CN116810826A - New energy vehicle trades motor ware people - Google Patents
New energy vehicle trades motor ware people Download PDFInfo
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- CN116810826A CN116810826A CN202311108139.3A CN202311108139A CN116810826A CN 116810826 A CN116810826 A CN 116810826A CN 202311108139 A CN202311108139 A CN 202311108139A CN 116810826 A CN116810826 A CN 116810826A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 230
- 230000008859 change Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 15
- 230000007423 decrease Effects 0.000 description 8
- 230000005611 electricity Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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 technical field of new energy vehicle power conversion, in particular to a new energy vehicle power conversion robot. The robot comprises a robot frame, a robot translation device, a robot lifting device and a robot locking device. The robot locking device comprises a driving part, a rotary transmission part, a first transmission part, a second transmission part, a first locking part and a second locking part. The rotary transmission part is rotationally connected with the robot frame. One end of the rotary transmission part is movably connected with the first transmission part, and the other end is movably connected with the second transmission part. The first locking part and the second locking part are respectively connected with the robot frame in a rotating way. The end parts of the first transmission part and the second transmission part are respectively hinged with the first locking part and the second locking part. The driving part is hinged with the rotary transmission part. The included angle between the extension direction of the driving part and the length extension direction of the rotary transmission part is smaller than 90 degrees. Thus, the problem that the rotating rod in the motor replacing robot is blocked when the battery box is replaced is solved.
Description
Technical Field
The invention relates to the technical field of new energy vehicle power conversion, in particular to a new energy vehicle power conversion robot.
Background
In recent years, new energy vehicles are rapidly developed, and the new energy vehicles which rely on a storage battery as driving energy have no harmful gas emission pollution during running and have low noise. The main problems affecting the development of new energy vehicles at present are the problem of supplementing power sources for the new energy vehicles, and two ways of supplementing power sources for the new energy vehicles which pass at present after power failure are provided: one is to charge by a charging pile, which requires one to two hours even if a quick charge is used, usually full charge; the other is to directly replace the battery box for use, namely, the battery box of the new energy vehicle is replaced by going to the power exchange station, and compared with a charging pile, the battery box is more rapid and convenient.
In the actual use process of the existing power exchange station, a power exchange robot is generally adopted to hoist a battery box stored in the power exchange station or a battery box on a power exchange vehicle for power exchange. When the battery box is hoisted by the power-changing robot, the power-changing robot often drives the rotating rod to drive the robot locking device to fix the battery box through a motor or a hydraulic press. The existing power-changing robot is unreasonable in connection mode of each component so that the thrust transmitted by each component is uneven and stable, and the matching and clamping of the rotating rod and other components in the power-changing robot are often caused, so that the efficiency of changing the battery box is affected.
Disclosure of Invention
In order to solve the problem of the blocking of a rotating rod in a motor replacing robot when a battery box is replaced, the invention provides a new energy vehicle motor replacing robot, which comprises the following components:
a robot frame;
the robot translation device drives the robot frame to horizontally move;
the two ends of the robot lifting device are detachably connected with the robot frame and the robot translation device respectively;
the robot locking device comprises a driving part, a rotary transmission part, a first transmission part, a second transmission part, a first locking part and a second locking part; the center of the rotary transmission part in the length direction is rotationally connected with the robot frame; one end of the rotary transmission part is movably connected with the first transmission part; the other end of the rotary transmission part is movably connected with the second transmission part; the first locking part and the second locking part are respectively arranged on two opposite sides of the robot frame; the first locking part is rotationally connected with the robot frame; the second locking part is rotationally connected with the robot frame; the end part of the first transmission part is hinged with the first locking part; the end part of the second transmission part is hinged with the second locking part; the driving part is hinged with the rotary transmission part at a position far away from the rotation center; the included angle between the extension direction of the driving part and the length extension direction of the rotary transmission part is smaller than 90 degrees.
In some embodiments, the rotation transmission part comprises a central rotating shaft and a rotating rod; the central rotating shaft is fixedly connected with the robot frame; the center of the rotating rod is rotationally connected with the center rotating shaft; the driving part is hinged with the rotating rod at a position far away from the rotating center.
In some embodiments, the rotary drive further comprises a chute; the sliding grooves are arranged at two ends of the rotating rod; the first transmission part comprises a first sliding block; the first sliding block is movably connected with the sliding groove at one end of the rotary transmission part; the second transmission part comprises a second sliding block; the second sliding block is movably connected with the sliding groove at the other end of the rotary transmission part.
In some embodiments, the first transmission further comprises a first short link, a first long link; one end of the first short connecting rod is fixedly connected with one end of the first long connecting rod; the first sliding block is arranged at the joint of the first short connecting rod and the first long connecting rod; the first locking part comprises a first side rotating shaft, a first lock tongue, a first transmission rod, a second side rotating shaft, a second lock tongue and a second transmission rod; the first side rotating shaft is rotationally connected with the robot frame; one end of the first transmission rod is fixedly connected with the first side rotating shaft; the other end of the first transmission rod is hinged with the other end of the first short connecting rod; the first lock tongue is fixedly connected with the first side rotating shaft; one end of the first lock tongue extends along the direction perpendicular to the first side rotating shaft; the second side rotating shaft is rotationally connected with the robot frame; one end of the second transmission rod is fixedly connected with the second side rotating shaft; the other end of the second transmission rod is hinged with the other end of the first long connecting rod; the second lock tongue is fixedly connected with the second side rotating shaft; one end of the second lock tongue extends along the direction perpendicular to the second side rotating shaft; the center line of the first sliding block, the center line of the hinge joint of the first short connecting rod and the first transmission rod and the center line of the hinge joint of the first long connecting rod and the second transmission rod are positioned on the same plane.
In some embodiments, the first long link is curved in a direction toward the central axis of rotation.
In some embodiments, the first short link is curved in a direction away from the central rotational axis.
In some embodiments, the second transmission further comprises a second short link, a second long link; one end of the second short connecting rod is fixedly connected with the second long connecting rod end; the second sliding block is arranged at the joint of the second short connecting rod and the second long connecting rod; the second locking part comprises a third side rotating shaft, a third lock tongue, a third transmission rod, a fourth side rotating shaft, a fourth lock tongue and a fourth transmission rod; the third side rotating shaft is rotationally connected with the robot frame; one end of the third transmission rod is fixedly connected with the third side rotating shaft; the other end of the third transmission rod is hinged with the other end of the second short connecting rod; the third lock tongue is fixedly connected with the third side rotating shaft; one end of the third lock tongue extends along the direction perpendicular to the third side rotating shaft; the fourth side rotating shaft is rotationally connected with the robot frame; one end of the fourth transmission rod is fixedly connected with the fourth side rotating shaft; the other end of the fourth transmission rod is hinged with the other end of the second long connecting rod; the fourth lock tongue is fixedly connected with the fourth side rotating shaft; one end of the fourth lock tongue extends along the direction perpendicular to the fourth side rotating shaft; the center line of the second sliding block, the center line of the second short connecting rod and the center line of the third transmission rod and the center line of the second long connecting rod and the center line of the fourth transmission rod are positioned on the same plane.
In some embodiments, the second long link is curved in a direction toward the central axis of rotation.
In some embodiments, the second short link is curved away from the central axis of rotation.
In some embodiments, the pivot angle of the rotating rod in the direction of the first short link is greater than the pivot angle of the rotating rod in the direction of the first long link; or, the swing angle of the rotating rod towards the second short connecting rod is larger than the swing angle of the rotating rod towards the second long connecting rod.
In some embodiments, the pivot angle of the rotating lever in the first short link direction is greater than 2 times the pivot angle of the rotating lever in the first long link direction; or, the swing angle of the rotating rod towards the second short connecting rod is larger than 2 times of the swing angle of the rotating rod towards the second long connecting rod.
In some embodiments, the new energy vehicle battery replacement robot further comprises a guide device; the guide device is arranged on the periphery side of the robot frame; one end of the guiding device is fixedly connected with the robot frame; the other end of the guide device extends along a direction away from the robot frame; the space enclosed by the guide device is gradually increased along the extending direction of the guide device.
In some embodiments, the guide comprises a first guide, a second guide, a third guide, a fourth guide; the first guide part, the second guide part, the third guide part and the fourth guide part are respectively arranged at four corners of the robot frame.
In order to solve the problem of the blocking of the rotating rod in the motor replacing robot when the battery box is replaced, the invention has the following advantages:
by arranging the driving part to be hinged with the rotary transmission part at the position far away from the center of the driving part, the driving part can push the rotary transmission part only by applying smaller pushing force according to the lever principle, so that the energy consumption of the driving part can be saved. The included angle between the extension direction of the driving part and the length extension direction of the rotary transmission part is smaller than 90 degrees, and the lateral force generated when the driving part pushes the rotary transmission part is smaller, so that the driving part and the rotary transmission part are prevented from being blocked when being propped up tightly in a mutually perpendicular manner, the driving part and the rotary transmission part can be matched more smoothly, and the power conversion efficiency is improved.
Drawings
Fig. 1 is a schematic perspective view of a new energy vehicle battery box hoisted by a motor replacement robot according to an embodiment;
FIG. 2 shows a perspective view of a new energy vehicle electric power change robot according to one embodiment;
FIG. 3 is a plan view showing a locking state of a robot locking device of a new energy vehicle battery replacement robot according to an embodiment;
FIG. 4 is a plan view schematically showing a released state of a new energy vehicle battery-powered robot locking device according to an embodiment;
fig. 5 shows a schematic plan view of a new energy vehicle robot locking device in a locking process.
Reference numerals:
a robot frame; 02 robot lifting device; 03 robot locking device; 31 a driving part; 311 fixing seats; 312 telescoping drive rods; 32 a rotary transmission part; 321 a central spindle; 322 turning rod; 323 sliding grooves; 33 a first transmission part; 331 a first slider; 332 a first short link; 333 first long link; 34 a second transmission portion; 341 a second slider; 342 second short link; 343 a second long link; 35 a first locking part; 351 a first side shaft; 352 first locking bolt; 353 a first drive link; 354 a second side axis of rotation; 355 second locking bolt; 356 second drive rod; 36 a second locking portion; 361 a third side shaft; 362 a third locking bolt; 363 a third drive rod; 364 fourth side shaft; 365 fourth bolt; 366 fourth drive rod; 04 guiding means; 41 a first guide portion; 42 a second guide; 43 a third guide portion; 44 a fourth guide; 05 a battery box; 51 top cross member.
Detailed Description
The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus practice the present disclosure, and are not meant to imply any limitation on the scope of the present disclosure.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment. The term "another embodiment" is to be interpreted as "at least one other embodiment".
The embodiment discloses a new energy vehicle trades motor robot, as shown in fig. 1, fig. 2, fig. 3, can include:
a robot frame 01;
the robot translation device drives the robot frame 01 to horizontally move;
the robot lifting device 02, two ends of the robot lifting device 02 are detachably connected with the robot frame 01 and the robot translation device respectively;
the robot locking device 03, the robot locking device 03 includes a driving part 31, a rotation transmission part 32, a first transmission part 33, a second transmission part 34, a first locking part 35, and a second locking part 36; the center of the rotation transmission part 32 in the length direction is rotationally connected with the robot frame 01; one end of the rotation transmission part 32 is movably connected with the first transmission part 33; the other end of the rotary transmission part 32 is movably connected with the second transmission part 34; the first locking part 35 and the second locking part 36 are respectively arranged on two opposite sides of the robot frame 01; the first locking part 35 is rotatably connected with the robot frame 01; the second locking part 36 is rotatably connected with the robot frame 01; the end part of the first transmission part 33 is hinged with the first locking part 35; the end of the second transmission part 34 is hinged with a second locking part 36; the driving part 31 is hinged with the rotary transmission part 32 at a position far away from the rotation center; the included angle between the extension and retraction directions of the driving part 31 and the length extension direction of the rotation transmission part 32 is smaller than 90 degrees.
In this embodiment, the new energy vehicle is more rapid and convenient in a manner of replacing the battery box 05, and the battery box 05 may include a battery pack and a battery frame, and the battery pack may be disposed in the battery frame. A top cross member 51 may be provided at the top end of the battery frame. In order to improve the power conversion efficiency, the power conversion robot of the power conversion station usually carries out hoisting power conversion by grabbing the top beam 51 of the battery box 05. As shown in fig. 1, the new energy vehicle power exchanging robot may include: robot frame 01, robot translation device, robot hoisting device 02, robot locking device 03. The robot translation device can be arranged above the robot frame 01, the bottom end of the robot translation device can be detachably connected with the top end of the robot lifting device 02, and later maintenance is facilitated. The top end of the robot frame 01 and the bottom end of the robot lifting device 02 can be detachably connected, so that later maintenance is facilitated. The robot translation device can drive the robot frame 01 to horizontally move by being connected with the robot lifting device 02, so that the battery box 05 is convenient to hoist. The interior of the robot frame 01 may form a hollow cavity for accommodating the robot locking device 03. The top end face of the robot frame 01 can be reserved with a hole, and the lower part of the robot lifting device 02 can extend into the robot frame 01 through the reserved hole of the robot frame 01 to be connected. The robot locking device 03 may be disposed in a hollow cavity inside the robot frame 01 for gripping the battery box 05. As shown in fig. 2 and 3, the robot locking device 03 may include a driving part 31, a rotation transmission part 32, a first transmission part 33, a second transmission part 34, a first locking part 35, and a second locking part 36. The rotation transmission part 32 may be disposed in a middle region of the robot frame 01, the driving part 31 may be disposed at one side of the rotation transmission part 32 in the length direction (i.e., the driving part 31 is disposed at the upper right side of the rotation transmission part 32 in the length direction as shown in fig. 3), the first transmission part 33 and the second transmission part 34 may be disposed at both ends of the rotation transmission part 32, respectively, the first locking part 35 and the second locking part 36 may be disposed at opposite sides of the robot frame 01 (i.e., the first transmission part 33 and the second transmission part 34 are disposed at the upper and lower ends of the rotation transmission part 32, respectively, the first locking part 35 is disposed at the lower side of the robot frame 01, and the second robot locking device 03 is disposed at the upper side of the robot frame 01, respectively). One end of the driving part 31 may be hinged to the rotation transmission part 32 at a position far from the rotation center thereof, and the other end of the driving part 31 may be fixedly connected to the inner wall of the robot frame 01. The driving part 31 is used for driving the rotation transmission part 32 to swing in a certain area, so that the robot locking device 03 can complete the action of locking or releasing the battery box 05. The center of the rotation transmission part 32 in the length direction can be rotationally connected with the robot frame 01, so that the driving part 31 accords with the lever principle when pushing the rotation transmission part 32 to swing, and the energy of the driving part 31 is further saved. One end of the rotary transmission part 32 can be movably connected with the first transmission part 33, and the other end of the rotary transmission part 32 can be movably connected with the second transmission part 34, so that the first transmission part 33 and the second transmission part 34 are driven to swing by a certain amplitude. The first locking part 35 can be rotatably connected with the robot frame 01, and the second locking part 36 can be rotatably connected with the robot frame 01, so that rotation can be realized on two opposite sides of the robot frame 01, and the battery box 05 can be conveniently locked or released. The end of the first transmission part 33 may be hinged to the first locking part 35, and the end of the second transmission part 34 may be hinged to the second locking part 36, so as to drive the first locking part 35 and the second locking part 36 to rotate by a certain angle, thereby completing the locking or releasing of the battery case 05. The included angle between the extension direction of the driving part 31 and the extension direction of the length of the rotary transmission part 32 can be smaller than 90 degrees, when the driving part 31 pushes the rotary transmission part 32 to swing, the force applied by the rotary transmission part 32 on the driving part 31 always has the influence of lateral component force due to the mutual force, so that the condition that the driving part 31 and the rotary transmission part 32 are blocked when being tightly propped up in a mutually perpendicular manner is avoided, the operation of the motor replacing robot is smoother, and the electricity replacing efficiency is improved.
In some embodiments, as shown in fig. 3, the rotation transmission part 32 includes a central rotation shaft 321, a rotation lever 322; the central rotating shaft 321 is fixedly connected with the robot frame 01; the center of the rotating rod 322 is rotatably connected with the center rotating shaft 321; the driving part 31 is hinged to the rotating lever 322 at a position away from the rotation center thereof.
In this embodiment, as shown in fig. 3, the rotation transmission part 32 may include a central rotation shaft 321 and a rotation lever 322. One end of the center rotating shaft 321 can be fixedly connected with the robot frame 01, and the center of the rotating rod 322 can be rotationally connected with the other end of the center rotating shaft 321, so that two ends of the rotating rod 322 can swing around the center rotating shaft 321 in a certain area. The driving part 31 can be hinged with the rotating rod 322 of the rotary transmission part 32 far away from the rotation center, so that the driving part 31 accords with the lever principle when pushing the rotating rod 322 to swing, and the energy of the driving part 31 is further saved.
In some embodiments, as shown in fig. 3, the rotation transmission portion 32 further includes a chute 323; the sliding grooves 323 are arranged at two ends of the rotating rod 322; the first transmission part 33 includes a first slider 331; the first sliding block 331 is movably connected with a sliding groove 323 at one end of the rotary transmission part 32; the second transmission part 34 includes a second slider 341; the second slider 341 is movably connected with the chute 323 at the other end of the rotation transmission part 32.
In this embodiment, as shown in fig. 3, the rotation transmission part 32 may further include a sliding groove 323, and the sliding groove 323 may be provided at both ends of the rotating lever 322. The first transmission part 33 may include a first slider 331, where the first slider 331 of the first transmission part 33 may be movably connected with the chute 323 at one end of the rotary transmission part 32, so that the first slider 331 may not only swing along with the rotary transmission part 32, but also move along the length direction of the chute 323 in the chute 323. The second transmission part 34 may include a second slider 341, where the second slider 341 of the second transmission part 34 may be movably connected with the chute 323 at the other end of the rotation transmission part 32, so that the second slider 341 may not only swing along with the rotation transmission part 32, but also move up and down in the chute 323. In other embodiments, the first slider 331 (or the second slider 341) may be a bearing, and an outer ring of the bearing may contact with an inner wall of the sliding groove 323 and rotate, and a connecting rod connection portion of the inner ring and the first transmission portion 33 is fixedly connected, so that the first slider 331 (or the second slider 341) may rotate in the sliding groove 323, friction between the first slider 331 (or the second slider 341) and the rotation transmission portion 32 is reduced, and working smoothness of the robot is improved.
In some embodiments, as shown in fig. 3, the first transmission portion 33 further includes a first short link 332, a first long link 333; one end of the first short connecting rod 332 is fixedly connected with one end of the first long connecting rod 333; the first slider 331 is disposed at the connection between the first short link 332 and the first long link 333; the first locking part 35 includes a first side rotation shaft 351, a first locking bolt 352, a first transmission rod 353, a second side rotation shaft 354, a second locking bolt 355, and a second transmission rod 356; the first side rotating shaft 351 is rotatably connected with the robot frame 01; one end of the first transmission rod 353 is fixedly connected with the first side rotating shaft 351; the other end of the first transmission rod 353 is hinged with the other end of the first short connecting rod 332; the first lock tongue 352 is fixedly connected with the first side rotating shaft 351; one end of the first latch 352 extends in a direction perpendicular to the first side rotation shaft 351; the second side rotating shaft 354 is rotatably connected with the robot frame 01; one end of the second transmission rod 356 is fixedly connected with the second side rotating shaft 354; the other end of the second transmission rod 356 is hinged with the other end of the first long connecting rod 333; the second lock tongue 355 is fixedly connected with the second side rotating shaft 354; one end of the second locking tongue 355 extends in a direction perpendicular to the second side rotating shaft 354; the center line of the first slider 331, the hinge center line of the first short link 332 and the first transmission rod 353, and the hinge center line of the first long link 333 and the second transmission rod 356 are located on the same plane.
In this embodiment, as shown in fig. 3, the first transmission part 33 may further include a first short link 332 and a first long link 333. One end of the first short connecting rod 332 may be fixedly connected with one end of the first long connecting rod 333, and the first slider 331 may be disposed at a connection position between the first short connecting rod 332 and the first long connecting rod 333, so as to drive the first short connecting rod 332 and the first long connecting rod 333 to perform lateral and longitudinal displacement. The first locking part 35 may include a first side rotation shaft 351, a first locking bolt 352, a first transmission rod 353, a second side rotation shaft 354, a second locking bolt 355, and a second transmission rod 356. One end of the first side rotating shaft 351 may be rotatably connected with the robot frame 01, and one end of the first transmission rod 353 may be fixedly connected with one side of the first side rotating shaft 351, so that the first transmission rod 353 rotates around the center of the first side rotating shaft 351. The other end of the first transmission rod 353 may be hinged to the other end of the first short link 332, such that the first short link 332 may drive the first transmission rod 353 to rotate by a certain angle. The first locking bolt 352 may be embedded into the other end of the first side rotating shaft 351 to be fixedly connected with the first side rotating shaft 351, so that the first locking bolt 352 may rotate with the first side rotating shaft 351 by a certain angle. One end of the first latch 352 may extend in a direction perpendicular to the first side rotation shaft 351, so that the robot may partially lock and release the battery case 05 by the rotation of the extension of the first latch 352. One end of the second side rotating shaft 354 can be rotatably connected with the robot frame 01, and one end of the second transmission rod 356 can be fixedly connected with one side of the second side rotating shaft 354, so that the second transmission rod 356 rotates around the center of the second side rotating shaft 354. The other end of the second transmission rod 356 may be hinged to the other end of the first long link 333, such that the first long link 333 may drive the second transmission rod 356 to rotate by a certain angle. The second locking bolt 355 may be embedded into the other end of the second side rotating shaft 354 and fixedly connected with the second side rotating shaft 354, so that the second locking bolt 355 may rotate with the second side rotating shaft 354 by a certain angle. One end of the second locking tongue 355 may extend in a direction perpendicular to the second side rotation shaft 354, so that the robot may partially lock and release the battery case 05 by the rotation of the extension of the second locking tongue 355. The central line of the first slider 331, the hinge central line of the first short connecting rod 332 and the first transmission rod 353, and the hinge central line of the first long connecting rod 333 and the second transmission rod 356 can be located on the same plane, so that the contact area between each component is larger, the abrasion of the connecting part of each component perpendicular to the plane direction is reduced, the transmission of force between each component is smoother, the work of the motor replacing robot is smoother, and the electricity replacing efficiency is improved.
In some embodiments, as shown in fig. 4, the first long link 333 is curved in a direction toward the center rotational axis 321.
In this embodiment, as shown in fig. 4, the first long connecting rod 333 may be bent towards the direction close to the central rotating shaft 321, so that the included angle between the first long connecting rod 333 and the second transmission rod 356 may be increased, and the moment arm acting on the second transmission rod 356 by the first long connecting rod 333 may be increased, so that the moment of the first long connecting rod 333 driving the second transmission rod 356 to rotate may be increased, and further the second lock tongue 355 may be more easily clamped into the top cross beam 51 of the battery box 05. As shown in fig. 5, since the included angle between the extension direction of the driving part 31 and the extension direction of the length of the rotation transmission part 32 is always smaller than 90 degrees, the included angle between the driving part 31 and the rotation transmission part 32 gradually increases during the process of changing the robot locking device 03 from the release state to the locking state, so that the torque of the driving part 31 pushing the rotating rod 322 to swing gradually increases. In the process of changing the robot locking device 03 from the release state to the locking state, the included angle between the extending directions of the first long connecting rod 333 and the second transmission rod 356 may be always smaller than 90 degrees, and the included angle gradually decreases in the process, so that the force arm of the force of the first long connecting rod 333 acting on the second transmission rod 356 gradually becomes shorter, and the moment that the first long connecting rod 333 drives the second transmission rod 356 to rotate gradually decreases. The force of pushing the rotating rod 322 to swing by the driving part 31 is matched with the force of driving the second transmission rod 356 by the first long connecting rod 333, so that the locking force of the robot locking device 03 is uniform, and the working stability of the robot locking device 03 can be ensured.
In some embodiments, as shown in fig. 5, the first short link 332 is curved away from the central rotational axis 321.
In this embodiment, as shown in fig. 5, the first short link 332 may be bent in a direction away from the central rotating shaft 321, so that an included angle between the first short link 332 and the first transmission rod 353 may be increased, and a moment arm acting on the first transmission rod 353 by the first short link 332 may be increased, so that a moment of the first short link 332 driving the first transmission rod 353 to rotate may be increased, and further, the first lock tongue 352 may be more easily clamped into the top beam 51 of the battery box 05. As shown in fig. 5, since the included angle between the extension direction of the driving part 31 and the extension direction of the length of the rotation transmission part 32 is always smaller than 90 degrees, the included angle between the driving part 31 and the rotation transmission part 32 gradually increases during the process of changing the robot locking device 03 from the release state to the locking state, so that the torque of the driving part 31 pushing the rotating rod 322 to swing gradually increases. In the process of changing the robot locking device 03 from the release state to the locking state, the included angle between the extending direction of the first short link 332 and the first transmission rod 353 may be always smaller than 90 degrees, and the included angle gradually decreases in the process, so that the moment arm of the force of the first short link 332 acting on the first transmission rod 353 gradually becomes shorter, and thus the moment of the first short link 332 driving the first transmission rod 353 to rotate gradually decreases. The force of pushing the rotating rod 322 to swing by the driving part 31 is matched with the force of the first short connecting rod 332 driving the first transmission rod 353, so that the locking force of the robot locking device 03 is uniform, and the working stability of the robot locking device 03 can be ensured.
In some embodiments, as shown in fig. 4, the second transmission 34 further includes a second short link 342, a second long link 343; one end of the second short connecting rod 342 is fixedly connected with the end of the second long connecting rod 343; the second slider 341 is disposed at the junction of the second short link 342 and the second long link 343; the second locking part 36 includes a third side rotating shaft 361, a third locking tongue 362, a third transmission rod 363, a fourth side rotating shaft 364, a fourth locking tongue 365, and a fourth transmission rod 366; the third side rotating shaft 361 is rotatably connected with the robot frame 01; one end of the third transmission rod 363 is fixedly connected with the third side rotating shaft 361; the other end of the third transmission rod 363 is hinged with the other end of the second short connecting rod 342; the third lock tongue 362 is fixedly connected with the third side rotating shaft 361; one end of the third locking tongue 362 extends in a direction perpendicular to the third side rotating shaft 361; the fourth side rotating shaft 364 is rotatably connected with the robot frame 01; one end of the fourth transmission rod 366 is fixedly connected with the fourth side rotating shaft 364; the other end of the fourth transmission rod 366 is hinged with the other end of the second long connecting rod 343; the fourth lock tongue 365 is fixedly connected with the fourth side rotating shaft 364; one end of the fourth latch bolt 365 extends in a direction perpendicular to the fourth side rotation shaft 364; the center line of the second slider 341, the hinge center line of the second short link 342 and the third transmission rod 363, and the hinge center line of the second long link 343 and the fourth transmission rod 366 are located on the same plane.
In this embodiment, as shown in fig. 4, the second transmission part 34 may further include a second short link 342 and a second long link 343. One end of the second short connecting rod 342 may be fixedly connected with one end of the second long connecting rod 343, and the second slider 341 may be disposed at a connection portion between the second short connecting rod 342 and the second long connecting rod 343, so as to drive the second short connecting rod 342 and the second long connecting rod 343 to perform lateral and longitudinal displacement. The second locking part 36 may include a third side rotation shaft 361, a third latch 362, a third transmission rod 363, a fourth side rotation shaft 364, a fourth latch 365, and a fourth transmission rod 366. One end of the third side rotating shaft 361 may be rotatably connected to the robot frame 01, and one end of the third transmission rod 363 may be fixedly connected to one side of the third side rotating shaft 361, so that the third transmission rod 363 rotates around the center of the second side rotating shaft 354. The other end of the third transmission rod 363 may be hinged to the other end of the second short link 342, so that the second short link 342 may drive the third transmission rod 363 to rotate by a certain angle. The third locking bolt 362 may be embedded into the other end of the third side rotating shaft 361 and fixedly connected with the third side rotating shaft 361, so that the third locking bolt 362 may rotate with the third side rotating shaft 361 by a certain angle. One end of the third latch 362 may extend in a direction perpendicular to the third side rotation shaft 361, so that the robot may partially lock and release the battery case 05 by the rotation of the extension of the third latch 362. One end of the fourth side rotating shaft 364 may be rotatably connected to the robot frame 01, and one end of the fourth driving rod 366 may be fixedly connected to one side of the fourth side rotating shaft 364, so that the fourth driving rod 366 rotates around the center of the fourth side rotating shaft 364. The other end of the fourth transmission rod 366 may be hinged to the other end of the second long link 343, so that the second long link 343 may drive the fourth transmission rod 366 to rotate by a certain angle. The fourth locking bolt 365 may be embedded into the other end of the fourth side rotating shaft 364 and fixedly connected with the fourth side rotating shaft 364, so that the fourth locking bolt 365 may rotate with the fourth side rotating shaft 364 by a certain angle. One end of the fourth latch 365 may extend in a direction perpendicular to the fourth side rotation shaft 364, so that the battery box 05 may be partially locked and released by the power conversion robot through rotation of the extension of the fourth latch 365. The center line of the second slider 341, the hinge center line of the second short connecting rod 342 and the third transmission rod 363, and the hinge center line of the second long connecting rod 343 and the fourth transmission rod 366 can be located on the same plane, so that the contact area between each component is larger, the abrasion of the connection part of each component in the direction perpendicular to the plane is reduced, the transmission of force between each component is smoother, the work of the motor replacing robot is smoother, and the electricity replacing efficiency is improved.
In some embodiments, as shown in fig. 4, the second long link 343 is bent toward the center rotational shaft 321.
In this embodiment, as shown in fig. 4, the second long connecting rod 343 may be bent towards the direction close to the central rotating shaft 321, so that the included angle between the second long connecting rod 343 and the fourth transmission rod 366 may be increased, and the moment arm acting on the fourth transmission rod 366 by the second long connecting rod 343 may be increased, so that the moment of the second long connecting rod 343 driving the fourth transmission rod 366 to rotate may be increased, and further the fourth lock tongue 365 may be more easily clamped into the top beam 51 of the battery box 05. As shown in fig. 5, since the included angle between the extension direction of the driving part 31 and the extension direction of the length of the rotation transmission part 32 is always smaller than 90 degrees, the included angle between the driving part 31 and the rotation transmission part 32 gradually increases during the process of changing the robot locking device 03 from the release state to the locking state, so that the torque of the driving part 31 pushing the rotating rod 322 to swing gradually increases. In the process of changing the robot locking device 03 from the release state to the locking state, the included angle between the extending direction of the second long connecting rod 343 and the extending direction of the fourth transmission rod 366 may be always smaller than 90 degrees, and the included angle gradually decreases in the process, so that the force arm of the force of the second long connecting rod 343 acting on the fourth transmission rod 366 gradually becomes shorter, and the moment that the second long connecting rod 343 drives the fourth transmission rod 366 to rotate gradually decreases. The force of pushing the rotating rod 322 to swing by the driving part 31 is matched with the force of driving the fourth transmission rod 366 by the second long connecting rod 343, so that the locking force of the robot locking device 03 is uniform, and the working stability of the robot locking device 03 can be ensured.
In some embodiments, as shown in fig. 5, the second short link 342 is curved away from the central rotational axis 321.
In this embodiment, as shown in fig. 5, the second short link 342 may be bent toward the direction close to the central rotation axis 321, so that the included angle between the second short link 342 and the third transmission rod 363 may be increased, the moment arm acting on the third transmission rod 363 by the second short link 342 may be increased, so that the moment of the second short link 342 driving the third transmission rod 363 to rotate may be increased, and further, the third lock tongue 362 may be more easily clamped into the top cross beam 51 of the battery case 05. As shown in fig. 5, since the included angle between the extension direction of the driving part 31 and the extension direction of the length of the rotation transmission part 32 is always smaller than 90 degrees, the included angle between the driving part 31 and the rotation transmission part 32 gradually increases during the process of changing the robot locking device 03 from the release state to the locking state, so that the torque of the driving part 31 pushing the rotating rod 322 to swing gradually increases. In the process of changing the robot locking device 03 from the release state to the locking state, the included angle between the extending direction of the second short link 342 and the third transmission rod 363 may be always smaller than 90 degrees, and the included angle gradually decreases in the process, so that the moment arm of the force of the second short link 342 acting on the third transmission rod 363 gradually becomes shorter, and thus the moment of the second short link 342 driving the third transmission rod 363 to rotate gradually decreases. The force of pushing the rotating rod 322 to swing by the driving part 31 is matched with the force of the second short connecting rod 342 to drive the third transmission rod 363, so that the locking force of the robot locking device 03 is uniform, and the working stability of the robot locking device 03 can be ensured.
In some embodiments, as shown in fig. 3 and 4, the pivot angle of the rotating rod 322 toward the first short link 332 is greater than the pivot angle of the rotating rod 322 toward the first long link 333; alternatively, the pivot angle of the rotating lever 322 toward the second short link 342 is greater than the pivot angle of the rotating lever 322 toward the second long link 343.
In this embodiment, as shown in fig. 3 and 4, the swing angle of the end of the rotating rod 322 close to the first slider 331 towards the first short link 332 may be greater than the swing angle of the end of the rotating rod 322 close to the first slider 331 towards the first long link 333; or it may be that the swing angle of the other end of the rotating lever 322 near the second slider 341 toward the second short link 342 may be larger than the swing angle of the other end of the rotating lever 322 near the second slider 341 toward the second long link 343. As shown in fig. 5, when the swing angle of the rotating rod 322 on one side with respect to the vertical plane is larger, the force component of the force of the rotating rod 322 acting on the first slider 331 (or the second slider 341) in the horizontal direction on the first slider 331 (or the second slider 341) in the length direction of the sliding groove 323 is larger, so that the first slider 331 and the second slider 341 can rotate in the sliding groove 323 more easily, the friction force between the first slider 331, the second slider 341 and the sliding groove 323 is reduced, the working smoothness of the robot locking device 03 is improved, and the power conversion efficiency of the power conversion robot is improved. In order to make the internal structure of the robot more compact, the rotating rod 322 needs to avoid other parts in the swinging process, so the rotating rod 322 can be inclined by a certain angle, and the purposes of light weight and manufacturing cost reduction of the robot are achieved.
In some embodiments, as shown in fig. 3 and 4, the pivot angle of the rotating rod 322 toward the first short link 332 is greater than 2 times the pivot angle of the rotating rod 322 toward the first long link 333; alternatively, the swing angle of the rotating lever 322 toward the second short link 342 is greater than 2 times the swing angle of the rotating lever 322 toward the second long link 343.
In this embodiment, as shown in fig. 3 and 4, the swing angle of the end of the rotating rod 322 close to the first slider 331 towards the first short link 332 may be greater than 2 times the swing angle of the end of the rotating rod 322 close to the first slider 331 towards the first long link 333; or may be that the swing angle of the other end of the rotating lever 322 near the second slider 341 toward the second short link 342 may be greater than 2 times the swing angle of the other end of the rotating lever 322 near the second slider 341 toward the second long link 343. As shown in fig. 5, when the swing angle of the rotating rod 322 on one side with respect to the vertical plane is larger, the force component of the force of the rotating rod 322 acting on the first slider 331 (or the second slider 341) in the horizontal direction on the first slider 331 (or the second slider 341) in the length direction of the sliding groove 323 is larger, so that the first slider 331 and the second slider 341 can further rotate in the sliding groove 323 more easily, the friction force between the first slider 331, the second slider 341 and the sliding groove 323 is reduced, the working smoothness of the robot locking device 03 is improved, and the power conversion efficiency of the power conversion robot is improved.
In some embodiments, as shown in fig. 2 and 3, the new energy vehicle motor replacing robot further comprises a guiding device 04; the guide 04 is provided on the peripheral side of the robot frame 01; one end of the guiding device 04 is fixedly connected with the robot frame 01; the other end of the guide 04 extends in a direction away from the robot frame 01; the space enclosed by the guide 04 gradually increases along the extending direction of the guide 04.
In this embodiment, as shown in fig. 2 and 3, the new energy vehicle power exchanging robot may further include a guiding device 04. A guide 04 may be provided at the circumferential side of the robot frame 01 for guiding the robot changer to grasp the battery box 05. One end of the guiding device 04 can be fixedly connected with the bottom end of the robot frame 01, the other end of the guiding device 04 can extend along the direction away from the bottom end face of the robot frame 01, and the space contained by the guiding device 04 can be gradually increased along the extending direction of the guiding device 04. Therefore, the guide device 04 can form a certain slope surface, so that the battery box 05 can be better grasped by the battery replacement robot, and the battery replacement efficiency is improved.
In some embodiments, as shown in fig. 2 and 3, the guide 04 includes a first guide 41, a second guide 42, a third guide 43, and a fourth guide 44; the first guide portion 41, the second guide portion 42, the third guide portion 43, and the fourth guide portion 44 are provided at four corners of the robot frame 01, respectively.
In the present embodiment, as shown in fig. 2 and 3, the guide 04 may include a first guide portion 41, a second guide portion 42, a third guide portion 43, and a fourth guide portion 44. The first guide part 41, the second guide part 42, the third guide part 43 and the fourth guide part 44 may be respectively disposed at four corners of the bottom end surface of the robot frame 01, so that the guide device 04 may perform a more stable guide function.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of implementing the disclosure, and that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure.
Claims (13)
1. A new energy vehicle change robot, characterized in that the new energy vehicle change robot comprises:
a robot frame;
the robot translation device drives the robot frame to horizontally move;
the two ends of the robot lifting device are detachably connected with the robot frame and the robot translation device respectively;
the robot locking device comprises a driving part, a rotary transmission part, a first transmission part, a second transmission part, a first locking part and a second locking part; the center of the rotary transmission part in the length direction is rotationally connected with the robot frame; one end of the rotary transmission part is movably connected with the first transmission part; the other end of the rotary transmission part is movably connected with the second transmission part; the first locking part and the second locking part are respectively arranged on two opposite sides of the robot frame; the first locking part is rotationally connected with the robot frame; the second locking part is rotationally connected with the robot frame; the end part of the first transmission part is hinged with the first locking part; the end part of the second transmission part is hinged with the second locking part; the driving part is hinged with the rotary transmission part at a position far away from the rotation center; the included angle between the extension direction of the driving part and the length extension direction of the rotary transmission part is smaller than 90 degrees.
2. A new energy vehicle battery-changing robot according to claim 1, wherein,
the rotary transmission part comprises a central rotating shaft and a rotating rod; the central rotating shaft is fixedly connected with the robot frame; the center of the rotating rod is rotationally connected with the center rotating shaft; the driving part is hinged with the rotating rod at a position far away from the rotating center.
3. A new energy vehicle battery-changing robot according to claim 2, wherein,
the rotary transmission part also comprises a chute; the sliding grooves are arranged at two ends of the rotating rod; the first transmission part comprises a first sliding block; the first sliding block is movably connected with the sliding groove at one end of the rotary transmission part; the second transmission part comprises a second sliding block; the second sliding block is movably connected with the sliding groove at the other end of the rotary transmission part.
4. A new energy vehicle battery-changing robot according to claim 3, wherein,
the first transmission part further comprises a first short connecting rod and a first long connecting rod; one end of the first short connecting rod is fixedly connected with one end of the first long connecting rod; the first sliding block is arranged at the joint of the first short connecting rod and the first long connecting rod; the first locking part comprises a first side rotating shaft, a first lock tongue, a first transmission rod, a second side rotating shaft, a second lock tongue and a second transmission rod; the first side rotating shaft is rotationally connected with the robot frame; one end of the first transmission rod is fixedly connected with the first side rotating shaft; the other end of the first transmission rod is hinged with the other end of the first short connecting rod; the first lock tongue is fixedly connected with the first side rotating shaft; one end of the first lock tongue extends along the direction perpendicular to the first side rotating shaft; the second side rotating shaft is rotationally connected with the robot frame; one end of the second transmission rod is fixedly connected with the second side rotating shaft; the other end of the second transmission rod is hinged with the other end of the first long connecting rod; the second lock tongue is fixedly connected with the second side rotating shaft; one end of the second lock tongue extends along the direction perpendicular to the second side rotating shaft; the center line of the first sliding block, the center line of the hinge joint of the first short connecting rod and the first transmission rod and the center line of the hinge joint of the first long connecting rod and the second transmission rod are positioned on the same plane.
5. A new energy vehicle battery-changing robot according to claim 4, wherein,
the first long connecting rod is bent towards a direction approaching the central rotating shaft.
6. A new energy vehicle battery-changing robot according to claim 4 or 5, wherein,
the first short link is curved in a direction away from the central rotational axis.
7. A new energy vehicle battery-changing robot according to claim 3, wherein,
the second transmission part further comprises a second short connecting rod and a second long connecting rod; one end of the second short connecting rod is fixedly connected with the second long connecting rod end; the second sliding block is arranged at the joint of the second short connecting rod and the second long connecting rod; the second locking part comprises a third side rotating shaft, a third lock tongue, a third transmission rod, a fourth side rotating shaft, a fourth lock tongue and a fourth transmission rod; the third side rotating shaft is rotationally connected with the robot frame; one end of the third transmission rod is fixedly connected with the third side rotating shaft; the other end of the third transmission rod is hinged with the other end of the second short connecting rod; the third lock tongue is fixedly connected with the third side rotating shaft; one end of the third lock tongue extends along the direction perpendicular to the third side rotating shaft; the fourth side rotating shaft is rotationally connected with the robot frame; one end of the fourth transmission rod is fixedly connected with the fourth side rotating shaft; the other end of the fourth transmission rod is hinged with the other end of the second long connecting rod; the fourth lock tongue is fixedly connected with the fourth side rotating shaft; one end of the fourth lock tongue extends along the direction perpendicular to the fourth side rotating shaft; the center line of the second sliding block, the center line of the second short connecting rod and the center line of the third transmission rod and the center line of the second long connecting rod and the center line of the fourth transmission rod are positioned on the same plane.
8. A new energy vehicle battery-changing robot according to claim 7, wherein,
the second long connecting rod is bent towards the direction approaching the central rotating shaft.
9. A new energy vehicle battery-changing robot according to claim 1, wherein,
the second short connecting rod is bent in a direction away from the central rotating shaft.
10. A new energy vehicle battery-changing robot according to claim 4 or 7, wherein,
the swing angle of the rotating rod towards the first short connecting rod is larger than the swing angle of the rotating rod towards the first long connecting rod; or, the swing angle of the rotating rod towards the second short connecting rod is larger than the swing angle of the rotating rod towards the second long connecting rod.
11. The new energy vehicle battery-changing robot as claimed in claim 10, wherein,
the swing angle of the rotating rod towards the first short connecting rod is 2 times larger than the swing angle of the rotating rod towards the first long connecting rod; or, the swing angle of the rotating rod towards the second short connecting rod is larger than 2 times of the swing angle of the rotating rod towards the second long connecting rod.
12. A new energy vehicle battery-changing robot according to claim 1, wherein,
The new energy vehicle motor replacing robot further comprises a guiding device; the guide device is arranged on the periphery side of the robot frame; one end of the guiding device is fixedly connected with the robot frame; the other end of the guide device extends along a direction away from the robot frame; the space enclosed by the guide device is gradually increased along the extending direction of the guide device.
13. The new energy vehicle battery-changing robot as claimed in claim 12, wherein,
the guide device comprises a first guide part, a second guide part, a third guide part and a fourth guide part; the first guide part, the second guide part, the third guide part and the fourth guide part are respectively arranged at four corners of the robot frame.
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