CN116923332A - Multi-degree-of-freedom top-hanging type side-conversion power conversion robot, power conversion station and power conversion method - Google Patents
Multi-degree-of-freedom top-hanging type side-conversion power conversion robot, power conversion station and power conversion method Download PDFInfo
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- CN116923332A CN116923332A CN202311138536.5A CN202311138536A CN116923332A CN 116923332 A CN116923332 A CN 116923332A CN 202311138536 A CN202311138536 A CN 202311138536A CN 116923332 A CN116923332 A CN 116923332A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000006243 chemical reaction Methods 0.000 title claims description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 230000009471 action Effects 0.000 claims abstract description 4
- 230000008859 change Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000001965 increasing effect Effects 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
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- 230000002035 prolonged effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The application relates to a power exchange station, and discloses a multi-degree-of-freedom top-hung type side power exchange robot, a power exchange station and a power exchange method. The robot comprises a robot body, wherein the robot body comprises a walking trolley arranged above a battery changing bin, a primary walking mechanism is connected to the walking trolley, a secondary walking mechanism capable of further moving along the motion direction of the primary walking mechanism is connected to the primary walking mechanism, a lifting mechanism is connected to the lower portion of the secondary walking mechanism, a rotating mechanism is mounted on the lifting mechanism, a lifting appliance for grabbing and placing a battery pack is connected to the rotating mechanism, and the lifting appliance can do rotary motion in a horizontal plane under the driving action of the rotating mechanism. The application not only can greatly reduce the occupied area of the heavy truck power exchange station, but also can realize the modularization expansion of the battery compartment on the premise of not increasing the power exchange robot or other power exchange equipment, thereby being beneficial to the popularization and application of the power exchange station.
Description
Technical Field
The application relates to a power exchange station, in particular to a power exchange robot and a power exchange method.
Background
By the end of 2022, the holding quantity of the heavy truck in China reaches 839 ten thousand, and the holding quantity of the heavy truck is only about 3 percent compared with the holding quantity of 3.2 hundred million automobiles, but in practice, the heavy truck has high energy consumption and long service time, and the carbon dioxide emission quantity is about 47 percent of the whole automobile field, so that the heavy truck is a real pollution large household. In order to achieve the double-carbon target, the electric implementation of the heavy truck is imperative, and the replacement of the heavy truck becomes an important option.
The side-exchanging hoisting power exchanging robot in the existing side-exchanging heavy-truck power exchanging station is generally arranged between a truck running channel and a battery compartment, and the power exchanging robot needs to occupy a compartment independently, so that the occupied area of the whole power exchanging station is large.
Disclosure of Invention
The application provides a multi-degree-of-freedom top-hanging type side power conversion robot, a power conversion station and a power conversion method aiming at the problems of the side power conversion station in the prior art.
In order to solve the technical problems, the application is solved by the following technical scheme:
the utility model provides a multi freedom top hangs formula side and trades electric robot, including the robot body, the robot body is including setting up in the travelling car of trading electric storehouse top, be connected with the one-level running gear that can follow perpendicular to travelling car direction of travel orientation or dorsad travelling car motion in the horizontal plane on the travelling car, be connected with the second grade running gear that can follow one-level running gear direction of motion further motion on the one-level running gear, the lower part of second grade running gear is connected with elevating system, install rotation mechanism on the elevating system, be connected with the hoist that is used for snatching and placing the battery package on the rotation mechanism, the hoist can be under rotation mechanism's drive effect in the horizontal plane the gyration motion.
The motor replacing robot is additionally provided with a secondary travelling mechanism in the Y-axis direction, and simultaneously is matched with the increased rotational freedom degree on the XY plane, so that the heavy-duty battery packs can be distributed in multiple rows in the X-axis direction; the heavy truck power exchange station can modularly expand the number of battery packs in the Y-axis direction under the holding of the bidirectional telescopic fork, so that the occupied area of the heavy truck power exchange station is effectively reduced, and meanwhile, the number of the battery packs can be modularly expanded, wherein the driving direction of a travelling lane is the x-axis direction, the driving direction perpendicular to the travelling lane in the same horizontal plane is the Y-axis direction, and the height direction of the truck is the z-axis direction.
Preferably, the primary traveling mechanism comprises a primary guide rail fixed on the traveling trolley and a primary guide plate capable of sliding along the length direction of the primary guide rail, the primary guide rail is horizontally arranged and is perpendicular to the traveling direction of the traveling trolley, a primary guide groove matched with the primary guide rail is arranged on the primary guide plate, and a telescopic fork capable of further sliding along the motion direction of the primary guide plate relative to the primary guide plate is further arranged outside the primary guide plate. The first-stage guide plate moves along the first-stage guide rail in the y-axis direction, so that first-stage walking in the y-axis direction is realized.
Preferably, the secondary travelling mechanism comprises a secondary fixing plate fixed on the lower end face of the telescopic fork, a secondary guide rail is arranged on the lower end face of the secondary fixing plate, the secondary travelling mechanism further comprises a secondary guide plate capable of sliding along the length direction of the secondary guide rail, the length direction of the secondary guide rail is parallel to the length direction of the primary guide rail, and a secondary guide groove matched with the secondary guide rail is arranged on the secondary guide plate. The secondary guide plate moves further along the secondary guide rail in the y-axis direction, so that secondary walking in the y-axis direction is realized.
Preferably, the lifting mechanism comprises a lifting fixing plate fixed on the lower end surface of the secondary guide plate, a lifting driving installation frame is arranged on the lower end surface of the lifting fixing plate, a winding drum and a lifting motor for driving the winding drum to rotate are arranged on the lifting driving installation frame, a steel wire rope with one end fixed on the lifting fixing plate is wound on the winding drum, and a movable pulley for the steel wire rope to pass through is arranged on the slewing mechanism. The lifting appliance moves in the z-axis direction through the lifting mechanism.
Preferably, the swing mechanism comprises a swing mechanism mounting plate, the movable pulley is mounted on the upper end face of the swing mechanism mounting plate, the lower end face of the swing mechanism mounting plate is provided with a rotary gear, and the lifting appliance is connected to the rotary gear and drives the lifting appliance to rotate. The arrangement of the slewing mechanism can increase the degree of freedom of the battery compartment and the vehicle end taking and discharging battery pack of the battery compartment, realize the free rotation of the lifting appliance in the horizontal plane, and effectively avoid the slewing mechanism bearing larger bending moment.
A power exchange station comprises a multi-degree-of-freedom top-hung type side-conversion power exchange robot.
Preferably, the power station also comprises a power station body and a traffic lane arranged on one side of the power station body, a power station cabin is formed in the power station body, a traveling guide rail arranged along the traveling direction of the traveling road is arranged in the power station cabin, and the traveling trolley is arranged on the traveling guide rail and travels along the length direction of the traveling guide rail.
The power exchanging method adopts the power exchanging station to exchange power, and specifically comprises the following steps:
step S1, driving the heavy truck onto a traffic lane and stopping at one side of a power exchange station body;
s2, transporting the battery with the insufficient power on the heavy truck to a corresponding charging position for charging;
s3, transporting the full-power battery pack in the power exchange station to a battery pack installation position of the heavy truck for installation;
and S4, after the full-battery pack is installed, the heavy truck continues to travel on the traffic lane and leaves the traffic lane, and the power change is completed.
Preferably, the step S3 specifically includes the steps of:
step S31, running the travelling trolley to the position of the full-power battery pack to be grabbed in the x-axis direction, and then keeping a primary travelling mechanism in the Y-axis direction motionless, wherein a secondary travelling mechanism in the Y-axis direction moves along the Y-axis, or the primary travelling mechanism in the Y-axis direction extends out of the cantilever in the opposite direction;
s32, all the battery packs which are arranged in parallel in the X-axis direction can be grabbed by matching with a lifting mechanism;
step S33, the multi-degree-of-freedom top-hung type side-conversion power conversion robot after grabbing the battery pack returns to the center origin of the conversion station, and then the battery pack is perpendicular to the vehicle by rotating a proper angle through a rotation mechanism according to the parking state of the heavy truck;
step S34, the cantilever is extended through the primary travelling mechanism, and the battery pack is sent to the upper part of the truck which runs along the X-axis direction.
The application has the remarkable technical effects due to the adoption of the technical scheme:
the application not only can greatly reduce the occupied area of the heavy truck power exchange station, but also can realize the modularization expansion of the battery compartment on the premise of not increasing the power exchange robot or other power exchange equipment, thereby being beneficial to the popularization and application of the power exchange station.
Drawings
FIG. 1 is a plan view of a power exchange station in example 1 of the present application.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a schematic view showing the structure of a battery pack grasped by a robot for replacing a battery in embodiment 1 of the present application.
Fig. 4 is a front view of fig. 3.
Fig. 5 is a schematic view showing an extended state of a primary traveling mechanism of the battery-powered robot in fig. 3.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings and examples.
Example 1
In this embodiment, as shown in fig. 1-5, a power exchange station is provided, which specifically is a modularized container power exchange station with capacity expansion, including a power exchange station body 1 and a power exchange robot 2 disposed in the power exchange station body 1, where the power exchange station robot specifically is a multi-degree-of-freedom top-hanging type side-exchanging robot, which is used for transporting a battery pack 3 to exchange power through a battery pack power exchange area 103, and for convenience of detailed description, a driving direction of a driving lane 101 is set as an x-axis direction, a driving direction perpendicular to the driving lane 101 in the same horizontal plane is set as a y-axis direction, and a height direction of a truck is set as a z-axis direction.
The power exchange station in this embodiment still includes to set up in the lane 101 of the 1 side of power exchange station, the power exchange station 1 includes along lane 101 traffic direction adjacent and the battery package that the intercommunication set up place district 102 and battery package change district 103, place district 102 and battery package change district 103 and the lane 101 between the arrangement mode for the truck stops when changing the electricity and places district 102 one side and can travel along battery package place district 102, and the battery package 3 is held through the change robot 2 in the power exchange process, through battery package change district 103 realization to the truck on the battery of depletion and battery package place the district 102 in the change between the full electric battery.
The battery pack battery replacement area 103 and the battery pack placement area 102 are adjacently arranged in the x-axis direction, so that the battery replacement robot 2 and the battery pack placement area 102 belong to the same cabin, the overall occupied area of the battery replacement station is reduced as much as possible, the station construction cost is reduced, and the popularization of the battery replacement station is facilitated.
The battery pack placing area 102 is used for placing the battery pack 3 and charging the battery pack 3, the battery pack placing area 102 is provided with a charging machine cabin 106 for charging the battery pack 3, the lower bottom surface of the battery pack placing area 102 is higher than the battery pack 3 mounting surface on the truck due to the arrangement of the charging machine cabin 106, so that the battery changing robot 2 can easily change electricity without lifting the battery pack 3 too much when clamping the battery pack 3, the battery pack 3 can be replaced more conveniently between the battery pack placing area 102 and the mounting position of the battery pack 3 of the truck, and space is saved in the height direction for the whole battery changing station.
The embodiment further includes a battery pack expansion module 4, where the battery pack expansion module 4 includes a battery pack expansion area 401, and the battery pack expansion area 401 is disposed at a position along a direction perpendicular to the traveling direction of the traveling lane 101 and adjacent to and communicating with the battery pack expansion area 103. Because the battery pack expansion area 401 and the battery pack battery change area 103 are adjacently arranged in the y-axis direction, the battery change robot 2 of the battery pack battery change area 103 can clamp the battery pack 3 in the battery pack expansion area 401, and the battery pack 3 in the battery pack expansion area 401 and the battery pack 3 on the truck can be replaced.
Therefore, the arrangement form of the power exchange station in the embodiment not only can enable the driving direction to be consistent with the arrangement direction of the battery pack 3, so that steering is not required in the whole power exchange process of the vehicle, the parking requirement on a driver is reduced, and the experience of the driver is improved; meanwhile, the occupied area of the power exchange station can be effectively reduced, and the power exchange station is flexibly applicable to sites with different sizes.
The arrangement mode can realize the modularization capacity expansion of the battery compartment on the premise of not increasing the battery replacing robot or other battery replacing equipment, and then the increase of the number of battery packs is realized.
And simultaneously, under the condition of increasing the width and the length of the power exchange station, the capacity expansion in the driving direction and the direction perpendicular to the driving direction can be realized.
The battery exchange station body 1 in this embodiment includes two battery pack placement areas 102 and a battery pack exchange area 103 disposed between the two battery pack placement areas 102, and each battery pack placement area 102 is internally provided with one or more battery packs 3 sequentially disposed along a driving direction perpendicular to the driving lane 101.
At least one battery pack expansion area 401 is arranged in the battery exchange station expansion module 4, and one or more battery packs 3 which are sequentially arranged along the driving direction of the driving lane 101 are arranged in the battery pack expansion area 401.
The battery packs 3 of the truck are generally rectangular parallelepiped, and when arranged in the battery pack placement area 102 and the battery pack expansion area 401, the side faces in the width direction face the battery pack battery exchange area 103, the side faces in the length direction in adjacent battery packs 3 are all arranged in parallel, and a gap is reserved between the adjacent battery packs 3 so as to be convenient for the lifting appliance 206 to grab.
As shown in fig. 1, the battery exchange station body 1 includes two battery pack placement areas 102, which contains 6 stations altogether, and can select the number of battery packs 3 according to project requirements, and the battery pack 3 stations of the battery exchange station can be increased by increasing the capacity expansion module 4 of the battery exchange station, at least 3 stations can be increased, so that the total station of the battery exchange station reaches 9 stations, if the length of the battery exchange station body 1 is further prolonged, the length of the capacity expansion module is also prolonged, the increase of the number of the battery packs 3 in the battery pack capacity expansion area 401 can be realized, if the width of the battery exchange station body 1 is widened, the increase of the number of the battery packs 3 in the battery pack placement area 102 can be realized, and reasonable selection can be realized according to actual requirements and field arrangement.
In this embodiment, the power exchange station body 1 and the power exchange station capacity expansion module 4 are rectangular boxes, the rectangular boxes comprise an upper box 104 with an open lower end face and a lower box 105 with an open upper end face, the upper box 104 and the lower box 105 are spliced to form the rectangular boxes, containers integrated in factories are respectively arranged on the upper box 104 and the lower box 105, and the containers are transported to the site for assembly, so that the quick construction of the power exchange station is realized while the problem that the power exchange station is difficult to hoist due to overhigh is solved.
In this embodiment, the battery replacing robot 2 is disposed in an upper case 104 of a rectangular case, battery charging cabins 106 for charging the batteries in the battery pack placement area 102 and the battery pack 3 in the battery pack expansion area 401 are respectively disposed in a lower case 105 of the battery replacing station body 1 and the battery pack expansion module 4, and a battery pack inlet and outlet 107 is formed on an end face of the battery replacing station body 1, which is close to the traffic lane 101. The end face of the battery pack expansion module 4 facing the battery pack expansion area 103 is not provided with a side wall, so that the battery pack 3 can be placed and replaced in the battery pack expansion area 401 by only one battery pack inlet and outlet 107 of the expanded battery pack.
The multi-degree-of-freedom top-hanging type side-changing motor robot comprises a lifting appliance 206 for lifting a battery pack 3, wherein the lifting appliance 206 can move along the traveling direction of a traveling lane 101, the traveling direction perpendicular to the traveling lane 101 and the height direction of a truck.
The robot comprises a robot body, wherein the robot body comprises a walking trolley 201 arranged above a power exchange bin, the power exchange bin is formed in the power exchange station body 1, a walking guide rail 108 arranged along the walking direction of a walking track is arranged in the power exchange bin, the walking trolley 201 is arranged on the walking guide rail 108 and walks along the length direction of the walking guide rail 108, namely, the walking trolley 201 can walk in the x-axis direction.
In this embodiment, the traveling carriage 201 is fixed with the traveling motor 224, the traveling chain is installed on the traveling guide, and the traveling motor 224 drives the traveling carriage 201 through the traveling chain, so that the traveling carriage 201 can run on the traveling guide rail 108, and also can realize the traveling of the traveling carriage 201 on the traveling guide rail 108 through other existing driving modes.
The traveling trolley 201 is connected with a primary traveling mechanism 202 which can move towards or back to the traveling trolley 201 along the direction perpendicular to the traveling direction of the traveling trolley 201 in the horizontal plane, the primary traveling mechanism 202 realizes primary traveling in the y-axis direction of the traveling trolley 201,
the primary traveling mechanism 202 is connected with a secondary traveling mechanism 203 which can further move along the motion direction of the primary traveling mechanism 202, the secondary traveling mechanism 203 realizes secondary traveling of the traveling trolley 201 in the y-axis direction, the lower part of the secondary traveling mechanism 203 is connected with a lifting mechanism 204 which moves in the z-axis direction of a lifting appliance 206, the lifting mechanism 204 is provided with a slewing mechanism 205 which realizes the rotation and rotation of the lifting appliance 206, the slewing mechanism 205 is connected with a lifting appliance 206 which is used for grabbing and placing a battery pack 3, and the lifting appliance 206 can do slewing motion in a horizontal plane under the driving action of the slewing mechanism 205.
The secondary travelling mechanism 203 is added in the Y-axis direction through the motor replacing robot 2, and the secondary travelling mechanism is matched with the increased rotation freedom degree on the XY plane, so that the heavy truck battery packs 3 can be arranged in a plurality of rows in the X-axis direction; the heavy truck power exchange station can modularly expand the number of the battery packs 3 in the Y-axis direction under the holding of the bidirectional telescopic fork, so that the occupied area of the heavy truck power exchange station is effectively reduced, and the number of the battery packs 3 can be modularly expanded.
In this embodiment, the primary traveling mechanism 202 includes a primary guide rail 207 fixed on the traveling trolley 201 and a primary guide plate 208 capable of sliding along the length direction of the primary guide rail 207, the primary guide rail 207 is horizontally arranged and the length direction is perpendicular to the traveling direction of the traveling trolley 201, a primary guide groove 209 matched with the primary guide rail 207 is arranged on the primary guide plate 208, a telescopic fork 223 capable of further sliding along the motion direction of the primary guide plate 208 relative to the primary guide plate 208 is further arranged outside the primary guide plate 208, and the telescopic fork 223 is in a U-shaped groove steel shape and is sleeved outside the primary guide plate 208 so as to realize the length extension of the primary guide plate 208.
The secondary traveling mechanism 203 comprises a secondary fixing plate 210 fixed on the lower end face of the telescopic fork 223, a secondary guide rail 211 is arranged on the lower end face of the secondary fixing plate 210, the secondary traveling mechanism 203 further comprises a secondary guide plate 212 capable of sliding along the length direction of the secondary guide rail 211, the length direction of the secondary guide rail 211 is parallel to the length direction of the primary guide rail 207, and a secondary guide groove 213 matched with the secondary guide rail 211 is arranged on the secondary guide plate 212.
The lifting mechanism 204 comprises a lifting fixing plate 214 fixed on the lower end surface of the secondary guide plate 212, a lifting driving installation frame 215 is arranged on the lower end surface of the lifting fixing plate 214, a winding drum 216 and a lifting motor 218 for driving the winding drum 216 to rotate are arranged on the lifting driving installation frame 215, a steel wire rope 219 with one end fixed on the lifting fixing plate 214 is wound on the winding drum 216, and a movable pulley 220 for the steel wire rope 219 to pass through is arranged on the rotating mechanism 205.
The swing mechanism 205 includes a swing mechanism mounting plate 221, the movable pulley 220 is mounted on an upper end surface of the swing mechanism mounting plate 221, the rotary gear 222 is mounted on a lower end surface of the swing mechanism mounting plate 221, the hoist 206 is connected to the rotary gear 222, and the rotary gear 222 drives the hoist 206 to rotate.
In this embodiment, the primary walking and the secondary walking in the y-axis direction are driven by a motor and a chain, the lifting motion in the z-axis direction drives the winding drum 216 to rotate by the lifting motor 218, the winding drum 216 drives the steel wire rope 219 to curl, the lifting or lowering of the movable pulley 220 by the steel wire rope 219 is realized, and then the up-and-down motion of the swing mechanism 205 and the lifting appliance 206 on the swing mechanism 205 is realized. The rotation mechanism 205 is mainly driven by a rotation motor and a rotation gear 222, the rotation gear 222 rotates under the action of the rotation motor, and then drives the lifting appliance 206 to rotate, so that the battery pack 3 clamped on the lifting appliance 206 is subjected to reversing, and the battery pack 3 of a truck is conveniently placed at a mounting position or in the battery pack placement area 102 or the battery pack expansion area 401.
In this embodiment, by designing the motor changing robot 2, not only the operation in 6 directions of three degrees of freedom of x-axis, y-axis and z-axis can be realized, but also the secondary walking in the y-axis direction can be realized, so that the walking range of the lifting appliance 206 covers the center distance between the battery packs 3 on two sides, and the battery packs 3 in the battery pack expansion area 401 can be fully grabbed or placed.
The rotation mechanism 205 in this embodiment belongs to a rotation mechanism of the battery changing robot 2 on the XY plane, the upper part is fixed with the lifting mechanism 204, the lower part is fixed with the upper plane of the lifting appliance 206, the rotation angle is greater than 180 degrees, the degree of freedom of the battery changing robot 2 for taking and placing the battery pack 3 in the battery compartment and the vehicle end is increased, and the free rotation of the lifting appliance 206 in the horizontal plane can be realized.
Meanwhile, the swing mechanism 205 is integrated on the upper part of the lifting appliance 206 of the motor replacing robot 2, instead of arranging the swing mechanism 205 at the root of a telescopic fork mechanism in the prior art, the swing mechanism 205 can be effectively prevented from bearing a large bending moment, and then the arrangement mode in the application can fully reduce the size of the swing mechanism 205 and prolong the service life.
In the working process of the power-exchanging robot 2, the travelling trolley 201 is firstly moved to the position of the full-power battery pack 3 to be grasped in the X-axis direction, then the primary travelling mechanism 202 in the Y-axis direction is kept motionless, the secondary travelling mechanism 203 in the Y-axis direction is moved along the Y-axis, and then all heavy-card battery packs 3 which are arranged in parallel in the X-axis direction can be grasped by matching with the lifting mechanism 204; after grabbing the heavy truck battery pack 3, the multi-degree-of-freedom top-hung battery replacing robot 2 returns to the central origin of the battery replacing station, then the battery pack 3 is rotated by a proper angle through a slewing mechanism 205 according to the parking state of the heavy truck, so that the battery pack 3 is perpendicular to a vehicle, and then the battery pack 3 is sent to the upper part of a truck running along the X-axis by extending out of a cantilever through a primary travelling mechanism 202.
In addition, when the battery pack 3 in the battery pack expansion area 401 needs to be grabbed, the battery pack 3 can be taken out in the Y-axis direction only when the first-stage travelling mechanism 202 in the Y-axis direction extends out of the cantilever in the opposite direction, then the cantilever is recovered, and the battery pack 3 can be sent to the upper part of the truck running in the X-axis direction after the cantilever extends out in the forward direction.
The embodiment also provides a power exchanging method of the modularized container power exchanging station, which adopts the modularized container power exchanging station with capacity expansion to exchange power, and specifically comprises the following steps:
step S1, driving the heavy truck onto a traffic lane 101 and stopping at one side of a power exchange station body 1;
step S2, firstly, the battery with the power shortage on the heavy card is transported to a battery pack placing area 102 or a battery pack expanding area 401 by a power exchanging robot 2 in the power exchanging station body 1 and is placed in a corresponding charging position for charging;
step S3, the full-power battery pack in the battery pack placing area 102 or the battery pack expanding area 401 is firstly transported to the battery pack changing area 103 through the motor changing robot 2, the full-power battery pack is turned according to the requirement, and then transported to a battery pack installation position of a heavy truck for installation;
and S4, after the full battery pack is installed, the heavy truck continues to travel on the traveling lane 101 and leaves the traveling lane, and the power change is completed.
It is to be understood that, based on one or several embodiments provided in the present application, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, which do not exceed the protection scope of the present application.
In summary, the foregoing description is only of the preferred embodiments of the present application, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the application.
Claims (9)
1. The utility model provides a multi freedom top hangs formula side and trades electric robot, includes the robot body, its characterized in that: the robot body is including setting up in walking dolly (201) of trading the electricity storehouse top, be connected with on walking dolly (201) and be connected with one-level running gear (202) that can follow perpendicular to walking dolly (201) walking direction orientation or dorsad walking dolly (201) motion in the horizontal plane, be connected with on one-level running gear (202) and be connected with second grade running gear (203) that can follow one-level running gear (202) direction of motion further motion, the lower part of second grade running gear (203) is connected with elevating system (204), install slewing mechanism (205) on elevating system (204), be connected with hoist (206) that are used for snatching and placing battery package (3) on slewing mechanism (205), hoist (206) can be under the driving action of slewing mechanism (205) do gyration in the horizontal plane.
2. The multiple degree of freedom overhead hoist side-swap robot of claim 1, wherein: the primary traveling mechanism (202) comprises a primary guide rail (207) fixed on the traveling trolley (201) and a primary guide plate (208) capable of sliding along the length direction of the primary guide rail (207), the primary guide rail (207) is horizontally arranged, the length direction of the primary guide rail is perpendicular to the traveling direction of the traveling trolley (201), and a primary guide groove (209) matched with the primary guide rail (207) is arranged on the primary guide plate (208); the primary guide plate (208) is also provided with a telescopic fork (223) which can further slide along the movement direction of the primary guide plate (208) relative to the primary guide plate (208).
3. The multiple degree of freedom overhead hoist side-swap robot of claim 2, wherein: the secondary travelling mechanism (203) comprises a secondary fixing plate (210) fixed on the lower end face of the telescopic fork (223), a secondary guide rail (211) is arranged on the lower end face of the secondary fixing plate (210), the secondary travelling mechanism (203) further comprises a secondary guide plate (212) capable of sliding along the length direction of the secondary guide rail (211), the length direction of the secondary guide rail (211) is parallel to the length direction of the primary guide rail (207), and a secondary guide groove (213) matched with the secondary guide rail (211) is arranged on the secondary guide plate (212).
4. A multiple degree of freedom overhead hoist side-swap robot according to claim 3, wherein: the lifting mechanism (204) comprises a lifting fixing plate (214) fixed on the lower end face of the secondary guide plate (212), a lifting driving installation frame (215) is arranged on the lower end face of the lifting fixing plate (214), a winding drum (216) and a lifting motor (218) for driving the winding drum (216) to rotate are installed on the lifting driving installation frame (215), a steel wire rope (219) with one end fixed on the lifting fixing plate (214) is wound on the winding drum (216), and a movable pulley (220) for the steel wire rope (219) to pass through is arranged on the slewing mechanism (205).
5. The multiple degree of freedom overhead hoist side-swap robot of claim 4, wherein: the swing mechanism (205) comprises a swing mechanism mounting plate (221), a movable pulley (220) is mounted on the upper end face of the swing mechanism mounting plate (221), a rotary gear (222) is mounted on the lower end face of the swing mechanism mounting plate (221), the lifting appliance (206) is connected to the rotary gear (222), and the rotary gear (222) drives the lifting appliance (206) to rotate.
6. A power exchange station, characterized by: comprising a multi-degree-of-freedom overhead crane type side-conversion robot according to any one of claims 1-5.
7. The power exchange station according to claim 6, further comprising a power exchange station body (1) and a traffic lane (101) arranged on one side of the power exchange station body (1), wherein a power exchange bin is formed in the power exchange station body (1), a traveling guide rail (108) arranged along the traveling direction of the traveling road is arranged in the power exchange bin, and the traveling trolley (201) is arranged on the traveling guide rail (108) and travels along the length direction of the traveling guide rail (108).
8. A method for changing electricity, characterized in that it uses a power changing station according to claim 7 for changing electricity, comprising the following steps:
step S1, driving the heavy truck onto a traffic lane (101) and stopping at one side of a power exchange station body (1);
s2, transporting the battery with the insufficient power on the heavy truck to a corresponding charging position for charging;
s3, transporting the full-power battery pack in the power exchange station to a battery pack installation position of the heavy truck for installation;
and S4, after the full battery pack is installed, the heavy truck continues to travel on the traffic lane (101) and leaves the traffic lane, and the power change is completed.
9. A power conversion method according to claim 8, characterized in that: the step S3 specifically comprises the following steps:
step S31, firstly, running a travelling trolley (201) to a position of a full-power battery pack to be grasped in the x-axis direction, and then keeping a primary travelling mechanism (202) in the Y-axis direction motionless, wherein a secondary travelling mechanism (203) in the Y-axis direction moves along the Y-axis, or the primary travelling mechanism (202) in the Y-axis direction extends out of a cantilever in the opposite direction;
s32, all the battery packs (3) which are arranged in parallel in the X-axis direction can be grabbed by matching with a lifting mechanism (204);
step S33, grabbing the battery pack (3), returning the multi-degree-of-freedom top-hanging type side-exchanging power-exchanging robot to the center origin of the power-exchanging station, and then rotating the battery pack (3) by a proper angle through a rotation mechanism (205) according to the parking state of the heavy truck, so that the battery pack (3) is perpendicular to a vehicle;
step S34, the battery pack (3) is sent to the upper part of the truck running along the X-axis through the cantilever extending out of the primary travelling mechanism (202);
the driving direction of the driving lane (101) is the x-axis direction, the driving direction perpendicular to the driving lane (101) in the same horizontal plane is the y-axis direction, and the height direction of the truck is the z-axis direction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311098419 | 2023-08-29 | ||
| CN2023110984190 | 2023-08-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116923332A true CN116923332A (en) | 2023-10-24 |
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ID=88382793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311138536.5A Pending CN116923332A (en) | 2023-08-29 | 2023-09-05 | Multi-degree-of-freedom top-hanging type side-conversion power conversion robot, power conversion station and power conversion method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116923332A (en) |
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2023
- 2023-09-05 CN CN202311138536.5A patent/CN116923332A/en active Pending
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