatable upper arm 14 is fixed at the moment, and the rotatable upper arm can only continue to move downwards under the driving of the threaded pull rod 18 until the rotatable upper arm is in close contact with the vehicle wheel, so that the rotatable upper arm and the lower arm complete the wheel clamping action together. The unlocking action of the clamping mechanism is opposite to that of the clamping mechanism, and the unlocking of the wheels and the rotating and retracting action of the upper arm can be completed only by driving the threaded pull rod to move upwards.

Fig. 8 is a schematic diagram of a planar structure of an electric exchanging robot, which is composed of 4 wheels of adjustable suspension height driving wheels 10, a central guide groove 19, a battery assembly handling mechanical arm 20 and a power and equipment bin 21. The adjustable suspension height driving wheel drives the robot to move autonomously, and a steering pull rod can be installed or differential steering is carried out by the driving wheels at two sides. The suspension height can be adjusted to provide conditions for the loading and unloading operation of the contact between the working surface of the battery replacing robot and the chassis of the battery component.

Fig. 9 is a schematic diagram showing the adjustable suspension adjustment of the electric switching robot, and the adjustable suspension driving wheel is composed of a driving wheel swing arm 22, a pin 11, a driving wheel 12 and an adjustable length shock absorption cylinder 13. When the shock-absorbing cylinder 13 extends, the swing arm 22 is pressed downwards, the height of the center of the driving wheel 12 and the pin 11 is increased, the chassis of the electric replacing robot rises, and the top working surface rises. When the shock-absorbing cylinder 13 is shortened, the swing arm 22 is lifted, the central height of the driving wheel 12 and the pin 11 is reduced, the chassis of the battery replacement robot descends, and the top working surface is separated from the chassis of the battery assembly.

Fig. 10 is an operation diagram of a power exchanging flow of the combined power exchanging robot. The method comprises the steps of firstly completing registration and identification of a battery replacing vehicle, obtaining related vehicle width, wheel base and battery pack installation information according to the vehicle type, then adjusting the wheel base of a clamping mechanism according to the information by a lifting robot, and planning an action route. After adjustment is completed, the combined battery replacing robot moves to the bottom of the vehicle as a whole, when the position of a rear wheel is detected, the lifting robot expands the lifting frame to the positions of the wheels on two sides, and when the lifting frame expands to the position that the clamping device 3 abuts against the inner sides of the wheels, the lifting frame is expanded. The lifting robot drives the clamping device 3 again to adjust the wheel base, and when the clamping device fixes the inner arm 15 to be contacted with the inner edge of the wheel, the wheel base adjustment is completed. The clamping device 3 continues to drive the rotary outer arm 14 to tightly clamp the outer edge of the wheel, the wheel of the vehicle 4 is clamped, and the lifting robot finishes positioning the vehicle. The battery replacement robot moves along the central guide rail 7 according to the parameters of the vehicle battery assembly to complete the positioning of the battery assembly. After the positioning is finished, the battery replacement robot raises the driving wheel until the working surface is in close contact with the battery assembly chassis. Then the battery pack is unlocked by the battery pack assembling and disassembling mechanical arm, and the battery pack is separated from the vehicle. After the battery assembly is disassembled, the battery replacement robot instructs the lifting robot to lift the vehicle, and an operation space is provided for battery hauling. After the lifting is finished, the battery replacing robot transports the disassembled battery assembly out of the battery replacing station and transports the battery assembly to the battery replacing station storage rack along the central guide rail 7. And then, the battery replacement robot can be selected to reload the full-charge battery, or another battery replacement robot with the loaded battery can be selected to be standby. When the front replacement electric robot is pulled out, the standby replacement electric robot is pulled in and installed along the central guide rail 7, so that the assembly line operation is carried out, and the replacement speed is greatly improved. The battery assembling and disassembling process is opposite, firstly the battery replacing robot adjusts the position along the central guide rail 7, after the adjustment is completed, the lifting robot is informed to reduce the height of the vehicle until the battery component is combined with the vehicle, and then the battery component is locked by the assembling and disassembling mechanical arm of the battery replacing robot. After the battery is locked, the battery replacing robot lowers the suspension height to be separated from the battery chassis, the lifting robot continues to lower the height until the wheels naturally contact the ground, then the wheel clamping mechanism is unlocked, and the distance between the lifting frames is shortened. The lifting robot and the battery replacement robot are combined into a whole to be driven out of the vehicle chassis, and the whole battery replacement operation is completed.

Claims

1. A combined type battery replacing robot is a separable combined type combined robot which is composed of a lifting robot and a battery replacing robot. The method is characterized in that: the lifting robot adopts a variable-pitch shear type lifting frame, and the main components of the lifting robot comprise a shear type lifting device, an adjustable-wheelbase tire clamping device, a lifting frame variable-pitch connecting rod, a variable-pitch sliding block, a variable-pitch adjustable screw and a central guide rail; the battery replacement robot integrates a hanging height-adjustable driving wheel, a central guide groove, a control device and a battery pack assembling and disassembling mechanical arm.

2. The combined type battery replacement robot as claimed in claim 1, wherein: the lifting robot central guide rail 7 and the electricity changing robot central guide groove 19 are combined to form mechanical and electrical connection, and the electricity changing robot can move longitudinally along the lifting robot central guide rail 7 to be separated, combined and adjusted in position.

3. The combined type battery replacement robot as claimed in claim 1, wherein: one end of a pitch-variable connecting rod 4 of the lifting robot is connected with the two-side shear type lifting devices, the other end of the pitch-variable connecting rod is connected to a pitch-variable sliding block 6, the sliding block is installed on an adjustable screw rod 5 through central threads, the screw rod is installed in a central guide rail 7, and the sliding block can move longitudinally along the screw rod to drive the connecting rod to expand and contract.

4. The combined type battery replacement robot as claimed in claim 1, wherein: the adjustable wheelbase tire clamping device of the lifting robot is arranged on the upper arm of the scissor type lifting frame, the wheel 8 and the rack 9 are adopted to drive the 2-end tire clamping device 3 to slide along the upper arm of the lifting frame to adjust the wheelbase, and the rotatable upper arm 14 and the fixed lower arm 15 of the tire clamping device are adopted to drive the vehicle tire to be clamped by the screw 18.

5. The combined type battery replacement robot as claimed in claim 1, wherein: the battery replacement robot is integrated with a central guide groove 19, a height-adjustable driving wheel 10, a battery assembly assembling and disassembling mechanical arm 20 and a battery and control equipment bin 21.