CN115649120A - Garage battery replacement robot and system - Google Patents
Garage battery replacement robot and system Download PDFInfo
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- CN115649120A CN115649120A CN202211394223.1A CN202211394223A CN115649120A CN 115649120 A CN115649120 A CN 115649120A CN 202211394223 A CN202211394223 A CN 202211394223A CN 115649120 A CN115649120 A CN 115649120A
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- robot
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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
Abstract
The invention relates to the technical field of battery changing robots, in particular to a garage battery changing robot and a system, comprising: trade electric robot main part, it has the back to accept to trade the electricity through screw fixed mounting and places the frame to trade one side of electric robot main part, and the back holds to trade the electricity and places the frame and trade the bottom both sides position department of electric robot main part and all install displacement drive gyro wheel, the top position department of trading electric robot main part is provided with automatic control action module, and automatic control action module accepts after being close to and trades the surface position department of placing the frame and install sensor module. According to the invention, the front and back bearing power exchange placing frame and the clamping jaw machine assembly of the power exchange robot main body are used in a matched manner, and in the whole power exchange working process, the front and back bearing power exchange placing frame and the clamping jaw machine assembly of the power exchange robot main body are utilized, so that a plurality of batteries can be transported at a time, the number of times of moving back and forth to exchange power can be effectively reduced, and the power exchange efficiency is improved.
Description
Technical Field
The invention relates to the technical field of battery replacing robots, in particular to a garage battery replacing robot and a garage battery replacing system.
Background
At present, electric vehicles are more and more popular, electric vehicles in garages are more and more, electric vehicles need to be charged in time when in use, but not all garages are equipped with charging equipment, and not all garages have a charging function when being maintained by manufacturers, a common battery replacement mode is that a vehicle battery is replaced manually, but battery replacement operation is time-consuming and labor-consuming, and the batteries can be easily forked by using a forklift and a tray, but the batteries need to be manually and orderly stacked on the tray in advance, and shaking is easily caused in the transportation process, so that the batteries can occasionally slide and even fall off, and therefore the garage battery replacement robot and the garage battery replacement system are provided for solving the problems.
Disclosure of Invention
The invention aims to provide a garage battery replacement robot and a garage battery replacement system, which are used for solving the problems that the existing lifting type cart in the background art needs a worker to place a battery on the cart and then move the cart for replacing the battery back and forth for many times, so that the battery replacement operation is time-consuming and labor-consuming, and the battery is easy to shake in the transportation process, so that the battery occasionally slides and even falls off.
In order to achieve the purpose, the invention provides the following technical scheme:
a garage trades electric robot and system includes: the mobile robot comprises a battery replacement robot main body, wherein a rear bearing battery replacement placing frame is fixedly arranged on one side of the battery replacement robot main body through screws, displacement driving rollers are arranged at two sides of the bottom of the rear bearing battery replacement placing frame and the battery replacement robot main body, an automatic control action module is arranged at the top of the battery replacement robot main body, and a sensor module is arranged at the surface of the automatic control action module, which is close to the rear bearing battery replacement placing frame;
clamping jaw machine subassembly, clamping jaw machine subassembly is installed to the opposite side of trading electric robot main part, and clamping jaw machine subassembly is close to the position department that trades electric robot main part and installs arm host system, clamping jaw machine subassembly is including accepting mounting bracket and second arm, and accepts the mounting bracket and erect in arm host system top position department to accept mounting bracket and trade electric robot main part fixed surface and be connected, accept the surface of mounting bracket and install main half-gear through the bearing, and the input and the arm host system output electrical connection of main half-gear, the vice half-gear is installed through the bearing in the installation bracket surface of main half-gear one side, and meshes between vice half-gear and the main half-gear and be connected, main half-gear and then the one end that vice half-gear kept away from each other are connected with first arm through the pivot, and the other end of first arm is connected with first centre gripping clamping jaw through the pivot, the intermediate position department of first centre gripping clamping jaw is connected with accepting the mounting bracket top through the second arm.
Preferably, trade electric robot main part and include automatic control action module, sensor module and arm host system, automatic control action module passes through the serial ports with arm host system and links to each other, the first control signal output part of automatic control action module links to each other with arm host system's control signal input part, the second control signal output part of automatic control action module links to each other with sensor module's control signal input part, sensor module's signal output part links to each other with arm host system's signal input part.
Preferably, side blocking protection frames are erected on two sides of the top of the rear battery replacement placing frame respectively, and guide pulleys are installed inside the side blocking protection frames through bearings.
Preferably, the bottom of the rear battery replacement placing frame is inclined, and at least four groups of guide pulleys are arranged.
Preferably, a second clamping jaw is installed at the position, on the surface of the battery replacement robot body, below the first clamping jaw through a bearing, and the middle section and the top end of the second clamping jaw are connected with the first clamping jaw through a bearing shaft rod respectively.
Preferably, first centre gripping clamping jaw, second arm and second centre gripping clamping jaw all set up to two sets of, two sets of first centre gripping clamping jaw, second arm and second centre gripping clamping jaw are the symmetrical overall arrangement.
Preferably, the outer ends of the first clamping jaw and the second clamping jaw are provided with hook-shaped positions.
A garage battery replacement robot system comprises the following steps:
the method comprises the following steps: starting a power supply of a main body of the battery replacement robot, enabling the main body of the battery replacement robot to be in a power-on state, and initializing each module and corresponding parameters;
step two: the control starting of the battery replacing robot main body is realized, the battery replacing robot main body is controlled through signal connection and started, meanwhile, a path is preset in advance to enable the battery replacing robot main body to move, and the detection result of the sensor module is fed back to the mechanical arm main control module;
step three: the mechanical arm main control module judges a movement route of the electricity-changing robot main body according to a detection result and sends the information to the automatic control action module through a serial port, the automatic control action module sends a movement direction instruction to the displacement driving roller to control the movement state of the electricity-changing robot main body, and the electricity-changing robot main body walks along the route;
step four: the main body of the battery replacing robot carries out grabbing operation, and after the main body of the battery replacing robot stops, the mechanical arm main control module controls the steering engine to control the clamping jaw machine assembly to carry out grabbing operation;
step five: returning to move the main body of the battery replacing robot, after the grabbing and lifting operation is finished, sending an action completion instruction to the automatic control action module by the mechanical arm main control module through the serial port, controlling the main body of the battery replacing robot to rotate leftwards by the automatic control action module until the sensor module detects that a preset path is stopped, and moving the main body of the battery replacing robot;
step six: the main body of the battery replacement robot performs placement operation, after the sensor module detects a start line, the automatic control action module receives an instruction of the mechanical arm main control module to control the robot to stop, and sends a placement operation command to the mechanical arm main control module through a serial port, the mechanical arm main control module controls the main half gear and the auxiliary half gear to move in a meshing mode, the first clamping jaw and the second clamping jaw at the tail ends are opened, and the placement operation is completed.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, through the matching use of the front and back bearing electricity changing placing frame and the clamping jaw machine assembly of the electricity changing robot main body, in the whole electricity changing working process, the back bearing electricity changing placing frame and the clamping jaw machine assembly in front and back of the electricity changing robot main body are utilized, so that a plurality of batteries can be transported at a time, the number of times of moving back and forth to change the electricity can be effectively reduced, the electricity changing efficiency is improved, the electricity changing operation is time-saving and labor-saving, meanwhile, through the matching of the design of the side blocking protection frames on the two sides of the back bearing electricity changing placing frame and the sliding guide pulleys, the guide pulleys on the two sides can save time and labor in the battery changing process, and the side blocking protection frames on the two sides can block the batteries, so that the problem that the batteries fall or are damaged due to shaking in the moving process can be effectively avoided;
and through the design of clamping jaw machine subassembly, make it adopt the mode that mechanical arm host system drive gear meshing between main half-gear and the vice half-gear between the gear move to control the open size of first clamping jaw and second clamping jaw and carry out the centre gripping fixedly, its first clamping jaw and second clamping jaw outer end crook shape can tightly carry out the centre gripping with the battery, guarantee to trade the electricity to the stability of battery, make it guarantee to ship the battery steadily, and full automation operation, make it can conveniently carry out swift transfer and transport to the battery, the intensity of labour who trades the electricity has been reduced.
Description of the drawings:
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a perspective view of the rear view of the present invention;
FIG. 2 is a partial perspective view of the rear battery receiving and replacing placement frame according to the present invention;
FIG. 3 is a front perspective view of the present invention;
FIG. 4 is a partial perspective view of the main body of the battery replacement robot according to the present invention;
figure 5 is a partial perspective view of the construction of the gripper machine assembly of the present invention.
In the figure: 1. a battery replacement robot main body; 2. a rear battery replacement placing frame; 3. a displacement driving roller; 4. a side shield protection frame; 5. a guide pulley; 6. an automatic control action module; 7. a sensor module; 8. a mechanical arm main control module; 9. a jaw machine assembly; 91. carrying the mounting frame; 92. a main half gear; 93. a secondary half gear; 94. a first robot arm; 95. a first clamping jaw; 96. a second mechanical arm; 97. a receiving shaft lever; 98. a second clamping jaw.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an embodiment of the present invention is shown:
the first embodiment is as follows:
a garage trades electric robot and system includes: the electric replacing robot comprises an electric replacing robot main body 1, wherein a rear bearing electric replacing placing frame 2 is fixedly installed on one side of the electric replacing robot main body 1 through screws, displacement driving rollers 3 are installed at two side positions of the bottom of the rear bearing electric replacing placing frame 2 and the electric replacing robot main body 1, an automatic control action module 6 is arranged at the top position of the electric replacing robot main body 1, and a sensor module 7 is installed at the position, close to the surface of the rear bearing electric replacing placing frame 2, of the automatic control action module 6;
the main body 1 of the power changing robot comprises an automatic control action module 6, a sensor module 7 and a mechanical arm main control module 8, wherein the automatic control action module 6 is connected with the mechanical arm main control module 8 through a serial port, a first control signal output end of the automatic control action module 6 is connected with a control signal input end of the mechanical arm main control module 8, a second control signal output end of the automatic control action module 6 is connected with a control signal input end of the sensor module 7, and a signal output end of the sensor module 7 is connected with a signal input end of the mechanical arm main control module 8. According to the attached drawings 1 and 4, by arranging the sensor module 7, a preset path can be detected by the sensor module 7, and the pressure between a battery and a rear bearing power changing placement frame 2 can be detected, so as to determine whether the battery is moved in place. For example: the first clamping jaw 95 and the second clamping jaw 98 have sensors for clamping the battery or sensors for sensing that the battery cannot be loaded on the battery replacement placing frame 2 due to the fact that the battery is too heavy;
further, side-guard protection frames 4 are erected on two sides of the top of the rear bearing power-changing placement frame 2 respectively, guide pulleys 5 are installed inside the side-guard protection frames 4 through bearings, the bottom of the rear bearing power-changing placement frame 2 is arranged to be inclined, and at least four groups of guide pulleys 5 are arranged on the guide pulleys 5;
the clamping jaw type electric replacing robot comprises a clamping jaw machine assembly 9, wherein the clamping jaw machine assembly 9 is installed on the other side of an electric replacing robot main body 1, a mechanical arm main control module 8 is installed at a position, close to the electric replacing robot main body 1, of the clamping jaw machine assembly 9, the clamping jaw machine assembly 9 comprises a bearing installation frame 91 and a second mechanical arm 96, the bearing installation frame 91 is erected at a position above the mechanical arm main control module 8, the bearing installation frame 91 is fixedly connected with the surface of the electric replacing robot main body 1, a main half gear 92 is installed on the surface of the bearing installation frame 91 through a bearing, the input end of the main half gear 92 is electrically connected with the output end of the mechanical arm main control module 8, an auxiliary half gear 93 is installed on the surface of the bearing installation frame 91 on one side of the main half gear 92 through a bearing, the auxiliary half gear 93 is connected with the main half gear 92 in a meshing manner, one end, far away from each other end of the main half gear 92 and the auxiliary half gear 93, is connected with a first mechanical arm 94 through a rotating shaft, the other end of the first mechanical arm 94 is connected with a first clamping jaw 95 through a rotating shaft, and the middle position of the first clamping jaw 95 is connected with the top of the bearing installation frame 91 through the second clamping jaw 96;
the surface position of the battery replacing robot body 1 below the first clamping jaw 95 is provided with a second clamping jaw 98 through a bearing, the middle section and the top end of the second clamping jaw 98 are respectively connected with the first clamping jaw 95 through a bearing shaft 97, the first clamping jaw 95, the second mechanical arm 96 and the second clamping jaw 98 are arranged into two groups, the two groups of the first clamping jaw 95, the second mechanical arm 96 and the second clamping jaw 98 are symmetrically distributed, according to the attached drawings of fig. 4 and 5, the output end of the mechanical arm main control module 8 drives the main half gear 92 to move and drives the auxiliary half gear 93 meshed with the main half gear to reversely move, so that the two groups of the first mechanical arms 94 are driven to open, the sizes of the first clamping jaw 95 and the second clamping jaw 98 are controlled through the linkage of the second mechanical arm 96 and the bearing shaft 97, the batteries can be clamped and fixed, and the whole-process automation operation is realized, the batteries can be conveniently and rapidly transferred and conveyed, and the labor intensity of battery replacing is reduced;
furthermore, the outer ends of the first clamping jaw 95 and the second clamping jaw 98 are arranged to be hook-shaped, as shown in fig. 5, the hook-shaped design can increase the friction force when the first clamping jaw 95 and the second clamping jaw 98 clamp the battery, so as to avoid the slipping problem in the moving process, and the hook-shaped outer ends of the first clamping jaw 95 and the second clamping jaw 98 can tightly clamp the battery, thereby ensuring the stable battery replacement and ensuring the stable battery loading and transporting.
Example two:
a using method of a garage battery replacement robot comprises the following steps:
the method comprises the following steps: starting a power supply of the battery replacing robot main body 1, enabling the battery replacing robot main body 1 to be in a power-on state, and initializing each module and corresponding parameters;
step two: the main body 1 of the battery replacing robot is controlled to start, the main body 1 of the battery replacing robot is controlled and started through signal connection, meanwhile, a path is preset in advance to enable the main body 1 of the battery replacing robot to move, and a detection result of the sensor module 7 is fed back to the mechanical arm main control module 8;
step three: the mechanical arm main control module 8 judges the movement route of the power changing robot main body 1 according to the detection result and sends the information to the automatic control action module 6 through a serial port, the automatic control action module 6 sends a movement direction instruction to the displacement driving roller 3 to control the movement state of the power changing robot main body 1, and the power changing robot main body 1 walks along the route;
step four: the main body 1 of the battery replacing robot carries out grabbing operation, and after the main body 1 of the battery replacing robot stops, the main control module 8 of the mechanical arm controls the steering engine to control the clamping jaw machine assembly 9 to carry out grabbing operation;
step five: the main body 1 of the battery replacing robot returns to move, after the grabbing and lifting operation is finished, the mechanical arm main control module 8 sends an action finishing instruction to the automatic control action module 6 through a serial port, the automatic control action module 6 controls the main body 1 of the battery replacing robot to rotate leftwards until the sensor module 7 detects that a preset path stops, and the main body 1 of the battery replacing robot moves;
step six: the main body 1 of the battery replacement robot performs placement operation, after the sensor module 7 detects a start line, the automatic control action module 6 receives an instruction of the mechanical arm main control module 8 to control the robot to stop, and sends a placement operation command to the mechanical arm main control module 8 through a serial port, the mechanical arm main control module 8 controls the main half gear 92 and the auxiliary half gear 93 to move in a meshing manner, the first clamping jaw 95 and the second clamping jaw 98 at the tail ends are opened, and the placement operation is completed.
The working principle is as follows: the invention is a garage and trades electric robot and system, its structure and principle all can be known or known through the conventional experimental method for this technical staff, in the spare place of this apparatus, it refers to power component, electric device and adaptive control computer and power and connects through the wire all above-mentioned electric devices, the concrete connecting means, should consult in the following working principle, finish the electrical connection sequentially between every electric device, its detailed connecting means, it is the known technology in this field, the following mainly introduces working principle and course, do not explain electric control, its structure and principle can be known or can be known through the conventional experimental method for the technical staff in this field;
the power supply of the electric replacing robot body 1 is started, the electric replacing robot body 1 is in a power-on state, modules and corresponding parameters are initialized, meanwhile, the mechanical arm main control module 8 judges a movement route of the electric replacing robot body 1 according to a detection result and sends the information to the automatic control action module 6 through a serial port, the automatic control action module 6 sends a movement direction instruction to the displacement driving roller 3 according to the movement direction instruction to control the movement state of the electric replacing robot body 1, the electric replacing robot body 1 moves to a position ready for electric replacement along the route, after the electric replacing robot body 1 stops, the first clamping jaw 95 and the second clamping jaw 98 are just positioned on two sides of a battery, when the mechanical arm main control module 8 controls the steering engine to control the clamping jaw robot assembly 9 to perform grabbing and lifting operation, the output end of the main control module 8 drives the main mechanical arm half gear 92 to rotate, so that the main half gear 92 drives the auxiliary half gear 93 engaged with the main half gear 92 to synchronously rotate reversely, the main half gear 92 and the auxiliary half gear 93 drive the first mechanical arm 94 to start to synchronously drive the second clamping jaw 96 and the second clamping jaw 98 to synchronously push the second clamping jaw 96 and the second clamping jaw 98 to synchronously clamp the second clamping jaw 98, and start clamping jaw to perform clamping operation, and connect the clamping jaw 98 to the clamping jaw 98;
meanwhile, a worker can also move a lighter battery onto the rear battery receiving and replacing placement frame 2, the lighter battery is pushed by rolling along the inclined rear battery receiving and replacing placement frame 2 and the guide pulleys 5 on the two sides and slides into the rear battery receiving and replacing placement frame 2 under the action of gravity, finally the battery-mounted battery replacing robot main body 1 returns to move, the mechanical arm main control module 8 sends an action completion instruction to the automatic control action module 6 through a serial port, the automatic control action module 6 controls the battery replacing robot main body 1 to rotate leftwards until the sensor module 7 detects that a preset path stops, finally, the automatic control action module 6 receives the instruction of the mechanical arm main control module 8 to control the robot to stop, sends a placement operation command to the mechanical arm main control module 8 through the serial port and operates, so that the mechanical arm main control module 8 controls the main half gear 92 and the auxiliary half gear 93 to move in a meshing manner, the first clamping jaw 95 and the second clamping jaw 98 at the tail ends are opened, the placement operation is completed, and the battery replacing on the rear battery receiving and replacing placement frame 2 is put down.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a garage trades electric robot which characterized in that includes: the electric replacing robot comprises an electric replacing robot main body (1), wherein a rear bearing electric replacing placing frame (2) is fixedly installed on one side of the electric replacing robot main body (1) through screws, displacement driving rollers (3) are installed at two sides of the bottom of the rear bearing electric replacing placing frame (2) and the electric replacing robot main body (1), an automatic control action module (6) is arranged at the top of the electric replacing robot main body (1), and a sensor module (7) is installed at the position, close to the surface of the rear bearing electric replacing placing frame (2), of the automatic control action module (6);
a clamping jaw machine component (9), the other side of the battery replacement robot main body (1) is provided with the clamping jaw machine component (9), a mechanical arm main control module (8) is arranged at the position of the clamping jaw machine component (9) close to the battery replacement robot main body (1), the gripper machine assembly (9) comprises a receiving mounting frame (91) and a second mechanical arm (96), and the bearing mounting rack (91) is erected at the position above the main control module (8) of the mechanical arm, and the bearing mounting rack (91) is fixedly connected with the surface of the main body (1) of the battery replacing robot, the surface of the bearing mounting frame (91) is provided with a main half gear (92) through a bearing, and the input end of the main half gear (92) is electrically connected with the output end of the mechanical arm main control module (8), a secondary half gear (93) is arranged on the surface of the bearing mounting rack (91) at one side of the main half gear (92) through a bearing, and the auxiliary half gear (93) is meshed with the main half gear (92), one end of the main half gear (92) and the end of the auxiliary half gear (93) which are far away from each other are connected with a first mechanical arm (94) through a rotating shaft, and the other end of the first mechanical arm (94) is connected with a first clamping jaw (95) through a rotating shaft, the middle position of the first clamping jaw (95) is hinged to the top of the bearing mounting frame (91) through a second mechanical arm (96).
2. The garage battery replacement robot of claim 1, wherein: trade electric robot main part (1) and include automatic control action module (6), sensor module (7) and arm host system (8), and automatic control action module (6) link to each other through the serial ports with arm host system (8), the first control signal output part of automatic control action module (6) links to each other with the control signal input part of arm host system (8), the second control signal output part of automatic control action module (6) links to each other with the control signal input part of sensor module (7), the signal output part of sensor module (7) links to each other with the signal input part of arm host system (8).
3. The garage battery replacement robot of claim 1, wherein: the side blocking protective frames (4) are erected on two sides of the top of the rear battery replacement placing frame (2) respectively, and guide pulleys (5) are installed inside the side blocking protective frames (4) through bearings.
4. The garage battery replacement robot of claim 3, wherein: the bottom of the rear bearing battery replacement placing frame (2) is inclined, and at least four groups of guide pulleys (5) are arranged.
5. The garage battery replacement robot of claim 1, wherein: the surface position of the power exchanging robot main body (1) below the first clamping jaw (95) is provided with a second clamping jaw (98) through a bearing, and the middle section and the top end of the second clamping jaw (98) are connected with the first clamping jaw (95) through a bearing shaft rod (97).
6. The garage battery replacement robot of claim 1 or 5, wherein: first centre gripping clamping jaw (95), second arm (96) and second centre gripping clamping jaw (98) all set up to two sets of, two sets of first centre gripping clamping jaw (95), second arm (96) and second centre gripping clamping jaw (98) are the symmetrical layout.
7. The garage battery replacement robot of claim 1 or 5, wherein: the outer end positions of the first clamping jaw (95) and the second clamping jaw (98) are arranged to be hook-shaped.
8. The invention also discloses a garage battery replacement robot system according to any one of claims 1 to 7, which comprises the following steps:
the method comprises the following steps: starting a power supply of the battery replacing robot main body (1), enabling the battery replacing robot main body (1) to be in a power-on state, and initializing each module and corresponding parameters;
step two: the main body (1) of the battery replacing robot is controlled to start, the main body (1) of the battery replacing robot is controlled and started through signal connection, meanwhile, a preset path is made to move in advance, and a detection result of the sensor module (7) is fed back to the main control module (8) of the mechanical arm;
step three: the mechanical arm main control module (8) judges the movement route of the power changing robot main body (1) according to the detection result and sends the information to the automatic control action module (6) through a serial port, the automatic control action module (6) sends a movement direction instruction to the displacement driving roller (3) to control the movement state of the power changing robot main body (1) according to the information, and the power changing robot main body (1) walks along the route;
step four: the main body (1) of the battery replacement robot carries out grabbing operation, and after the main body (1) of the battery replacement robot stops, a mechanical arm main control module (8) controls a steering engine to control a clamping jaw machine assembly (9) to carry out grabbing and lifting operation;
step five: the main body (1) of the battery replacing robot returns to move, after grabbing and lifting operation is finished, a mechanical arm main control module (8) sends an action completion instruction to an automatic control action module (6) through a serial port, the automatic control action module (6) controls the main body (1) of the battery replacing robot to rotate leftwards until a sensor module (7) detects that a preset path stops, and the main body (1) of the battery replacing robot moves;
step six: the main body (1) of the electric replacing robot is used for placing operation, after a sensor module (7) detects a start line, an automatic control action module (6) receives an instruction of a mechanical arm main control module (8) to control the robot to stop, a placing operation command is sent to the mechanical arm main control module (8) through a serial port, the mechanical arm main control module (8) controls a main half gear (92) and an auxiliary half gear (93) to move in a meshed mode, a first clamping jaw (95) and a second clamping jaw (98) at the tail end are opened, and the placing operation is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211394223.1A CN115649120A (en) | 2022-11-08 | 2022-11-08 | Garage battery replacement robot and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211394223.1A CN115649120A (en) | 2022-11-08 | 2022-11-08 | Garage battery replacement robot and system |
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| Publication Number | Publication Date |
|---|---|
| CN115649120A true CN115649120A (en) | 2023-01-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211394223.1A Pending CN115649120A (en) | 2022-11-08 | 2022-11-08 | Garage battery replacement robot and system |
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| CN (1) | CN115649120A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116587829A (en) * | 2023-07-17 | 2023-08-15 | 江苏速豹动力科技有限公司 | Battery pack locking device and electric truck |
-
2022
- 2022-11-08 CN CN202211394223.1A patent/CN115649120A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116587829A (en) * | 2023-07-17 | 2023-08-15 | 江苏速豹动力科技有限公司 | Battery pack locking device and electric truck |
| CN116587829B (en) * | 2023-07-17 | 2023-09-12 | 江苏速豹动力科技有限公司 | Battery pack locking device and electric truck |
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