CN115648266A - Trade power station and trade electric robot tongs structure - Google Patents
Trade power station and trade electric robot tongs structure Download PDFInfo
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- CN115648266A CN115648266A CN202211688742.9A CN202211688742A CN115648266A CN 115648266 A CN115648266 A CN 115648266A CN 202211688742 A CN202211688742 A CN 202211688742A CN 115648266 A CN115648266 A CN 115648266A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention relates to the field of new energy commercial vehicle battery replacement, in particular to a battery replacement robot gripper structure for a battery replacement station, which comprises a top plate, a flexible module, a gripper module and a detection module, wherein the gripper module and the detection module are arranged at the bottom of the top plate, a gap is formed between the gripper module and the top plate, the top plate comprises a rectangular plate, a first protruding plate, a second protruding plate, a third protruding plate and a fourth protruding plate, the flexible module comprises a flexible chain, a first fixing module and a second fixing module, the first fixing module comprises a first fixing block and a second fixing block, the gripper module comprises a connecting platform, a supporting platform and a gripper system, and the gripper system comprises a linear driving motor, a linear driving guide rail and a fixing claw.
Description
Technical Field
The invention relates to the field of battery replacement of new-energy commercial vehicles, in particular to a battery replacement robot gripper structure of a battery replacement station.
Background
The battery replacement technology is a new charging solution provided for overcoming the problem of charging efficiency in the field of new energy vehicles, and the principle of the new charging solution is that a batch of battery replacement stations are built firstly, when a new energy vehicle needs to be charged, the vehicle is driven into the battery replacement stations, the batteries of the vehicle are detached by the battery replacement stations through a series of automatic systems and then fully charged, and the detached batteries are directly placed in the battery replacement stations for charging so as to be used when other vehicles are replaced.
Disclosure of Invention
The invention aims to provide a gripper structure of a power changing robot of a power changing station, which aims to solve the problems in the prior art.
The technical purpose of the invention is realized by the following technical scheme:
a gripper structure of a power changing robot of a power changing station comprises a top plate, a flexible module, a gripper module and a detection module, wherein the gripper module and the detection module are arranged at the bottom of the top plate, a gap is formed between the gripper module and the top plate, the top plate comprises a rectangular plate, a first protruding plate, a second protruding plate, a third protruding plate and a fourth protruding plate, the first protruding plate, the second protruding plate, the third protruding plate and the fourth protruding plate are uniformly distributed on the periphery of the rectangular plate, the tops of four corners of the rectangular plate are respectively bolted with a first fixing plate, the bottoms of the first protruding plate, the second protruding plate, the third protruding plate and the fourth protruding plate are respectively bolted with a second fixing plate, one side of the second fixing plate, close to the center of the top plate, is bolted with a sleeve, and an unlocking rod is slidably arranged in the sleeve;
the flexible module comprises a flexible chain, a first fixing module and a second fixing module, the first fixing module and the second fixing module are consistent in structure, the first fixing module is fixedly installed at the front bottom end of the hand grip module, the second fixing module is fixedly installed at the rear bottom end of the hand grip module, the first fixing module comprises a first fixing block and a second fixing block, the first fixing block and the second fixing block are consistent in structure, the first fixing block and the second fixing block are parallel to each other, a first groove is formed in the rear end of the first fixing block, a third fixing plate is bolted in the first groove, one end of the flexible chain is bolted at the bottom of the first fixing plate, the other end of the flexible chain is bolted at the top of the third fixing plate, the hand grip module is hung at the bottom of the top plate through the flexible chain, one ends, far away from the axis of the hand grip module, of the first fixing block and the second fixing block are bolted with guide columns, and the bottom end surfaces of the guide columns are inclined surfaces;
the gripper comprises a gripper module and is characterized in that a fourth fixing plate is bolted to the front end of the left side and the rear end of the right side of the gripper module, fixing pins are inserted into the fourth fixing plate, first spring rods are arranged on one side, away from the axis of the gripper module, of the fourth fixing plate at intervals, a connecting plate is arranged at the top of each first spring rod, the first spring rods and the fixing pins are inserted into the connecting plates, the first spring rods and the fixing pins are connected through the connecting plates, and the gripper module is fixed to the top plate through the fixing pins.
By adopting the technical scheme, the gripper module can drive the fixing pin to move upwards through the upward movement of the first spring rod, so that the fixing pin is removed from fixation, the gripper module can flexibly shake through the flexible chain, and the guide column can enable the gripper module to enter the battery pack frame through the inclined plane when the battery pack inclines.
In a further embodiment, the gripper module comprises a connecting platform, a supporting platform and a gripper system, the connecting platform is fixedly installed at the top of the supporting platform, the connecting platform is used for connection between the supporting platform and the top plate, the supporting platform comprises a first transverse rod, a second transverse rod, a first longitudinal rod and a second longitudinal rod, the first transverse rod and the second transverse rod are consistent in structure, the first longitudinal rod and the second longitudinal rod are consistent in structure, the first transverse rod is fixedly installed at the rear part of the first fixing module, the second transverse rod is fixedly installed at the front part of the second fixing module, the first transverse rod and the second transverse rod are connected through the first longitudinal rod and the second longitudinal rod, the gripper system is fixedly installed at the left end and the top end of the top of the first transverse rod and the second transverse rod, the gripper system comprises a linear driving motor, a linear driving guide rail and a fixing claw, the fixing claw is composed of a right trapezoid part and a rectangular part which are integrally formed from top to bottom, the rectangular part is provided with an edge near the bottom end of the axis of the gripper module, a sliding chute is formed inside of the fixing module, the fixing claw is provided with a sliding block, and the linear driving motor is used for sliding of the slider and is used for moving on the linear driving slider.
By adopting the technical scheme, after the gripper module enters the battery pack frame, the linear driving motor controls the sliding block to slide on the linear driving guide rail so as to drive the fixed claw to slide, and the effect of gripping the battery pack is realized.
In a further embodiment, the top plate is provided with a plurality of lightening holes, and the lightening holes can be used for the flexible chain, the fixing pin, the first spring rod and the unlocking rod to penetrate through the top plate.
In a further embodiment, a protective cover is sleeved on the outer side of the flexible chain.
In a further embodiment, the top end of the first spring rod is sleeved with a fixed gasket, and the fixed gasket is bolted to the top of the top plate.
In a further embodiment, the first fixed block, the second fixed block and the connecting platform are provided with lightening holes.
In a further embodiment, the front end of the left side and the rear end of the left side of the first longitudinal rod are both provided with a second groove, the second grooves are used for the unlocking rod to pass through, the front end of the right side and the rear end of the right side of the second longitudinal rod are both provided with a third groove, and the third grooves are used for the unlocking rod to pass through.
In a further embodiment, the detection module includes first range finding sensor, second range finding sensor and second spring beam, first fixed block with the second fixed block is kept away from the one end bolt of the axis of tongs module has the fifth fixed plate, the top bolt of fifth fixed plate has the third fixed block, the inside of third fixed block is equipped with the second spring beam, the round hole has been seted up to the fifth fixed plate, the round hole is used for passing through of second spring beam, first range finding sensor is used for detecting the displacement volume of second spring beam, the setting of second range finding sensor is in the top of roof, the quantity of second range finding sensor with the quantity that the locking lever was untied is the same, the second range finding sensor is used for detecting the displacement volume of locking lever untied.
By adopting the technical scheme, whether the gripper module descends to the required height for grabbing the battery pack can be judged through the first distance measuring sensor and the measured data, if the gripper module does not descend to the required height for grabbing the battery pack, the gripper module continues to descend, and if the gripper module reaches the required height for grabbing the battery pack, the gripper system starts to work.
In a further embodiment, the periphery of the hole for inserting the fixing pin of the fourth fixing plate is provided with a chamfer.
Through adopting above-mentioned technical scheme, when the tongs module needs to be fixed, the fixed pin can pass through the inside completion grafting that the chamfer on the fourth fixed plate slided into the fourth fixed plate.
In a further embodiment, the flexible chain comprises a first circular ring and a second circular ring, the top of the first circular ring is bolted to the bottom of the first fixing plate, the bottom of the second circular ring is bolted to the top of the third fixing plate, the first circular ring is arranged from left to right, the second circular ring is arranged from front to back, and the first circular ring and the second circular ring are sleeved with each other.
In conclusion, the invention has the following beneficial effects:
1. a gripper structure of a power changing robot of a power changing station is provided with a flexible chain, a guide post, a first spring rod, a connecting plate, a fixing pin, a first fixing module, a second fixing module and a gripper module, wherein the gripper module descends, the first spring rod is extruded and ascended by a battery pack frame, the first spring rod drives the fixing pin to ascend and unlock through the connecting plate, the gripper module can shake through lifting of the flexible chain, the guide post enables the gripper module to enter the battery pack frame through an inclined plane, and the gripper module can also enter the battery pack frame quickly and accurately to grip a battery pack when the battery pack position inclines;
2. a gripper structure of a power changing robot of a power changing station is provided with a gripper module, a first distance measuring sensor and a second spring rod, when the gripper module descends to grab a battery pack, the second spring rod is extruded and ascended by a battery pack frame, the first distance measuring sensor detects the displacement of the second spring rod so as to judge whether the gripper module descends to the required height of the grabbed battery pack, if the required height of the grabbed battery pack is not reached, the gripper module continues to descend, and if the required height of the grabbed battery pack is reached, a grabbing system of the gripper module starts to work, so that the effect of quickly grabbing the battery pack can be achieved;
3. the utility model provides a trade electric robot tongs structure in power station is through being provided with linear drive motor, linear drive guide rail, slider and stationary dog, and during the tongs module entered into battery package frame, thereby linear drive motor can control the slider and slide on the linear drive guide rail and drive the stationary dog and slide on the linear drive guide rail, can play the effect of quick fixed battery package frame.
Drawings
Fig. 1 is a schematic structural view of a main view of a gripper structure of a power exchanging robot in a power exchanging station;
FIG. 2 is a schematic overall structure diagram of a gripper structure of a power exchanging robot in a power exchanging station;
FIG. 3 is a schematic structural diagram of a gripper structure of a power exchanging robot of a power exchanging station, which is used for embodying a flexible chain;
fig. 4 is a schematic structural diagram of a gripper structure of a power exchanging robot in a power exchanging station, which is used for embodying a fixing mode of a top plate and a gripper module;
fig. 5 is a schematic structural diagram of a gripper structure of a power exchanging robot in a power exchanging station, which is used for embodying a gripper module;
FIG. 6 is a schematic structural diagram of a gripper structure of a power exchanging robot in a power exchanging station for embodying a gripper system;
fig. 7 is a schematic structural diagram of a gripper structure of a power exchanging robot in a power exchanging station for embodying a support platform.
In the figure, 1, a top plate; 11. a first fixing plate; 12. a second fixing plate; 13. a sleeve; 131. an unlocking lever; 2. a flexible module; 21. a flexible chain; 211. a protective cover; 212. a first circular ring; 213. a second circular ring; 22. a first stationary module; 23. a second stationary module; 221. a first fixed block; 222. a second fixed block; 223. a third fixing plate; 224. a guide post; 3. a gripper module; 31. a fourth fixing plate; 32. a fixing pin; 33. a first spring lever; 34. a connecting plate; 35. connecting the platform; 36. a support platform; 361. a first cross bar; 362. a second cross bar; 363. a first longitudinal bar; 364. a second longitudinal bar; 37. a gripper system; 371. a linear drive motor; 372. a linear drive guide rail; 373. a fixed jaw; 374. a slider; 4. a detection module; 41. a first ranging sensor; 42. a second ranging sensor; 43. a second spring lever; 5. and a fifth fixing plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In which like parts are designated by like reference numerals. It should be noted that the terms "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in fig. 1, the terms "bottom" and "top", "inner" and "outer" refer to directions toward and away from a particular component geometry, respectively, and the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present specification, "plurality" means two or more unless the direction of the center is specifically defined otherwise.
Example 1:
as shown in fig. 1-2, a power station battery replacing robot gripper structure comprises a top plate 1, a flexible module 2, a gripper module 3 and a detection module 4 which are arranged at the bottom of the top plate 1, a gap is arranged between the gripper module 3 and the top plate 1, the top plate 1 comprises a rectangular plate, a first protruding plate, a second protruding plate, a third protruding plate and a fourth protruding plate, the first protruding plate, the second protruding plate, the third protruding plate and the fourth protruding plate are uniformly distributed on the periphery of the rectangular plate, the tops of four corners of the rectangular plate are all bolted with a first fixing plate 11, the bottoms of the first protruding plate, the second protruding plate, the third protruding plate and the fourth protruding plate are all bolted with a second fixing plate 12, one side of the second fixing plate 12 close to the center of the top plate 1 is bolted with a sleeve 13, and an unlocking rod 131 is slidably arranged inside the sleeve 13.
As shown in fig. 1 to 3, the flexible module 2 includes a flexible chain 21, a first fixing module 22 and a second fixing module 23, the first fixing module 22 and the second fixing module 23 have the same structure, the first fixing module 22 is fixedly installed at the front bottom end of the gripper module 3, the second fixing module 23 is fixedly installed at the rear bottom end of the gripper module 3, the first fixing module 22 includes a first fixing block 221 and a second fixing block 222, the first fixing block 221 and the second fixing block 222 have the same structure, the first fixing block 221 and the second fixing block 222 are parallel to each other, a first groove is formed at the rear end of the first fixing block 221, a third fixing plate 223 is bolted inside the first groove, one end of the flexible chain 21 is bolted at the bottom of the first fixing plate 11, the other end of the flexible chain 21 is bolted at the top of the third fixing plate 223, the gripper module 3 is hoisted at the bottom of the top plate 1 through the flexible chain 21, one ends of the first fixing block 221 and the second fixing block 222, which are far away from the axis of the gripper module 3, are bolted at a guide post 224, the bottom end surface of the guide post 224 is an inclined surface, and the gripper module 3 can enter into the inclined battery pack frame through the inclined guide post 224.
In this embodiment, the flexible chain 21 is sleeved with a protective cover 211.
As shown in fig. 1 to 4, a fourth fixing plate 31 is bolted to both the front end of the left side and the rear end of the right side of the gripper module 3, a fixing pin 32 is inserted into the fourth fixing plate 31, first spring rods 33 are arranged on one side of the fourth fixing plate 31 away from the axis of the gripper module 3 at intervals, a connecting plate 34 is arranged on the top of the first spring rods 33, the first spring rods 33 and the fixing pin 32 are inserted into the connecting plate 34, the first spring rods 33 and the fixing pin 32 are connected through the connecting plate 34, and the gripper module 3 is fixed to the top plate 1 through the fixing pin 32.
In this embodiment, the top end of the first spring bar 33 is sleeved with a fixing pad, and the fixing pad is bolted to the top of the top plate.
In the embodiment, the periphery of the hole of the fourth fixing plate 31 for inserting the fixing pin 32 is provided with a chamfer, and the chamfer can make the fixing pin 32 slide into the hole of the fourth fixing plate 31 more conveniently, so that the fixing of the gripper module 3 is simpler and quicker.
As shown in fig. 5-7, the gripper module 3 includes a connection platform 35, a support platform 36 and a gripper system 37, the connection platform 35 is fixedly installed on the top of the support platform 36, the connection platform 35 is used for connecting the support platform 36 and the top plate 1, the support platform 36 includes a first cross bar 361, a second cross bar 362, a first longitudinal bar 363 and a second longitudinal bar 364, the first cross bar 361 and the second cross bar 362 are identical in structure, the first longitudinal bar 363 and the second longitudinal bar 364 are identical in structure, the first cross bar 361 is fixedly installed on the rear portion of the first fixed module 22, the second cross bar 362 is fixedly installed on the front portion of the second fixed module 23, the first cross bar 361 and the second cross bar 362 are connected through the first longitudinal bar 363 and the second longitudinal bar 364, the left end and the right end of the top portion of the first cross bar 361 and the second cross bar 362 are both fixedly installed with the gripper system 37, the gripper system 37 includes a linear driving motor 371, a linear driving guide rail 372 and a fixed claw 373, the fixed claw 373 is formed by a right angle portion and a rectangular slide block 373 which are integrally formed from top to bottom end of the linear driving slide block 373, a sliding block 374 is installed on the linear driving slide way 374 which is provided on the inner side of the linear driving slide way 373, and a sliding block 373 is provided on the linear driving slide block 373.
As shown in fig. 1 to 5, the top plate 1 is provided with a plurality of lightening holes, the lightening holes can be used for the flexible chain 21, the fixing pin 32, the first spring rod 33 and the unlocking rod 131 to pass through the top plate 1, and the first fixing block 221, the second fixing block 222 and the connecting platform 35 are all provided with lightening holes.
As shown in fig. 2 and 5, the front end of the left side and the rear end of the left side of the first vertical rod 363 are both provided with a second groove for the passage of the lock release lever 131, and the front end of the right side and the rear end of the right side of the second vertical rod 364 are both provided with a third groove for the passage of the lock release lever 131.
In this embodiment, the detection module 4 includes a first distance measuring sensor 41, a second distance measuring sensor 42, and a second spring rod 43, a fifth fixing plate 5 is bolted to one end of the first fixing block 221 and one end of the second fixing block 222 away from the axis of the gripper module 3, a third fixing block is bolted to the top of the fifth fixing plate 5, a second spring rod 43 is disposed inside the third fixing block, a circular hole is disposed in the fifth fixing plate 5, the circular hole is used for the second spring rod 43 to pass through, the first distance measuring sensor 41 is used for detecting the displacement of the second spring rod 43, the second distance measuring sensor 42 is disposed on the top of the top plate 1, the number of the second distance measuring sensors 42 is the same as the number of the unlocking rods 131, the second distance measuring sensor 42 is used for detecting the displacement of the unlocking rods 131, and it can be determined whether the gripper module 3 falls to the height capable of gripping the battery packs by detecting the displacement of the second spring rod 43, if the gripper system 37 starts to work, and if the gripper module 3 continues to fall to the height capable of gripping the battery packs.
The specific implementation process comprises the following steps: when the battery replacing robot needs to grab a battery pack, a gripper of the battery replacing robot descends, a first spring rod 33 is extruded and ascended by a frame of the battery pack to drive a fixing pin 32 to ascend, the gripper module 3 is unfixed, the gripper module 3 is hung at the bottom of a top plate 1 through a flexible chain 21, the gripper module 3 enters the frame of the battery pack through the inclined surface of a guide post 224 in a guiding mode, at the moment, a second spring rod 43 is extruded and ascended, a first distance measuring sensor 41 detects the displacement of the second spring rod 43 to judge whether the gripper module 3 descends to the required height of the grippable battery pack, if the required height of the grippable battery pack is not reached, the gripper module 3 continues descending, when the required height of the grippable battery pack is reached, a linear driving motor 371 controls a sliding block to slide on a linear driving guide rail 372, so that a fixing claw 373 is controlled to slide on the linear driving guide rail 372, the fixing claw 373 grabs the battery pack, an unlocking rod 131 is pressed downwards to unlock the battery pack, and at the commercial robot can lift the battery pack to replace electricity; when the battery pack needs to be put down by the battery replacing robot, the linear driving motor 371 controls the sliding block 374 to slide on the linear driving guide rail 372, thereby controlling the fixed claw 373 to slide on the linear driving guide rail 372, the fixed claw 373 is loosened, the gripper of the battery replacing robot rises, the first spring rod 33 descends to drive the fixed pin 32 to descend, because the top plate 1 and the gripper module 3 are connected through the flexible module, the gripper module 3 can rock, the periphery of the hole of the fourth fixed plate 31 for inserting the fixed pin 32 is provided with a chamfer, the fixed pin 32 can slide into the hole through the chamfer, the gripper module 3 is fixed after the fixed pin 32 is inserted into the fourth fixed plate 31.
In the embodiments of the present disclosure, the terms "mounting," "connecting," "fixing," and the like are used in a broad sense, for example, "connecting" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the disclosed embodiments of the invention can be understood by those of ordinary skill in the art as appropriate.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications without inventive contribution to the present embodiment as required after reading the present specification, but all of them are protected by patent law within the scope of the present invention.
Claims (10)
1. The utility model provides a trade power station and trade electric robot tongs structure, includes roof (1), flexible module (2), sets up tongs module (3) and detection module (4) in the bottom of roof (1), tongs module (3) with be provided with interval, its characterized in that between roof (1): the top plate (1) comprises a rectangular plate, a first convex plate, a second convex plate, a third convex plate and a fourth convex plate, the first convex plate, the second convex plate, the third convex plate and the fourth convex plate are uniformly distributed on the periphery of the rectangular plate, the tops of four corners of the rectangular plate are respectively bolted with a first fixing plate (11), the bottoms of the first convex plate, the second convex plate, the third convex plate and the fourth convex plate are respectively bolted with a second fixing plate (12), one side of the second fixing plate (12), which is close to the center of the top plate (1), is bolted with a sleeve (13), and an unlocking rod (131) is slidably mounted inside the sleeve (13);
the flexible module (2) comprises a flexible chain (21), a first fixed module (22) and a second fixed module (23), the first fixing module (22) and the second fixing module (23) are identical in structure, the first fixing module (22) is fixedly arranged at the bottom end of the front part of the gripper module (3), the second fixing module (23) is fixedly arranged at the bottom end of the rear part of the gripper module (3), the first fixing module (22) comprises a first fixing block (221) and a second fixing block (222), the first fixing block (221) and the second fixing block (222) are consistent in structure, the first fixing block (221) and the second fixing block (222) are parallel to each other, the rear end of the first fixed block (221) is provided with a first groove, the inner part of the first groove is bolted with a third fixed plate (223), one end of the flexible chain (21) is bolted at the bottom of the first fixing plate (11), the other end of the flexible chain (21) is bolted on the top of the third fixing plate (223), the gripper module (3) is hoisted at the bottom of the top plate (1) through the flexible chain (21), one ends, far away from the axis of the gripper module (3), of the first fixing block (221) and the second fixing block (222) are bolted with guide columns (224), and the bottom end surfaces of the guide columns (224) are inclined planes;
the left side front end and the right side rear end of tongs module (3) all have bolted connection fourth fixed plate (31), fourth fixed plate (31) are pegged graft and are had fixed pin (32), fourth fixed plate (31) are kept away from one side interval of the axis of tongs module (3) is provided with first spring beam (33), the top of first spring beam (33) is provided with connecting plate (34), first spring beam (33) with fixed pin (32) are all pegged graft the inside of connecting plate (34), first spring beam (33) with fixed pin (32) pass through connecting plate (34) are connected, tongs module (3) pass through fixed pin (32) with roof (1) is fixed.
2. The hand grip structure of the power changing robot for the power changing station as claimed in claim 1, wherein: the gripper module (3) comprises a connecting platform (35), a supporting platform (36) and a gripper system (37), the connecting platform (35) is fixedly installed at the top of the supporting platform (36), the connecting platform (35) is used for connecting the supporting platform (36) and the top plate (1), the supporting platform (36) comprises a first transverse rod (361), a second transverse rod (362), a first longitudinal rod (363) and a second longitudinal rod (364), the first transverse rod (361) and the second transverse rod (362) are consistent in structure, the first longitudinal rod (363) and the second longitudinal rod (364) are consistent in structure, the first transverse rod (361) is fixedly installed at the rear part of the first fixing module (22), the second transverse rod (362) is fixedly installed at the front part of the second fixing module (23), the first transverse rod (361) and the second transverse rod (362) are connected through the first longitudinal rod (363) and the second longitudinal rod (364), the first transverse rod (361) and the second transverse rod (362) are integrally installed on the top of the second fixing module (23), the first transverse rod (373) and the top of the fixing module (373) are respectively provided with a straight-line guide rail (373) and a straight-line driving system (373), and the gripper system (371) are sequentially installed on the top of the right-angle fixing guide rail (373), and the straight-moving mechanism (373), the bottom end, close to the axis of the gripper module (3), of the rectangular portion is provided with a rim, a sliding groove is formed in the fixing claw (373), a sliding block (374) is bolted to the inside of the sliding groove, the fixing claw (373) can slide on the linear driving guide rail (372) through the sliding block (374), and the linear driving motor (371) is used for driving the sliding block (374) to move transversely on the linear driving guide rail (372).
3. The hand grip structure of the power exchanging robot for the power exchanging station as claimed in claim 1, wherein: a plurality of lightening holes are formed in the top plate (1), and the lightening holes can be used for enabling the flexible chain (21), the fixing pin (32), the first spring rod (33) and the unlocking rod (131) to penetrate through the top plate (1).
4. The hand grip structure of the power exchanging robot for the power exchanging station as claimed in claim 1, wherein: the outer side of the flexible chain (21) is sleeved with a protective cover (211).
5. The hand grip structure of the power exchanging robot for the power exchanging station as claimed in claim 1, wherein: the top end of the first spring rod (33) is sleeved with a fixing gasket, and the fixing gasket is bolted to the top of the top plate.
6. The hand grip structure of the power exchanging robot for the power exchanging station as claimed in claim 2, wherein: the first fixing block (221), the second fixing block (222) and the connecting platform (35) are provided with lightening holes.
7. The hand grip structure of the power exchanging robot for the power exchanging station as claimed in claim 2, wherein: the left side front end and the left side rear end of the first longitudinal rod (363) are both provided with a second groove, the second groove is used for the unlocking rod (131) to pass through, the right side front end and the right side rear end of the second longitudinal rod (364) are both provided with a third groove, and the third groove is used for the unlocking rod (131) to pass through.
8. The hand grip structure of the power exchanging robot for the power exchanging station as claimed in claim 2, wherein: detection module (4) include first range finding sensor (41), second range finding sensor (42) and second spring beam (43), first fixed block (221) with second fixed block (222) keep away from the one end bolt of the axis of tongs module (3) has fifth fixed plate (5), the top bolt of fifth fixed plate (5) has connected the third fixed block, the inside of third fixed block is equipped with second spring beam (43), the round hole has been seted up in fifth fixed plate (5), the round hole is used for the passage of second spring beam (43), first range finding sensor (41) are used for detecting the displacement amount of second spring beam (43), second range finding sensor (42) set up the top of roof (1), the quantity of second range finding sensor (42) with the quantity of unblocking pole (131) is the same, second range finding sensor (42) are used for detecting the displacement amount of unblocking pole (131).
9. The hand grip structure of the power changing robot for the power changing station as claimed in claim 1, wherein: the periphery of the hole of the fourth fixing plate (31) for inserting the fixing pin (32) is provided with a chamfer.
10. The hand grip structure of the power exchanging robot for the power exchanging station as claimed in claim 1, wherein: flexible chain (21) includes first ring (212) and second ring (213), the top bolt of first ring (212) is in the bottom of first fixed plate (11), the bottom bolt of second ring (213) is in the top of third fixed plate (223), first ring (212) is from left to right setting, second ring (213) is from the past backward setting, first ring (212) with second ring (213) cup joints each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115946145A (en) * | 2023-03-10 | 2023-04-11 | 成都时代星光科技有限公司 | Special handle of unmanned aerial vehicle smart battery, snatch mechanism and grasping system |
| 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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| CN115946145B (en) * | 2023-03-10 | 2023-07-14 | 成都时代星光科技有限公司 | Special handle, grabbing mechanism and grabbing system for intelligent battery of unmanned aerial vehicle |
| 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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|---|---|
| CN115648266B (en) | 2023-05-26 |
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