CN202753913U - Robot for storing, picking and transferring battery - Google Patents

Robot for storing, picking and transferring battery Download PDF

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Publication number
CN202753913U
CN202753913U CN 201220088793 CN201220088793U CN202753913U CN 202753913 U CN202753913 U CN 202753913U CN 201220088793 CN201220088793 CN 201220088793 CN 201220088793 U CN201220088793 U CN 201220088793U CN 202753913 U CN202753913 U CN 202753913U
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China
Prior art keywords
battery
robot
lifting
servomotor
control
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CN 201220088793
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Chinese (zh)
Inventor
冯扶民
张乐亲
朱佳绪
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WUHAN TONGLIAN ROAD AND BRIDGE MACHINERY TECHNICAL CO Ltd
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WUHAN TONGLIAN ROAD AND BRIDGE MACHINERY TECHNICAL CO Ltd
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Abstract

The utility model provides a robot for storing, picking and transferring a battery. The robot comprises an upper rail, a lower rail, a frame, a control portion, a travelling device, a lifting device and a battery picking and placing device, the frame is arranged between the upper rail and the lower rail, the control portion is mounted on the frame, the frame comprises an upper beam, a vertical column and a lower beam, the travelling device is mounted at two ends of the lower beam, the lifting device is respectively connected with the upper beam and the vertical column, the battery picking and placing device is mounted on the lifting device, and the control portion is respectively connected with the travelling device, the lifting device and the battery picking and placing device. Automatic transferring, storing, picking and controlling functions are realized by the control portion, the travelling device, the lifting device and the battery picking and placing device, the labor intensity of workers can be relieved, and working efficiency is improved. By the aid of PLC (programmable logic controller) programming techniques, position coding techniques, sensor techniques and long-range laser communication techniques, the robot has the advantages of high alignment accuracy and automation degree and the like.

Description

Be used for battery is carried out the robot of access transhipment
Technical field
The utility model relates to the robot field, especially a kind of robot for battery being carried out the access transhipment.
Background technology
Along with the energy-saving and emission-reduction requirement, China's new-energy automobile is developing rapidly of pure electric automobile particularly, and electric automobile charging station and supporting charging equipment thereof will be in the position, forward position of new forms of energy field of traffic.It is slow to solve the automobile batteries charging, the problem that the parking waiting time is long.The best way is electronlmobil to be reached battery-charging station change the battery of substituting the bad for the good, and used batteries are stayed the battery-charging station charging.This mode has that the parking waiting time is short, and battery life is long, and battery-charging station can also utilize the operation of charging of network load low ebb phase, has improved the efficient of electrical network.Whole nation key cities are all building the battery-charging station pilot.
Development along with the electronlmobil industry, the continuous increase of electronlmobil use amount, a large amount of electronlmobils need to arrive battery-charging station and change battery, so necessarily require the battery-charging station can be fast to the access battery, again used batteries accurately are transported on the charging shelf of multilayer, and the time that requires shortening to need, so must realize access transhipment automation as far as possible.But present stage does not have a kind of specialized equipment realizes this function, mainly uses some general weight-lifting equipments such as driving, fork truck etc., then relies on artificial contraposition, loading and unloading.This kind mode of operation operating efficiency is low, and what need is artificial many, and the space that operation needs is large, and the Construction and operation cost is high.
Summary of the invention
For the weak point of above-mentioned technology, the utility model provides a kind of can realize automatic rotating, the robot that is used for battery is carried out the access transhipment of automatic access and automatic control function.
For achieving the above object, the utility model provides a kind of robot for battery being carried out the access transhipment, comprise and getting on the right track, lower railway, framework and control part, described framework be arranged on described get on the right track and described lower railway between, described control part is installed on the described framework, described framework is by entablatrance, column and cross sill consist of, also comprise running gear, jacking system and battery taking and placing device, described running gear is installed in the two ends of described cross sill, described jacking system is connected with described entablatrance and described column respectively, described motor fetching device is installed on the described jacking system, described control part respectively with described running gear, described jacking system and described battery taking and placing device are connected.
Described running gear is made of with lower track adjusting wheel running wheel, walking servomotor, the hinge of flatting turn, described walking servomotor is connected with described running wheel, described lower track adjusting wheel and the described hinge of flatting turn are arranged on the outside and the upper end of described running wheel, and an end of described lower track adjusting wheel is arranged in the described lower railway.
Described jacking system is made of loading platform, ball screw, lifting servomotor and transmission device, described lifting servomotor is connected with described transmission device, described lifting servomotor and described transmission device are installed in respectively the bottom of described entablatrance with inner, described ball screw is arranged on the inboard of described column, its top is connected with described transmission device, and described loading platform is connected with described ball screw.
At described loading platform battery limiting device is installed.
Described battery taking and placing device is by retractable fork, the pallet fork servomotor that stretches, the battery support roller, battery adsorption plant and battery push-pull device at fixed consist of, described retractable fork is divided into three-decker, described ground floor pallet fork and described second layer pallet fork are installed on described the 3rd layer of pallet fork successively, described battery push-pull device at fixed, described battery push-pull device at fixed servomotor, described battery adsorption plant and described battery support roller are installed in the surface of described ground floor pallet fork, described battery push-pull device at fixed is connected with described battery push-pull device at fixed servomotor, and described battery adsorption plant is connected with described battery push-pull device at fixed.
At described second layer movable stand top offset, described second layer movable stand passes through second layer actuating device at described the 3rd layer of pallet fork top offset to described ground floor movable stand by the ground floor actuating device.
Described the 3rd layer of pallet fork is installed on the described loading platform.
Described control part is made of control desk, walking position coder, lifting position coder and laser communications instrument, described control desk is connected with described walking position coder, described lifting position coder and described laser communications instrument respectively, described control desk is arranged on the outside of described column, described walking position coder is installed on the described entablatrance, described lifting position coder is connected with described loading platform, and described laser communications instrument is installed on described the getting on the right track.
Track adjusting wheel on also being arranged with in described getting on the right track, an end of described upper track adjusting wheel is installed on the described entablatrance.
Compared with prior art, the utlity model has following advantage:
The utility model can be realized automatic transhipment, automatic access and automatic control function to battery can alleviating personnel labor intensity by control part, running gear, jacking system and battery taking and placing device, increases work efficiency.The utility model adopts PLC programming technique, position encoded technology, sensor technology and remote laser mechanics of communication, has the high and degree of automation high of aligning accuracy.At the scene voluntarily operation during unmanned, thus satisfy the requirement of the efficient access transhipment of battery-charging station battery., then battery charged on the charging rack is put on the manipulator to charging rack by the battery Transshipment Permitted of taking off on the automobile, manipulator installs to battery on the automobile, and the front and back process is consuming time to be 5-8 minute.
The utility model does not need personnel to carry out the work such as contraposition, loading and unloading in the course of the work, only need to can finish corresponding operation to shelf location signal of robot, the control signal of its corresponding operating can send to robot by laser communications by long-range master control end.In addition, in case of emergency, robot also can manually be controlled on control desk by operating personal and finish, thereby has improved emergent performance in case of emergency.Because manually control has chain function with automatic control, can only by an a kind of mode of employing, therefore, can guarantee device security down at one time.
Description of drawings
Fig. 1 is constructional drawing of the present utility model;
Fig. 2 is the lateral plan of Fig. 1;
Fig. 3 is the scheme drawing of running gear in the utility model;
Fig. 4 is the scheme drawing of jacking system in the utility model;
Fig. 5 is the scheme drawing of battery taking and placing device in the utility model.
Main nomenclature is as follows:
The 1-2-lower railway 3-entablatrance that gets on the right track
4-column 5-cross sill 6-jacking system
The upper track adjusting wheel of 7-running gear 8-control desk 9-
10-lifting position coder 11-laser communications instrument
12-running gear coder 13-battery taking and placing mechanism
The 14-walking servomotor 15-running wheel 16-hinge of flatting turn
Track adjusting wheel 18-transmission device 19-ball-screw under the 17-
20-lifting servomotor 21-loading platform 22-battery push-pull device at fixed servomotor
23-battery push-pull device at fixed 24-battery adsorption plant 25-battery support roller
The 26-retractable fork 27-pallet fork servomotor that stretches
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail.
To shown in Figure 5, the utility model provides a kind of robot for battery being carried out the access transhipment such as Fig. 1, by get on the right track, lower railway, framework, control part, running gear, jacking system and battery taking and placing device consist of.1 laser communications instrument 11 is installed getting on the right track.Framework be arranged on get on the right track 1 and lower railway 2 between, control part is installed on the framework, framework is made of entablatrance 3, column 4 and cross sill 5, entablatrance 3, column 4 consist of rigid frames with cross sill 5.Also be arranged with track adjusting wheel 9 in 1 getting on the right track, end of track adjusting wheel 9 is installed on the entablatrance 3 on this, can guarantee that by upper track adjusting wheel robot is in vertical motion.Running gear 7 is installed in the two ends of cross sill 5, and jacking system 6 is connected with entablatrance 3 and column 4 respectively, and the motor fetching device is installed on the jacking system, and control part is connected with running gear, jacking system and battery taking and placing device respectively.
Control part is made of with laser communications instrument 11 control desk 8, walking position coder 12, lifting position coder 10, and control desk 8 is connected with walking position coder 12, lifting position coder 18 and laser communications instrument 11 respectively.Control desk 8 is arranged on the outside of column 4, and walking position coder 12 is installed on the entablatrance 3, and lifting position coder 10 is connected with loading platform 21.The walking position coder is encoded to the position of robot ambulation, and PLC detection position coding scheme feedback signal is braked when the loading platform lifting arrives desired location, and its precision reaches ± 1mm.Laser communications instrument 11 is installed in and is getting on the right track on 1, the corresponding signal that robot is controlled that the laser communications instrument is used for that the receiving remote control end sends.
Running gear is made of with lower track adjusting wheel 17 running wheel 15, walking servomotor 14, the hinge 16 of flatting turn, walking servomotor 14 is connected with running wheel 15, lower track adjusting wheel 17 and the hinge 16 of flatting turn are arranged on the outside and the upper end of running wheel 15, and an end of lower track adjusting wheel 17 is arranged in the lower railway 2.The servo moving motor of walking provides propulsive effort, and lower track adjusting wheel mainly plays directional tagging on lower railway, and through curve track the time, lower track adjusting wheel drives the hinge of flatting turn and rotates, and running wheel is turned round, with the accommodation curve track.
Jacking system is made of with transmission device 18 loading platform 21, ball screw 19, lifting servomotor 20, and lifting servomotor 20 is connected with transmission device 18, and lifting servomotor 20 is installed in respectively the bottom of entablatrance 3 with inner with transmission device 18.Ball screw 19 is arranged on the inboard of column 4, and its top is connected with transmission device 18.Loading platform 21 is connected with ball screw 19, at loading platform 21 battery limiting device is installed, and this battery limiting device can guarantee the relative position of battery and loading platform.The lifting servomotor provides propulsive effort, drives ball-screw through driving system and rotates, thereby loading platform is moved up and down at ball screw.
Battery taking and placing device is made of with battery push-pull device at fixed 23 retractable fork 26, the flexible servomotor 27 of pallet fork, battery support roller 25, battery adsorption plant 24.Wherein, retractable fork 26 is divided into three-decker, ground floor pallet fork and second layer pallet fork are installed on the 3rd layer of pallet fork successively, the ground floor movable stand passes through the ground floor actuating device at second layer movable stand top offset, at the 3rd layer of pallet fork top offset, the 3rd layer of pallet fork is installed on the loading platform second layer movable stand by second layer actuating device.Battery push-pull device at fixed 23, battery push-pull device at fixed servomotor 22, battery adsorption plant 24 and battery support roller 25 are installed in the surface of ground floor pallet fork, battery push-pull device at fixed 23 is connected with battery push-pull device at fixed servomotor 22, and battery adsorption plant 24 is connected with battery push-pull device at fixed 23.
When the utility model took out battery at needs, at first, by the charging rack battery extracting position that running gear and jacking system auto-alignment are set, the flexible servomotor of pallet fork drove pallet fork and stretches out, and near battery, approach switch works; Then, battery push-pull device at fixed servomotor drives the battery push-pull device at fixed and goes forward, and the electromagnet energising in the battery adsorption plant holds battery; At last, the battery push-pull device at fixed is pulled out to battery on the battery support roller, and pallet fork is retracted.After finishing the operation of power taking pond, running gear and jacking system move to battery the battery transferring platform position of setting automatically, put down battery, and it is the inverse process of above process basically that the battery of needs chargings is stored on the charging rack by transferring platform.
The above only is preferred embodiment of the present utility model, and is in order to limit the utility model, not all within spirit of the present utility model and principle, any modification of doing, is equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.

Claims (7)

1. one kind is used for battery is carried out the robot that access is transported, comprise and getting on the right track, lower railway, framework and control part, described framework be arranged on described get on the right track and described lower railway between, described control part is installed on the described framework, described framework is by entablatrance, column and cross sill consist of, it is characterized in that, also comprise running gear, jacking system and battery taking and placing device, described running gear is installed in the two ends of described cross sill, described jacking system is connected with described entablatrance and described column respectively, described motor fetching device is installed on the described jacking system, described control part respectively with described running gear, described jacking system and described battery taking and placing device are connected.
2. the robot for battery being carried out access transhipment according to claim 1, it is characterized in that, described running gear is made of with lower track adjusting wheel running wheel, walking servomotor, the hinge of flatting turn, described walking servomotor is connected with described running wheel, described lower track adjusting wheel and the described hinge of flatting turn are arranged on the outside and the upper end of described running wheel, and an end of described lower track adjusting wheel is arranged in the described lower railway.
3. the robot for battery being carried out access transhipment according to claim 1, it is characterized in that, described jacking system is made of loading platform, ball screw, lifting servomotor and transmission device, described lifting servomotor is connected with described transmission device, described lifting servomotor and described transmission device are installed in respectively the bottom of described entablatrance with inner, described ball screw is arranged on the inboard of described column, its top is connected with described transmission device, and described loading platform is connected with described ball screw.
4. the robot for battery being carried out the access transhipment according to claim 3 is characterized in that, at described loading platform battery limiting device is installed.
5. the robot for battery being carried out access transhipment according to claim 1, it is characterized in that, described battery taking and placing device is by retractable fork, the pallet fork servomotor that stretches, the battery support roller, battery adsorption plant and battery push-pull device at fixed consist of, described retractable fork is divided into three-decker, described ground floor pallet fork and described second layer pallet fork are installed on described the 3rd layer of pallet fork successively, described battery push-pull device at fixed, described battery push-pull device at fixed servomotor, described battery adsorption plant and described battery support roller are installed in the surface of described ground floor pallet fork, described battery push-pull device at fixed is connected with described battery push-pull device at fixed servomotor, and described battery adsorption plant is connected with described battery push-pull device at fixed.
6. the robot for battery being carried out access transhipment according to claim 1, it is characterized in that, described control part is by control desk, the walking position coder, lifting position coder and laser communications instrument consist of, described control desk respectively with described walking position coder, described lifting position coder and described laser communications instrument are connected, described control desk is arranged on the outside of described column, described walking position coder is installed on the described entablatrance, described lifting position coder is connected with described loading platform, and described laser communications instrument is installed on described the getting on the right track.
7. the described robot for battery being carried out the access transhipment of any one in 6 according to claim 1 is characterized in that also be arranged with track adjusting wheel in described getting on the right track, an end of described upper track adjusting wheel is installed on the described entablatrance.
CN 201220088793 2012-03-09 2012-03-09 Robot for storing, picking and transferring battery Active CN202753913U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220088793 CN202753913U (en) 2012-03-09 2012-03-09 Robot for storing, picking and transferring battery

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220088793 CN202753913U (en) 2012-03-09 2012-03-09 Robot for storing, picking and transferring battery

Publications (1)

Publication Number Publication Date
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103397202A (en) * 2013-07-03 2013-11-20 宁夏鹏程致远自动化技术有限公司 Electromagnetic adsorption pulling machine for magnesium crystallizer
CN103397205A (en) * 2013-07-03 2013-11-20 宁夏鹏程致远自动化技术有限公司 Cover opening machine of forklift type metal magnesium reduction tank
CN104129591A (en) * 2013-11-20 2014-11-05 上海快仓智能科技有限公司 Unmanned automatic carrying system for warehoused articles
CN104259830A (en) * 2014-08-01 2015-01-07 湖北机电院装备制造有限责任公司 High-voltage battery assembly equipment
CN104724081A (en) * 2013-12-20 2015-06-24 国家电网公司 Battery swap system for all-electric commercial vehicles
CN106044089A (en) * 2014-09-25 2016-10-26 深圳市时代高科技设备股份有限公司 Loading equipment
CN106347323A (en) * 2015-07-15 2017-01-25 王俊 Lifting carrying device
CN108861261A (en) * 2018-04-03 2018-11-23 西安航天精密机电研究所 A kind of full-automatic battery transshipment acitivity
CN109808653A (en) * 2019-03-28 2019-05-28 中科新松有限公司 AGV battery replacement device, replacing options and battery transportation system

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103397202A (en) * 2013-07-03 2013-11-20 宁夏鹏程致远自动化技术有限公司 Electromagnetic adsorption pulling machine for magnesium crystallizer
CN103397205A (en) * 2013-07-03 2013-11-20 宁夏鹏程致远自动化技术有限公司 Cover opening machine of forklift type metal magnesium reduction tank
CN104129591A (en) * 2013-11-20 2014-11-05 上海快仓智能科技有限公司 Unmanned automatic carrying system for warehoused articles
CN104724081A (en) * 2013-12-20 2015-06-24 国家电网公司 Battery swap system for all-electric commercial vehicles
CN104259830A (en) * 2014-08-01 2015-01-07 湖北机电院装备制造有限责任公司 High-voltage battery assembly equipment
CN106044089A (en) * 2014-09-25 2016-10-26 深圳市时代高科技设备股份有限公司 Loading equipment
CN106347323A (en) * 2015-07-15 2017-01-25 王俊 Lifting carrying device
CN106347323B (en) * 2015-07-15 2018-11-20 深圳精智机器有限公司 Lift transport device
CN108861261A (en) * 2018-04-03 2018-11-23 西安航天精密机电研究所 A kind of full-automatic battery transshipment acitivity
CN109808653A (en) * 2019-03-28 2019-05-28 中科新松有限公司 AGV battery replacement device, replacing options and battery transportation system
CN109808653B (en) * 2019-03-28 2020-10-30 中科新松有限公司 AGV battery replacing device, replacing method and battery transportation system

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