CN115648266B - Robot gripper structure for power exchange station - Google Patents
Robot gripper structure for power exchange station Download PDFInfo
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- CN115648266B CN115648266B CN202211688742.9A CN202211688742A CN115648266B CN 115648266 B CN115648266 B CN 115648266B CN 202211688742 A CN202211688742 A CN 202211688742A CN 115648266 B CN115648266 B CN 115648266B
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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 power conversion of new energy commercial vehicles, in particular to a robot gripper structure for a power conversion 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 space is arranged 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 new energy commercial vehicle battery replacement, in particular to a battery replacement station battery replacement robot gripper structure.
Background
The new energy automobile charging technology is a new charging solution provided for overcoming the charging efficiency problem in the field of new energy automobiles, and the new energy automobile charging technology is characterized in that a batch of power exchanging stations are firstly built, when a new energy automobile needs to be charged, a vehicle is started into the power exchanging stations, the power exchanging stations detach batteries of the vehicle through a series of automatic systems and then replace full batteries, the detached batteries are directly placed in the power exchanging stations for charging so as to be used when other vehicles change electricity, and the new energy automobile charging technology solves the problem that the charging waiting time of the new energy automobile is long.
Disclosure of Invention
The invention aims to provide a robot gripper structure for a power exchange station to solve the problems in the prior art.
The technical aim of the invention is realized by the following technical scheme:
the utility model provides a power station trades robot tongs structure, includes roof, flexible module, sets up tongs module and the detection module in the bottom of roof, the tongs module with be provided with the interval between the roof, the roof includes rectangular plate, first protruding board, second protruding board, third protruding board and fourth protruding board evenly distributed are in the periphery of rectangular plate, the top of four angles of rectangular plate all has the bolt first fixed plate, the bottom of first protruding board, second protruding board, third protruding board and fourth protruding board all has the second fixed plate, one side bolt that the second fixed plate is close to the center of roof has the sleeve, telescopic inside slidable mounting has the unlocking lever;
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 bottom end of the front portion of the gripper module, the second fixing module is fixedly installed at the bottom end of the rear portion of the gripper 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 connected in the interior of the first groove in a bolting mode, one end of the flexible chain is bolted to the bottom of the first fixing plate, the other end of the flexible chain is bolted to the top of the third fixing plate, the gripper module is hoisted at the bottom of the top plate through the flexible chain, one ends of the first fixing block and the second fixing block, which are far away from the axis of the gripper module, are provided with guide posts, and the guide posts are inclined at the bottom of the first fixing block are inclined surfaces;
the left front end and the right rear end of the gripper module are both bolted with a fourth fixed plate, the fourth fixed plate is inserted with a fixed pin, one side of the fourth fixed plate, which is far away from the axis of the gripper module, is provided with a first spring rod at intervals, the top of the first spring rod is provided with a connecting plate, the first spring rod and the fixed pin are both inserted into the connecting plate, the first spring rod and the fixed pin are connected through the connecting plate, and the gripper module is fixed through the fixed pin and the top plate.
Through adopting above-mentioned technical scheme, the tongs module can be through the upward movement of first spring beam drives the fixed pin moves on and makes the fixed pin is released fixedly, the tongs module can be through flexible chain realizes flexible rocking, the guide pillar can make the tongs module can get into in the battery package frame through the inclined plane when the battery package inclines.
In further embodiments, the gripper module includes connecting platform, supporting platform and gripper system, connecting platform fixed mounting is in supporting platform's top, connecting platform is used for supporting platform with connect between the roof, supporting platform includes first horizontal pole, second horizontal pole, first vertical pole and second vertical pole, first horizontal pole with second horizontal pole structure is unanimous, first vertical pole with second vertical pole structure is unanimous, first horizontal pole fixed mounting is in the rear portion of first fixed module, second horizontal pole fixed mounting is in the front portion of second fixed module, first horizontal pole with the second horizontal pole passes through first vertical pole with the second vertical pole is connected, first horizontal pole with the equal fixed mounting in top left end and the top right-hand member of second horizontal pole has gripper system, gripper system includes linear drive motor, linear drive guide and stationary dog, the stationary dog is by last integrative fashioned trapezoidal portion in proper order down and rectangle portion, second horizontal pole fixed mounting is in the front portion of second fixed module, first horizontal pole with the second horizontal pole is passed through first vertical pole with the second vertical pole is connected, first horizontal pole with the top left end of second horizontal pole and top right end all fixed mounting have gripper system, linear drive slider.
Through adopting above-mentioned technical scheme, when the tongs module enters into in the battery package frame, the linear drive motor control the slider is in thereby slide on the linear drive guide rail drives the stationary dog slides, realizes grabbing the effect of battery package.
In a further embodiment, the top plate is provided with a plurality of lightening holes, which can be used for the flexible chain, the fixing pin, the first spring rod and the unlocking rod to pass through the top plate.
In a further embodiment, the flexible chain is provided with a protective cover on the outside.
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 each provided with a lightening hole.
In a further embodiment, the left front end and the left rear end of the first vertical rod are both provided with second grooves, the second grooves are used for passing through the unlocking rod, the right front end and the right rear end of the second vertical rod are both provided with third grooves, and the third grooves are used for passing through the unlocking rod.
In a further embodiment, the detection module includes first range sensor, second range sensor and second spring bar, first fixed block with the one end bolt that the axis of tongs module was kept away from to the second fixed block 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 bar, the round hole has been seted up to the fifth fixed plate, the round hole is used for the passage of second spring bar, first range sensor is used for detecting the displacement of second spring bar, second range sensor sets up the top of roof, the quantity of second range sensor with the quantity of release lever is the same, second range sensor is used for detecting the displacement of release lever.
By adopting the technical scheme, whether the gripper module descends to the required height of the grippable battery pack can be judged through the first ranging sensor and the measured data, if the required height of the grippable battery pack is not reached, the gripper module continues to descend, and if the required height of the grippable battery pack is reached, the gripper system starts to work.
In a further embodiment, the periphery of the hole of the fourth fixing plate for plugging the fixing pin is provided with a chamfer.
Through adopting above-mentioned technical scheme, when tongs module needs fixed, the fixed pin can slide into the inside completion grafting of fourth fixed plate through the chamfer on the fourth fixed plate.
In a further embodiment, the flexible chain comprises a first ring and a second ring, wherein the top of the first ring is bolted to the bottom of the first fixing plate, the bottom of the second ring is bolted to the top of the third fixing plate, the first ring is arranged from left to right, the second ring is arranged from front to back, and the first ring and the second ring are mutually sleeved.
In summary, the invention has the following beneficial effects:
1. the utility model provides a power station trades motor robot tongs structure is through being provided with flexible chain, guide pillar, first spring bar, the connecting plate, the fixed pin, first fixed module, second fixed module and tongs module, tongs module descends, first spring bar is risen by battery package frame extrusion, first spring bar passes through the connecting plate and drives the fixed pin and rise the unblock, tongs module is lifted through flexible chain and can rock, the guide pillar makes tongs module can adjust the position and enter into in the battery package frame through the inclined plane, can play also can enter into the battery package frame fast accurately when battery package position slope and snatch the effect of battery package in;
2. the utility model provides a battery pack is snatched to battery exchange station robot tongs structure, through being provided with tongs module, first range finding sensor, second spring bar, when tongs module descends and snatchs the battery pack, the second spring bar can be extruded by battery pack frame and rise, thereby first range finding sensor can detect the displacement of second spring bar and judge whether tongs module descends to the required height of snatchable battery pack, if not reach the required height of snatchable battery pack, tongs module continues to descend, if reach the required height of snatchable battery pack, tongs module's snatch system begins work, can play the effect of snatching the battery pack fast;
3. the utility model provides a trade power station and trade motor robot tongs structure is through being provided with linear drive motor, linear drive guide rail, slider and stationary dog, when the tongs module enters into the battery package frame, thereby linear drive motor can control the slider and slide on linear drive guide rail and drive the stationary dog and slide on linear drive guide rail, can play the effect of quick fixed battery package frame.
Drawings
FIG. 1 is a schematic diagram of a front view of a battery-powered station battery-powered robot gripper structure;
FIG. 2 is a schematic diagram of the overall structure of a robot gripper structure for a power exchange station;
FIG. 3 is a schematic view of a power plant battery-changing robot gripper structure for embodying a flexible chain;
FIG. 4 is a schematic view of a robot hand grip structure for a power exchange station for embodying the manner in which the top plate and hand grip modules are secured;
FIG. 5 is a schematic diagram of a power plant battery-changing robot gripper structure for embodying a gripper module;
FIG. 6 is a schematic diagram of a power plant battery-changing robot gripper structure for embodying a gripper system;
fig. 7 is a schematic diagram of a power station robot hand grip structure 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. unlocking the rod; 2. a flexible module; 21. a flexible chain; 211. a protective cover; 212. a first ring; 213. a second ring; 22. a first fixed module; 23. a second fixed 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. a connecting 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 driving motor; 372. a linear drive guide rail; 373. a fixed claw; 374. a slide block; 4. a detection module; 41. a first ranging sensor; 42. a second ranging sensor; 43. a second spring rod; 5. and a fifth fixing plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in fig. 1, and the words "bottom" and "top", "inner" and "outer" refer to directions toward or away from, respectively, a particular component geometry, and that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying an order of designating the indicated technical features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present specification, the meaning of "plurality" is two or more, unless the direction of the center is specifically defined otherwise.
Example 1:
as shown in fig. 1-2, a robot gripper structure for a power exchange station comprises a top plate 1, a flexible module 2, a gripper module 3 and a detection module 4, wherein the gripper module 3 and the detection module 4 are arranged at the bottom of the top plate 1, an interval 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 at 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 protruding plate, the second protruding plate, the third protruding plate and the fourth protruding plate are respectively bolted with a second fixing plate 12, one side, close to the center of the top plate 1, of the second fixing plate 12 is bolted with a sleeve 13, and an unlocking rod 131 is slidably arranged in the sleeve 13.
As shown in fig. 1-3, the flexible module 2 includes a flexible chain 21, a first fixed module 22 and a second fixed module 23, the first fixed module 22 and the second fixed module 23 are consistent in structure, the first fixed module 22 is fixedly installed at the front bottom end of the gripper module 3, the second fixed module 23 is fixedly installed at the rear bottom end of the gripper module 3, the first fixed module 22 includes a first fixed block 221 and a second fixed block 222, the first fixed block 221 and the second fixed block 222 are consistent in structure, the first fixed block 221 and the second fixed block 222 are parallel to each other, a first groove is formed at the rear end of the first fixed block 221, a third fixed plate 223 is connected in the inside of the first groove in a bolting manner, one end of the flexible chain 21 is connected at the bottom of the first fixed plate 11 in a bolting manner, the other end of the flexible chain 21 is connected at the top of the third fixed plate 223 in a bolting manner, the gripper module 3 is hoisted at the bottom of the top plate 1 through the flexible chain 21, one ends of the axes of the first fixed block 221 and the second fixed block 222, which are far away from the gripper module 3, are connected with a guide post 224 in a bolting manner, the end face of the guide post 224 is a slope, and the end face of the guide post 224 can be matched into the guide post 224 of the frame of the flexible chain 21 and the inclined frame.
In this embodiment, the flexible chain 21 is provided with a protective cover 211 on the outside.
As shown in fig. 1 to 4, the left front end and the right rear end of the gripper module 3 are both bolted with a fourth fixing plate 31, the fourth fixing plate 31 is inserted with a fixing pin 32, one side of the fourth fixing plate 31 far away from the axis of the gripper module 3 is provided with a first spring rod 33 at intervals, the top of the first spring rod 33 is provided with a connecting plate 34, the first spring rod 33 and the fixing pin 32 are both inserted in the connecting plate 34, the first spring rod 33 and the fixing pin 32 are connected through the connecting plate 34, and the gripper module 3 is fixed through the fixing pin 32 and the top plate 1.
In this embodiment, the top end of the first spring rod 33 is sleeved with a fixed spacer, and the fixed spacer is bolted to the top of the top plate.
In this embodiment, the periphery of the hole of the fourth fixing plate 31 for inserting the fixing pin 32 is provided with a chamfer, which enables the fixing pin 32 to slide into the hole of the fourth fixing plate 31 more easily and quickly, and the fixing of the gripper module 3 is simpler and faster.
As shown in fig. 5 to 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 at the top of the support platform 36, the connection platform 35 is used for supporting the connection between the 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 consistent in structure, the first longitudinal bar 363 and the second longitudinal bar 364 are consistent in structure, the first cross bar 361 is fixedly installed at the rear part of the first fixed module 22, the second cross bar 362 is fixedly installed at the front part 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 gripper system 37 is fixedly installed at the top left end and the top right end of the second cross bar 362, the gripper system 37 includes a linear driving motor 371, a linear driving guide 372 and a fixed gripper, the fixed gripper 373 is composed of a right-angle part and a rectangular part which are sequentially formed in an integral manner from top to bottom, the rectangular part is close to the bottom, the linear driving side of the gripper 373 is provided with a linear driving slide 372, and a sliding chute 374 is formed in the inside the linear driving side of the linear driving guide 372 is provided with the fixed slider 374, and the linear driving slider is arranged in the linear driving side of the fixed slider 372, and the sliding gripper 373 is used for moving along the inside the linear driving slider 374.
As shown in fig. 1 to 5, the top plate 1 is provided with a plurality of lightening holes, which can be used for 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, and the first fixing block 221, the second fixing block 222 and the connection platform 35 are provided with lightening holes.
As shown in fig. 2 and 5, the left front end and the left rear end of the first longitudinal rod 363 are provided with second grooves for the passage of the unlocking rod 131, and the right front end and the right rear end of the second longitudinal rod 364 are provided with third grooves for the passage of the unlocking rod 131.
In this embodiment, the detection module 4 includes a first ranging sensor 41, a second ranging sensor 42 and a second spring rod 43, one end of the first fixing block 221 and the second fixing block 222, which is far away from the axis of the gripper module 3, is bolted with a fifth fixing plate 5, the top of the fifth fixing plate 5 is bolted with a third fixing block, the inside of the third fixing block is provided with the second spring rod 43, the fifth fixing plate 5 is provided with a round hole, the round hole is used for the passage of the second spring rod 43, the first ranging sensor 41 is used for detecting the displacement of the second spring rod 43, the second ranging sensor 42 is arranged at the top of the top plate 1, the number of the second ranging sensors 42 is the same as the number of the unlocking rods 131, the second ranging sensor 42 is used for detecting the displacement of the unlocking rods 131, and by detecting the displacement of the second spring rod 43, whether the gripper module 3 is lowered to the height of the grippable battery pack can be judged, if the height of the grippable battery pack is reached, the gripper system 37 starts to work, and if the height of the grippable battery pack is not reached, the gripper module 3 is lowered continuously.
The specific implementation process comprises the following steps: when the battery pack needs to be grabbed by the battery replacement robot, the first spring rod 33 is pushed up by the frame of the battery pack by the gripper of the battery replacement robot to drive the fixing pin 32 to ascend, the gripper module 3 is unfixed, the gripper module 3 is lifted at the bottom of the top plate 1 by the flexible chain 21, the gripper module 3 is guided into the frame of the battery pack through the inclined plane of the guide post 224, the second spring rod 43 is pushed up at the moment, the 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 capable of grabbing the battery pack, if the required height capable of grabbing the battery pack is not reached, the gripper module 3 continues to descend, when the required height capable of grabbing the battery pack is reached, the linear driving motor 371 controls the slide block 374 to slide on the linear driving guide rail 372, the fixed jaw 373 slides on the linear driving guide rail 372, the battery pack is grabbed by the fixed jaw 373, the unlocking rod 131 is pushed down to unlock the battery pack and the commercial vehicle can be lifted by the battery replacement robot at the moment; when the battery pack needs to be put down by the power-changing robot, the linear driving motor 371 controls the sliding block 374 to slide on the linear driving guide rail 372, so that the fixed claw 373 is controlled to slide on the linear driving guide rail 372, the fixed claw 373 is loosened, the gripper of the power-changing robot ascends, the first spring rod 33 descends to drive the fixed pin 32 to descend, the gripper module 3 can shake due to the fact that the top plate 1 and the gripper module 3 are connected through the flexible module, a chamfer is arranged on the periphery of a hole of the fourth fixed plate 31 for inserting the fixed pin 32, the fixed pin 32 can slide into the hole through the chamfer, and the gripper module 3 is fixed after the fixed pin 32 is inserted into the fourth fixed plate 31.
In the embodiments disclosed herein, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the embodiments of the present disclosure will be understood by those of ordinary skill in the art according to the specific circumstances.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (8)
1. The utility model provides a trade power station and trade 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 the interval between roof (1), its characterized in that: 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, wherein 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 (11), 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 (12), one side, close to the center of the top plate (1), of the second fixing plate (12) is bolted with a sleeve (13), and an unlocking rod (131) is slidably arranged in the sleeve (13);
the flexible module (2) comprises 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) 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 identical in structure, the first fixing block (221) and the second fixing block (222) are parallel to each other, a first groove is formed in the rear end of the first fixing block (221), a third fixing plate (223) is bolted in the inside of 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 connected with the top plate (3) at the top of the first fixing block (221) in a bolt way, the end of the flexible chain (21) is far away from the top plate (3) of the gripper module (222), the bottom end surface of the guide column (224) is an inclined surface;
the novel hand grip is characterized in that a fourth fixing plate (31) is bolted to the left front end and the right rear end of the hand grip module (3), fixing pins (32) are inserted into the fourth fixing plate (31), first spring rods (33) are arranged on one sides, far away from the axis of the hand grip module (3), of the fourth fixing plate (31) at intervals, connecting plates (34) are arranged at the tops of the first spring rods (33), the first spring rods (33) and the fixing pins (32) are inserted into the connecting plates (34), the first spring rods (33) and the fixing pins (32) are connected through the connecting plates (34), and the hand grip module (3) is fixed through the fixing pins (32) and the top plate (1);
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 connected with the supporting platform (36) and the top plate (1) through a fourth fixed plate (31) and a fixed pin (32), the supporting platform (36) comprises a first cross rod (361), a second cross rod (362), a first longitudinal rod (363) and a second longitudinal rod (364), the first cross rod (361) and the second cross rod (362) are consistent in structure, the first longitudinal rod (363) and the second longitudinal rod (364) are consistent in structure, the first cross rod (361) is fixedly installed at the rear part of the first fixed module (22), the second cross rod (362) is fixedly installed at the front part of the second fixed module (23), the first cross rod (361) and the second cross rod (362) are connected with the top end of the gripper system (37) through a first longitudinal rod (361) and a second longitudinal rod (362), the gripper system (37) is installed at the top end of the gripper system (37), the fixed claw (373) is composed of a right trapezoid part and a rectangular part which are sequentially and integrally formed from top to bottom, the bottom end, close to the axis of the gripper module (3), of the rectangular part is provided with a rim, a sliding groove is formed in the fixed claw (373), a sliding block (374) is bolted to the inside of the sliding groove, the fixed claw (373) slides 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 transversely move on the linear driving guide rail (372);
the detection module (4) comprises a first ranging sensor (41), a second ranging sensor (42) and a second spring rod (43), wherein the first fixing block (221) and the second fixing block (222) are far away from a fifth fixing plate (5) is bolted to one end of an 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 arranged in the third fixing block, a round hole is formed in the fifth fixing plate (5), the round hole is used for the passing of the second spring rod (43), the first ranging sensor (41) is used for detecting the displacement of the second spring rod (43), the second ranging sensor (42) is arranged at the top of the top plate (1), the number of the second ranging sensors (42) is the same as that of the unlocking rods (131), and the second ranging sensor (42) is used for detecting the displacement of the unlocking rods (131).
2. The power station battery replacement robot gripper structure according to claim 1, wherein: the top plate (1) is provided with a plurality of lightening holes, and 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 penetrate through the top plate (1).
3. The power station battery replacement robot gripper structure according to claim 1, wherein: the outer side of the flexible chain (21) is sleeved with a protective cover (211).
4. The power station battery replacement robot gripper structure according to claim 1, wherein: the top of the first spring rod (33) is sleeved with a fixed gasket, and the fixed gasket is bolted to the top of the top plate.
5. The power station battery replacement robot gripper structure according to claim 1, wherein: the first fixing block (221), the second fixing block (222) and the connecting platform (35) are all provided with lightening holes.
6. The power station battery replacement robot gripper structure according to claim 1, wherein: the left front end and the left rear end of the first longitudinal rod (363) are respectively provided with a second groove, the second grooves are used for the passage of the unlocking rod (131), the right front end and the right rear end of the second longitudinal rod (364) are respectively provided with a third groove, and the third grooves are used for the passage of the unlocking rod (131).
7. The power station battery replacement robot gripper structure according to 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.
8. The power station battery replacement robot gripper structure according to claim 1, wherein: the flexible chain (21) comprises a first circular ring (212) and a second circular ring (213), wherein the top of the first circular ring (212) is bolted to the bottom of the first fixing plate (11), the bottom of the second circular ring (213) is bolted to the top of the third fixing plate (223), the first circular ring (212) is arranged from left to right, the second circular ring (213) is arranged from front to back, and the first circular ring (212) and the second circular ring (213) are mutually sleeved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211688742.9A CN115648266B (en) | 2022-12-28 | 2022-12-28 | Robot gripper structure for power exchange station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211688742.9A CN115648266B (en) | 2022-12-28 | 2022-12-28 | Robot gripper structure for power exchange station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115648266A CN115648266A (en) | 2023-01-31 |
| CN115648266B true CN115648266B (en) | 2023-05-26 |
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| CN116000908B (en) * | 2023-03-24 | 2023-06-20 | 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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| KR101675428B1 (en) * | 2016-01-04 | 2016-11-11 | (주)래딕스 | Battery exchanging station system for electric vehicle |
| CN107719330B (en) * | 2017-11-02 | 2021-03-19 | 蔚来(安徽)控股有限公司 | Reset mechanism for floating battery replacement device, floating battery replacement device and battery replacement method |
| CN112550056B (en) * | 2020-11-20 | 2022-07-15 | 浙江吉利控股集团有限公司 | Hoisting battery replacing device and hoisting battery replacing method |
| CN112549054B (en) * | 2020-11-20 | 2022-05-03 | 浙江吉利控股集团有限公司 | Battery replacement gripping device and control method for same |
| CN112895972B (en) * | 2021-03-26 | 2022-06-24 | 东风畅行科技股份有限公司 | Battery transplanting trolley for battery charging and replacing station of electric automobile |
| CN114162539A (en) * | 2021-12-20 | 2022-03-11 | 泽清新能源科技有限公司 | RGV automobile body |
| CN114274835A (en) * | 2022-01-19 | 2022-04-05 | 能翊行(苏州)科技有限公司 | Heavy truck power exchanging station |
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