CN114689019A - Battery transfer equipment and horizontal detection device and battery transfer system thereof - Google Patents
Battery transfer equipment and horizontal detection device and battery transfer system thereof Download PDFInfo
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- CN114689019A CN114689019A CN202011634597.7A CN202011634597A CN114689019A CN 114689019 A CN114689019 A CN 114689019A CN 202011634597 A CN202011634597 A CN 202011634597A CN 114689019 A CN114689019 A CN 114689019A
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- Prior art keywords
- battery
- levelness
- taking
- detection device
- placing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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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
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
Abstract
The invention discloses a battery transfer device, a level detection device thereof and a battery transfer system. Wherein, battery transport system includes: the battery rack is provided with a plurality of battery bin positions, the battery bin positions are arranged on the battery rack along the vertical direction, and the battery rack is provided with a guide mechanism arranged along the vertical direction; and a battery transfer device for transferring batteries between the plurality of battery bays of the battery rack. The battery transfer equipment includes that the battery gets and puts mechanism and level detection device, the battery is got and is put the mechanism and be used for following get in the battery position of storehouse and put the battery package, level detection device set up in on the battery gets and puts the mechanism, be used for detecting the levelness that the mechanism was got to the battery. According to the invention, the levelness of the battery picking and placing mechanism is detected by the level detection device, so that the alignment precision between the battery picking and placing mechanism and the battery bin can be ensured, the transfer process of the battery pack is controlled more accurately, and the transfer efficiency of the battery pack is improved.
Description
Technical Field
The invention relates to the technical field of battery replacement, in particular to a battery transfer device, a level detection device of the battery transfer device, a battery transfer system and a transfer control method of the battery transfer device.
Background
With social development and scientific and technological progress, electric vehicles are more and more popular with consumers, and the current battery replacement mode of the electric vehicles mainly comprises a direct-charging mode and a quick-changing mode. The quick change needs to be realized by means of a battery changing station, the battery transfer equipment takes out the battery pack in the electric automobile and places the battery pack in the battery rack for charging, or the battery pack in the battery rack is placed in the electric automobile.
In order to satisfy more electric automobile's the power demand of trading, trade and need hold a lot of battery packages in the power station, but owing to trade the area of power station limited, so need pile the high setting with the battery package, so, battery transfer equipment just needs adopt elevating system to accomplish getting of battery package and puts the operation.
In the lifting process of the lifting mechanism, the battery transfer equipment and the battery rack need to be aligned to achieve the picking and placing of the battery pack. However, the existing battery transfer equipment does not have a level detection device, which causes the battery transfer equipment to pick and place the battery pack, and is prone to error, for example, if the battery transfer equipment has inconsistent lifting speeds of the lifting mechanisms on the two sides, or the position of the battery pack on the battery transfer equipment is unbalanced, the alignment precision between the battery transfer equipment and the battery rack is affected, and the picking and placing of the battery pack are affected.
Disclosure of Invention
The invention aims to overcome the defect that battery transferring equipment is easy to make errors in lifting, picking and placing of a battery pack due to the fact that a horizontal detection device is not arranged in the prior art, and provides battery transferring equipment, the horizontal detection device of the battery transferring equipment, a battery transferring system and a transferring control method of the battery transferring equipment.
The invention solves the technical problems through the following technical scheme:
the invention provides a horizontal detection device of a battery transfer device, wherein the battery transfer device is used for transferring batteries among a plurality of battery positions of a battery rack, the plurality of battery positions are arranged on the battery rack along the vertical direction, and the battery rack is provided with a guide mechanism arranged along the vertical direction;
the battery transfer equipment is including being used for following the battery of getting in the battery position of storehouse and putting the mechanism is got to the battery of putting the battery package, level detection device set up in on the battery gets the mechanism is put, be used for detecting the levelness that the mechanism was got to the battery.
In the scheme, the levelness of the battery taking and placing mechanism is detected through the level detection device, so that the alignment precision between the battery taking and placing mechanism and the battery bin can be ensured, the transfer process of the battery pack is controlled more accurately, and the transfer efficiency of the battery pack is improved; meanwhile, the battery taking and placing mechanism can be effectively prevented from being mistakenly touched with the battery bin or the battery pack.
Optionally, the level detection means comprises a tilt sensor.
In this scheme, utilize inclination sensor as horizontal detection device, directly gather the contained angle that the battery got and put mechanism and horizontal direction, realize the detection of battery and got the mechanism levelness of putting, have higher degree of accuracy.
Optionally, the level detecting device includes:
the strain sensors are distributed on the arc-shaped surface structure;
the ball bearings can be arranged on the arc-shaped surface structures in a rolling mode, when the battery taking and placing mechanism inclines, the ball bearings press the corresponding strain sensors to enable the strain sensors to generate deformation data, and the deformation data are used for acquiring the levelness of the battery taking and placing mechanism;
the strain sensors are arranged along the arc-shaped surface structure in a staggered mode.
In this scheme, utilize strain gauge sensor and ball cooperation to realize the detection of battery pick and place mechanism levelness, specifically, along with the slope of battery pick and place mechanism, the ball rolls on arc surface structure, supports to press the deformation data that strain gauge sensor produced when rolling according to the ball and confirms the levelness of battery pick and place mechanism, has higher degree of accuracy.
Optionally, the strain gauge sensor is a fiber strain gauge or a resistance strain gauge.
A second aspect of the present invention provides a battery transfer apparatus for transferring a battery between a plurality of battery compartments of a battery rack, the plurality of battery compartments being vertically disposed on the battery rack, the battery rack having a guide mechanism disposed in a vertical direction, the battery transfer apparatus comprising:
the battery taking and placing mechanism is used for taking and placing a battery pack from the battery bin;
and the level detection device is used for detecting the levelness of the battery taking and placing mechanism.
Wherein the level detection device is the level detection device of the first aspect.
In this scheme, detect the levelness that the mechanism was got to the battery through level detection device, can guarantee that the battery gets the alignment precision between the mechanism and the battery position in storehouse to the transportation process of battery package has been controlled more accurately, has improved battery transportation equipment's reliability and work efficiency.
Optionally, the battery handling device further comprises:
the transmission mechanism is connected between the battery taking and placing mechanism and the guide mechanism and used for driving the battery taking and placing mechanism to vertically move up and down along the guide mechanism, the transmission mechanism comprises a driving wheel, a transition wheel and a transmission belt, the two ends of the transmission belt are fixed on the guide mechanism along the vertical direction, the driving wheel and the transition wheel are arranged on the battery taking and placing mechanism, and the transmission belt penetrates through the space between the driving wheel and the transition wheel so as to drive the battery taking and placing mechanism to vertically move up and down;
and the controller is used for judging whether the levelness is abnormal or not and adjusting the rotating speed of the driving wheel to adjust the levelness if the levelness is abnormal.
In this scheme, the controller is when judging that the levelness of battery pick and place mechanism is unusual, reaches the purpose of adjusting the levelness through the rotational speed of control drive mechanism in to make battery transfer apparatus can normally get from the battery position of storehouse and put the battery package, thereby promote the transportation efficiency of battery package.
Optionally, the transmission mechanism further includes an intermediate transmission portion, an input end of the intermediate transmission portion is connected with an output end of a driver of the battery transfer device, and an output end of the intermediate transmission portion is connected with the driving wheel to drive the driving wheel to rotate so as to drive the battery pick-and-place mechanism to move up and down;
the controller is used for controlling the middle transmission part to adjust the rotating speed of the driving wheel under the condition that the battery taking and placing mechanism cannot normally take and place the battery pack from the battery bin.
In this scheme, the controller is being judged the battery and is getting the mechanism and can't normally get in the battery position of storehouse and put the battery package, also when the levelness of the mechanism is unusual to get the battery, realizes the adjustment of action wheel rotation speed through transmission portion in the middle of the control, and then reaches the purpose of adjusting the levelness to make battery transfer equipment normally get in the battery position of storehouse and put the battery package, thereby promote the transportation efficiency of battery package.
A third aspect of the invention provides a battery transport system comprising:
the battery rack is provided with a plurality of battery bin positions, the battery bin positions are arranged on the battery rack along the vertical direction, and the battery rack is provided with a guide mechanism arranged along the vertical direction;
the battery transferring equipment is used for transferring batteries among a plurality of battery bins of the battery rack;
wherein the battery transfer apparatus is the battery transfer apparatus of the second aspect.
The battery transfer system integrates the battery frame and the battery transfer equipment, wherein a horizontal detection device capable of detecting the levelness of the battery taking and placing mechanism is arranged in the battery transfer equipment, and the alignment precision between the battery taking and placing mechanism and the battery bin position can be guaranteed, so that the transfer process of a battery pack is controlled more accurately, and the transfer efficiency of the battery pack is improved.
Optionally, the plurality of battery compartments are arranged in two rows of battery racks at a preset interval, the battery transfer equipment is positioned between the two rows of battery racks, and the battery pick-and-place mechanism is arranged to be capable of moving in a telescopic manner towards the battery compartments on two sides to pick and place the battery pack;
guiding mechanism include with four guide posts that four tip one-to-one of battery transfer equipment set up, four guide post are multiplexing two to be listed as the battery frame and are close to four stands of battery transfer equipment are multiplexed the stand have with battery transfer equipment matched with spigot surface and/or driving surface.
In the scheme, the guide mechanism reuses four stand columns of the battery racks on two sides and guides the battery racks from four end parts of the battery taking and placing mechanism, so that the movement stability of the battery taking and placing mechanism is improved to the maximum extent, the structure of the guide mechanism is simplified, the guide is realized completely through the stand columns of the reusable battery racks, the optimal design of the structures of the battery transfer equipment and the battery racks is obtained, the structural complexity is reduced, the overall structure is more compact, and the occupied area resources are saved; and the battery taking and placing mechanism is convenient for taking and placing batteries on the battery racks on two sides, and the battery taking and placing efficiency is improved.
A fourth aspect of the present invention provides a transportation control method for a battery transportation device, which is implemented by the battery transportation device according to the second aspect, and the transportation control method includes:
acquiring levelness detected by the level detection device;
judging whether the levelness is abnormal or not;
if yes, feeding back levelness adjustment information of the battery transfer equipment;
and the battery taking and placing mechanism after controlling the adjustment of the levelness takes and places the battery pack from the battery bin.
In this scheme, get the levelness of putting the mechanism through the level detection device real-time detection battery to in time adjust the levelness when the levelness is unusual, ensure just get in the battery position of storehouse and put the battery package from the battery under the normal condition of levelness of mechanism is got to the battery, promoted the transportation efficiency of battery package.
The positive progress effects of the invention are as follows: the levelness of the battery picking and placing mechanism is detected through the level detection device, so that the alignment precision between the battery picking and placing mechanism and the battery bin position can be ensured, the transfer process of the battery pack is controlled more accurately, and the transfer efficiency of the battery pack is improved; meanwhile, the battery taking and placing mechanism can be effectively prevented from being mistakenly touched with the battery bin or the battery pack.
Drawings
Fig. 1 is a schematic structural diagram of a battery transportation system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a battery transportation device according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a level detecting device according to an embodiment of the present invention.
Fig. 4 is a flowchart of a transfer control method for a battery transfer apparatus according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
The present embodiment provides a battery transfer system 10, as shown in fig. 1, including a battery rack 20 and a battery transfer apparatus 1. The battery rack is provided with a plurality of battery bin positions, the battery bin positions are arranged on the battery rack along the vertical direction, and the battery rack is provided with a guide mechanism arranged along the vertical direction. The battery transfer apparatus is used to transfer batteries between a plurality of battery bays of a battery rack.
As shown in fig. 2, the battery transfer apparatus 1 includes a battery pick and place mechanism 100 and a level detection device. The battery taking and placing mechanism is used for taking and placing the battery pack from the battery bin. The level detection device is arranged on the battery taking and placing mechanism and used for detecting the levelness of the battery taking and placing mechanism.
The vertical arrangement structure of the battery transfer equipment adaptive battery rack in the embodiment only realizes taking and placing of the battery pack through lifting movement, does not need horizontal movement, and improves the positioning efficiency of the battery bin and the taking and placing efficiency of the battery pack.
In one embodiment, the level detecting device is disposed on the upper surface of the battery pick-and-place mechanism. In another embodiment, the level detection device is disposed on the lower surface of the battery pick-and-place mechanism.
In one example of an implementation, the battery pick and place mechanism comprises an extending mechanism for extending or retracting to achieve picking and placing of the battery pack from the battery compartment. Wherein, level detection device can set up in the upper surface or the lower surface that stretch out the mechanism, and level detection device is used for detecting the levelness that stretches out the mechanism. It will be appreciated that the level of the reach mechanism is consistent with the level of the battery pick and place mechanism.
In the embodiment, the levelness of the battery picking and placing mechanism is detected by the level detection device, so that the alignment precision between the battery picking and placing mechanism and the battery bin can be ensured, the transfer process of the battery pack is controlled more accurately, and the transfer efficiency of the battery pack is improved; meanwhile, the battery taking and placing mechanism can be effectively prevented from being mistakenly touched with the battery bin or the battery pack.
In an alternative embodiment, the level detecting device includes a tilt sensor. In this embodiment, the tilt sensor is used as a level detection device to directly collect an included angle between the battery pick-and-place mechanism and the horizontal direction, so as to detect the levelness of the battery pick-and-place mechanism. In one specific example, a tilt sensor is provided on the battery pick and place mechanism. In another specific example, in order to improve the accuracy of the levelness detection, at least two tilt sensors are arranged on the battery pick-and-place mechanism, and the levelness of the battery pick-and-place mechanism is determined according to the levelness detected by all the tilt sensors, for example, the average value of all the levelness is used as the levelness of the battery pick-and-place mechanism.
In an alternative embodiment, the level sensing device includes a plurality of strain gauge sensors and a ball 30. As shown in fig. 3, a plurality of strain sensors are distributed on the arc-shaped surface structure 40 and are arranged along the arc-shaped surface structure in a staggered manner. The ball can roll and locate on the arc surface structure when the battery is got and is put mechanism slope, the ball supports and presses the correspondence strain gauge sensor makes it produce deformation data, deformation data is used for acquireing the levelness that the battery was got and is put the mechanism.
In one example of an implementation, the levelness of the battery pick and place mechanism is determined based on the position of strain gauge sensors on the arcuate surface structure that produce the deformation data. For example, the corresponding relationship between the position of the strain gauge sensor on the arc-shaped surface structure and the levelness can be stored in advance, and the corresponding levelness is searched according to the position of the strain gauge sensor generating deformation data, so that the levelness of the battery pick-and-place mechanism can be obtained.
Wherein, the more the number of strain gauge sensors arranged on the arc surface structure is, the more accurate the levelness of the battery pick-and-place mechanism is.
It should be noted that, when the battery pick-and-place mechanism is not tilted, the ball is located at the lowest end of the arc-shaped surface structure, and the strain gauge sensor is not arranged at the lowest end of the arc-shaped surface structure, so that no deformation data is generated when the battery pick-and-place mechanism is not tilted. Along with the inclination of the battery taking and placing mechanism, the ball rolls on the arc-shaped surface structure to press the strain sensors at the corresponding positions, so that deformation data are generated.
In an implementation example, the strain gauge sensor may be an optical fiber strain gauge or a resistance strain gauge.
In this embodiment, utilize strain gauge sensor and ball cooperation to realize the detection of battery pick and place mechanism levelness, specifically, along with the slope of battery pick and place mechanism, the ball rolls on arc surface structure, supports to press strain gauge sensor produced deformation data and confirm the levelness of battery pick and place mechanism when rolling according to the ball, has higher degree of accuracy.
In an alternative embodiment, as shown in fig. 2, the battery transfer apparatus 1 further includes: a transmission mechanism 200 connected between the battery pick-and-place mechanism 100 and the guide mechanism for driving the battery pick-and-place mechanism 100 to vertically move along the guide mechanism, and a controller.
As shown in fig. 2, the transmission mechanism 200 includes a driving wheel 210, a transition wheel 220, and a transmission belt 230 fixed to the guide mechanism at two ends in the vertical direction, the driving wheel and the transition wheel are disposed on the battery pick-and-place mechanism, and the transmission belt passes through between the driving wheel and the transition wheel to drive the battery pick-and-place mechanism to move up and down. The controller is used for judging whether the levelness of the battery taking and placing mechanism is abnormal or not, and adjusting the rotating speed of the driving wheel to adjust the levelness under the condition that the levelness is abnormal.
As shown in fig. 2, the transmission mechanism of the battery transferring apparatus includes two driving wheels disposed opposite to each other, and in a specific implementation, the controller first determines the driving wheel to be adjusted according to the levelness of the battery pick-and-place mechanism, and then adjusts the rotation speed of the driving wheel to achieve the adjustment of the levelness. The rotating speed of the other driving wheel can be adjusted according to the rotating speed of one driving wheel and the levelness of the battery taking and placing mechanism, so that the purpose of adjusting the levelness is achieved.
In this embodiment, the controller reaches the purpose of adjusting the levelness through the rotational speed of action wheel among the control drive mechanism when judging that the levelness of battery pick and place mechanism is unusual to make battery transfer equipment normally get from the battery position of storehouse and put the battery package, thereby promote the transportation efficiency of battery package.
In an optional embodiment, as shown in fig. 2, the transmission mechanism 200 further includes an intermediate transmission portion 600, an input end of the intermediate transmission portion is connected to an output end of a driver of the battery transferring device, and an output end of the intermediate transmission portion is connected to the driving wheel to drive the driving wheel to rotate so as to drive the battery pick-and-place mechanism to move up and down. The controller is used for controlling the middle transmission part to adjust the rotating speed of the driving wheel under the condition that the battery taking and placing mechanism cannot normally take and place the battery pack from the battery bin.
As shown in fig. 2, the transmission mechanism of the battery transferring apparatus includes two intermediate transmission portions disposed opposite to each other, and in a specific implementation, the controller first determines the intermediate transmission portion to be controlled according to the levelness of the battery pick-and-place mechanism, and then controls the intermediate transmission portion to adjust the rotation speed of the corresponding driving wheel, so as to adjust the levelness.
In this embodiment, when the controller determines that the battery pick-and-place mechanism cannot pick and place the battery pack from the battery compartment normally, that is, when the levelness of the battery pick-and-place mechanism is abnormal, the controller controls the intermediate transmission part to adjust the rotation speed of the driving wheel, thereby achieving the purpose of adjusting the levelness.
In an alternative embodiment, as shown in fig. 1-2, the plurality of battery compartments are arranged in two rows of battery racks at a predetermined interval, the battery transfer device is located between the two rows of battery racks, and the battery pick and place mechanism is configured to be capable of moving in a telescopic manner towards the battery compartments on both sides to pick and place the battery pack. Guiding mechanism include with four guide post 700 that four tip one-to-ones of battery transfer apparatus set up, four guide post multiplexing two are listed as the battery frame and are close to four stands of battery transfer apparatus, are multiplexed the stand have with battery transfer apparatus matched with spigot surface and/or driving surface.
In the embodiment, the guide mechanism reuses four upright posts of the battery racks on two sides, and guides the battery racks from four end parts of the battery taking and placing mechanism, so that the movement stability of the battery taking and placing mechanism is maximally improved, the structure of the guide mechanism is simplified, the guide is completely realized by reusing the upright posts of the battery racks, the optimal design of the structures of the battery transferring equipment and the battery racks is obtained, the structural complexity is reduced, the overall structure is more compact, and the occupied area resource is saved; and the battery taking and placing mechanism is convenient for taking and placing batteries on the battery racks on two sides, and the battery taking and placing efficiency is improved.
The embodiment also provides a transfer control method of the battery transfer equipment, which is realized by using the battery transfer equipment. As shown in fig. 4, the transfer control method of the battery transfer apparatus provided in this embodiment includes the following steps S101 to S104:
and step S101, acquiring the levelness detected by the level detection device. The level detection device is used for detecting the levelness of a battery taking and placing mechanism in the battery transfer equipment.
Step S102, judging whether the levelness is abnormal or not; if yes, step S103 is executed, otherwise, the process returns to step S101. It should be noted that, if the levelness is determined to be normal, the levelness detected in real time by the level detection device is re-acquired to determine whether the levelness is abnormal.
In an example of the specific implementation of step S102, it is determined whether the levelness of the battery pick-and-place mechanism is abnormal according to whether the levelness is within a preset range. Specifically, if the levelness is within the preset range, the levelness is judged to be normal, and at the moment, the battery taking and placing mechanism can normally take and place the battery pack from the battery bin. If the levelness is not within the preset range, the levelness is judged to be abnormal, and at the moment, the battery taking and placing mechanism cannot normally take and place the battery pack from the battery bin.
And S103, feeding back levelness adjusting information of the battery transfer equipment. In an example of the implementation, the levelness of the battery pick-and-place mechanism is adjusted according to the preset range so that the levelness is within the preset range, and the levelness adjustment information is fed back.
And S104, controlling the battery taking and placing mechanism after the levelness adjustment to take and place the battery pack from the battery bin. It should be noted that the battery pick-and-place mechanism after the levelness adjustment can be aligned with the battery compartment, so that the battery pick-and-place mechanism can smoothly pick and place the battery pack from the battery compartment.
In this embodiment, through the levelness that the battery got and put the mechanism in real time detection device to in time adjust the levelness when the levelness is unusual, guarantee just get in the battery position of storehouse and put the battery package from the battery under the normal condition of levelness of mechanism is got to the battery, promoted the transportation efficiency of battery package.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A level detection device of a battery transfer device, the battery transfer device is used for transferring batteries among a plurality of battery positions of a battery rack, the battery positions are arranged on the battery rack along the vertical direction, the battery rack is provided with a guide mechanism arranged along the vertical direction, and the level detection device is characterized in that,
the battery transfer equipment is including being used for following get the battery of putting the battery package in the battery position of storehouse and get the mechanism of putting, level detection device set up in on the battery gets the mechanism of putting, be used for detecting the levelness that the mechanism was got to the battery was put.
2. The level detecting device as claimed in claim 1, wherein the level detecting device comprises a tilt sensor.
3. The level detecting device according to claim 1, wherein the level detecting device comprises:
the strain sensors are distributed on the arc-shaped surface structure;
the ball bearings can be arranged on the arc-shaped surface structures in a rolling mode, when the battery taking and placing mechanism inclines, the ball bearings press the corresponding strain sensors to enable the strain sensors to generate deformation data, and the deformation data are used for acquiring the levelness of the battery taking and placing mechanism;
the strain sensors are arranged along the arc-shaped surface structure in a staggered mode.
4. A level detecting device according to claim 3, wherein the strain gauge sensor is an optical fibre strain gauge or a resistive strain gauge.
5. The utility model provides a battery transportation equipment for transport the battery between a plurality of battery position in storehouse of battery frame, a plurality of battery position in storehouse set up along vertical direction on the battery frame, the battery frame has the guiding mechanism who sets up along vertical direction, its characterized in that, battery transportation equipment includes:
the battery taking and placing mechanism is used for taking and placing a battery pack from the battery bin;
the level detection device is used for detecting the levelness of the battery taking and placing mechanism;
wherein the level detecting device is the level detecting device according to any one of claims 1 to 3.
6. The battery transport apparatus of claim 5, further comprising:
the transmission mechanism is connected between the battery taking and placing mechanism and the guide mechanism and used for driving the battery taking and placing mechanism to vertically move up and down along the guide mechanism, the transmission mechanism comprises a driving wheel, a transition wheel and a transmission belt, the two ends of the transmission belt are fixed on the guide mechanism along the vertical direction, the driving wheel and the transition wheel are arranged on the battery taking and placing mechanism, and the transmission belt penetrates through the space between the driving wheel and the transition wheel so as to drive the battery taking and placing mechanism to vertically move up and down;
and the controller is used for judging whether the levelness is abnormal or not and adjusting the rotating speed of the driving wheel to adjust the levelness if the levelness is abnormal.
7. The battery transfer device according to claim 6, wherein the transmission mechanism further comprises an intermediate transmission part, an input end of the intermediate transmission part is connected with an output end of a driver of the battery transfer device, and an output end of the intermediate transmission part is connected with the driving wheel to drive the driving wheel to rotate so as to drive the battery pick-and-place mechanism to move up and down;
the controller is used for controlling the middle transmission part to adjust the rotating speed of the driving wheel under the condition that the battery taking and placing mechanism cannot normally take and place the battery pack from the battery bin.
8. A battery transport system, comprising:
the battery rack is provided with a plurality of battery bin positions, the battery bin positions are arranged on the battery rack along the vertical direction, and the battery rack is provided with a guide mechanism arranged along the vertical direction;
the battery transferring equipment is used for transferring batteries among a plurality of battery bins of the battery rack;
wherein the battery delivery device is the battery delivery device of any of claims 5-7.
9. The battery transportation system of claim 8, wherein the battery compartments are arranged in two rows of battery racks at a predetermined distance, the battery transportation device is located between the two rows of battery racks, and the battery pick and place mechanism is configured to be telescopically moved toward the battery compartments at two sides to pick and place the battery pack;
guiding mechanism include with four guide posts that four tip one-to-one of battery transfer equipment set up, four guide post are multiplexing two to be listed as the battery frame and are close to four stands of battery transfer equipment are multiplexed the stand have with battery transfer equipment matched with spigot surface and/or driving surface.
10. A transport control method for a battery transport apparatus, which is implemented by the battery transport apparatus according to any one of claims 5 to 7, the transport control method comprising:
acquiring levelness detected by the level detection device;
judging whether the levelness is abnormal or not;
if yes, feeding back levelness adjustment information of the battery transfer equipment;
and the battery taking and placing mechanism after controlling the adjustment of the levelness takes and places the battery pack from the battery bin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011634597.7A CN114689019A (en) | 2020-12-31 | 2020-12-31 | Battery transfer equipment and horizontal detection device and battery transfer system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011634597.7A CN114689019A (en) | 2020-12-31 | 2020-12-31 | Battery transfer equipment and horizontal detection device and battery transfer system thereof |
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| CN114689019A true CN114689019A (en) | 2022-07-01 |
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| CN202011634597.7A Pending CN114689019A (en) | 2020-12-31 | 2020-12-31 | Battery transfer equipment and horizontal detection device and battery transfer system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116000908A (en) * | 2023-03-24 | 2023-04-25 | 中科摩通(常州)智能制造股份有限公司 | Gripping device and gripping method based on new energy battery production |
-
2020
- 2020-12-31 CN CN202011634597.7A patent/CN114689019A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116000908A (en) * | 2023-03-24 | 2023-04-25 | 中科摩通(常州)智能制造股份有限公司 | Gripping device and gripping method based on new energy battery production |
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