CN203142639U - Single-way replacing robot for battery box of electric commercial vehicle - Google Patents
Single-way replacing robot for battery box of electric commercial vehicle Download PDFInfo
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- CN203142639U CN203142639U CN 201320149256 CN201320149256U CN203142639U CN 203142639 U CN203142639 U CN 203142639U CN 201320149256 CN201320149256 CN 201320149256 CN 201320149256 U CN201320149256 U CN 201320149256U CN 203142639 U CN203142639 U CN 203142639U
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Abstract
The utility model relates to a single-way replacing robot for a battery box of an electric commercial vehicle. According to the single-way replacing robot for the battery box of the electric commercial vehicle, the size of the battery replacing robot is effectively reduced, land is saved, meanwhile, the mounting mode of a battery replacing device of an existing battery replacing robot is changed into a hanging mounting mode, and thus the single-way replacing robot for the battery box of the electric commercial vehicle can be matched with an electric bus easily. The single-way replacing robot for the battery box of the electric commercial vehicle comprises a frame assembly, the frame assembly is installed on a walking assembly, a temporary storage rack is arranged on one side of the frame assembly, and a control cabinet is installed on the other side of the frame assembly. A lifting transmission assembly is installed at the top of the frame assembly, and the lifting transmission assembly is connected with a lifting assembly and is further connected with a weight balancing assembly. An object stage assembly capable of rotating on the spot is hung on the lower portion of the lifting assembly, and a pallet fork assembly and a battery pushing hand assembly are arranged at the bottom of the object stage assembly. V-shaped wheel sets matched with rectangular steel stand columns of the battery replacing robot frame are arranged at the four corners of the lifting assembly. An object stage assembly rotation driving device is arranged on the lifting assembly, and a limiting device is arranged on the object stage assembly.
Description
Technical field
The utility model relates to a kind of battery box and changes the electric machine people, relates in particular to a kind of electronic commercial vehicle/comm..vehicle battery box one way and changes robot.
Background technology
As the important component part of new forms of energy strategy and intelligent grid, electronlmobil becomes the emphasis of auto-industry and energy development gradually.In the electronlmobil field, it is particularly outstanding that the commercial operation of electronic commercial vehicle/comm..vehicle seems, the key point of electronic commercial vehicle/comm..vehicle commercial operation is the energy supply of vehicle, so-called energy is provided by battery box, in order to solve the continuation of the journey mileage of electronlmobil, be subjected to the restriction of single case capacity of cell, need be used in groups by many casees battery.
Energy supply mainly is divided into charging and changes two kinds of electricity at present, there are drawbacks such as wait time length in charging, with regard to present development form, battery-driven car to change electric scheme feasibility degree higher, owing to formed by many casees battery, every case volume of battery is big, weight is big, and it is low manually to change efficient, and the replacing of battery box becomes the technical barrier of electronic commercial vehicle/comm..vehicle industrialized development.In order to solve this technical barrier, battery box occurs and changed robot fast, can in 8-10 minutes, finish whole replacings of battery pack.
Chinese patent CN101214814A has proposed a kind of mode of four casees replacings, and to solve the replacing problem of battery box, still this mode is changed simultaneously, and is too high for physical construction processing request precision, and after occurring being out of shape, positioning difficulty is big.
Chinese patent CN102673536A has proposed a kind of electrical mechanisms of changing of independent symmetry, the both sides battery carrier can both independently rotate, stretches, lifting, when changing battery, need the Rotate 180 degree, cause floor area big like this, and the spinfunction of both sides battery carrier can be omitted, changing electric work and can just satisfy operating needs in the middle of only staying, the spinfunction of repetition causes the mechanical mechanism complexity to improve.
The slewing arrangement of Chinese patent CN202641653A is installed in the bottom of pallet, can cause the increase of height like this, for the lower vehicle in chassis, can influence and change electric effect.
Therefore there is following technical deficiency in existing battery box substitute mode:
1. the slewing arrangement that changes electric equipment in the market is installed in the bottom, causes height-limitedly like this, in changing electric process, can't finish for the lower vehicle in chassis and to change the electricity operation, the comformability ability a little less than;
2. mostly be to adopt cooperatively interacting of a plurality of equipment rooms, or the repeating motion of individual equipment, this change electric mode caused change electric region area big, change long, the resetting of electricity time often, control program complexity, fault rate are high, change electrical efficiency thereby had a strong impact on.
The front and back of jacking system and about the location, adopts 8 spacing fore-and-aft directions of wheel, 8 spacing left and right directions of wheel cause problems such as big, the difficult adjusting of structure complexity height, positioning difficulty.
4. the drive part of lifting actuator mostly is arranged on the top of equipment, because objective table live pond box number difference, along with the increase of weight, the power of actuating device increases thereupon, and the structure on equipment top is impacted, and also causes the increase of power consumption simultaneously.
The utility model content
The purpose of this utility model is changed the electric machine people at present and has that forced stroke is big, operation is numerous and diverse for solving exactly, the complexity height, change the electricity time long, problems such as floor area is big, the power consumption loss is big, limit method is unreasonable, provide a kind of electronic commercial vehicle/comm..vehicle battery box one way to change robot, it has effectively reduced the volume that changes the electric machine people, saved land used, reduced power consumption, shortened and changed the electricity time, changed the existing mounting means that the electric machine philtrum changes electric installation that changes simultaneously, become suspension type and install, be easy to match with electric bus.
For achieving the above object, the utility model adopts following technical scheme:
A kind of electronic commercial vehicle/comm..vehicle battery box one way is changed robot, and it comprises:
Framework combination, framework combination are installed in the walking combination;
One side of framework combination is the battery box pallet, and opposite side is installed control housing;
The lifting transmission combination is installed at the top of framework combination, and lifting transmission combination and lifting are connected, and the lifting combination is connected with combinations of weights;
The lifting combination is installed in the framework combination and moves up and down, and its four jiaos then are provided with the location wheels that match with the rectangle steel column of framework combination;
Objective table makes up the mode of rotating freely and is suspended on lifting combination bottom, and objective table combination simultaneously is connected with objective table combination device of rotation driving, freely rotates thereby make objective table be combined in suspension place original place, also is provided with rotating limit device in the objective table combination;
The pallet fork combination that the replacing battery box is used and battery pushing hands combination are installed in objective table combination bottom;
Control housing is communicated by letter with background computer, and by each motor in monitoring system control walking combination, lifting transmission combination, objective table combination, objective table combination device of rotation driving, pallet fork combination and the battery pushing hands combination, finish walking and battery altering action that described electronic commercial vehicle/comm..vehicle battery box one way is changed robot.
Described lifting combination comprises:
Lifting square steel framework is installed the location wheels four jiaos of lifting square steel frameworks, and described location wheels are the V shaped wheel group;
Lifting square steel framework also is provided with the lifting connecting panel for four jiaos, is used for connecting lifting transmission combination and combinations of weights;
Lifting square steel frame mid portion is equipped with the lifting adapter plate of hollow out, and the lifting adapter plate is provided with some lifting reinforced ribs, and the reinforced rib plate portion in the middle of wherein being positioned at stretches out;
Objective table combination device of rotation driving is installed in lifting adapter plate bottom, and the objective table combined suspension is on objective table combination device of rotation driving.
Described objective table combination device of rotation driving comprises turntable bearing, and it is positioned at the bottom of lifting adapter plate openwork part, and meshes with lifter wheel, and lifter wheel is connected with lifting motor by lifting decelerator, and lifting motor is connected with control housing; The inner ring of described turntable bearing is slightly higher than the outer ring, and inner ring and lifting adapter plate are connected and fixed.
Described V shaped wheel group has 8, is divided into four pairs, and every pair of V shaped wheel group is installed in the two ends of a steel pipe respectively, and each steel pipe is connected in four jiaos of lifting square steel framework; Each V shaped wheel group all has a V-type roller, and two medial surfaces of each V-type roller all are fastened on the square edge of corresponding rectangle steel column.
Described objective table combination comprises:
The welding main body frame, it is a square cubic structure;
Pitching motor and pitching reducer, their welding main body frame one side bottoms, pitching reducer output shaft band pitching gear, the pitching action is finished in the combination of pitching gear drive pallet fork, and pitching motor is connected with control housing; The front and back side bottom of welding main body frame welds pitch axis bearing adapter plate respectively, and the pallet fork combination is installed on the pitch axis bearing adapter plate;
Turntable bearing outer ring adapter plate is welded on the top of main body frame, is the limiting stopper adapter plate under the adapter plate of turntable bearing outer ring, and inhibiting device is installed on the limiting stopper adapter plate;
Inhibiting device is sliding structure, is made up of spacing slide rail and position limiting slide block, and described spacing slide rail is fixed, position limiting slide block and spacing slide rail routing motion, and spacing slide rail two ends respectively have postive stop baffle spacing.
Described pallet fork combination is divided into two-layer up and down:
A side mounting portion gear below lower floor's pallet fork, operative gear are the parts that comprises several teeth of taking after a gear is blocked, operative gear and the engagement of pitching gear; Following middle pallet fork motor, the pallet fork reductor installed of lower floor's pallet fork, the pallet fork speed reducer output shaft is installed the pallet fork driven wheel; Open a strip hole in the middle of lower floor's pallet fork, the pallet fork driven wheel exposes a part from strip hole; Side is installed the pitch axis bearing before and after lower floor's pallet fork, and the pitch axis bearing is installed on the pitch axis bearing adapter plate; Mounting groove track above lower floor's pallet fork;
The following attachment rail bar of upper strata pallet fork is installed nylon block on the described track strip, and nylon block is crank motion in groove track; The following installation pallet fork of upper strata pallet fork drives tooth bar, and described pallet fork drives tooth bar and the engagement of pallet fork driven wheel; The roller mount pad is arranged in the top installation of upper strata pallet fork more, the mount pad lateral surface of both sides is concordant with upper strata pallet fork lateral surface, roller I is installed in the mount pad of both sides, middle mount pad is installed roller II, middle mount pad left side is installed the battery pushing hands and is driven tooth bar, be provided with battery pushing hands slide rail between the mount pad of the mount pad of both sides and centre, battery pushing hands combination is installed on the battery pushing hands slide rail; Upper strata pallet fork two outside installation region alignment sensor DMP, pallet fork motor, zone location sensor DMP all are connected with control housing.
Described battery pushing hands combination is welded by sheet material, is L type mechanism, and L type structure is by riser and dull and stereotyped the composition, and both are provided with floor in the junction;
The rfid interrogator that is used for reading battery box information is installed in the riser front, the laser range sensor mount pad is installed in back, riser both sides, laser range sensor is installed on the mount pad, and described laser range sensor is used for measuring distance and the level angle of battery pushing hands and battery box;
The release mechanism drive motor is installed in the middle of the riser, and release mechanism drive motor output shaft is connected with the solution tapered end; Battery pushing hands drive motor is installed on the flat board, and the seat that is slidingly installed is installed in the planar bottom surface both sides, and the seat that is slidingly installed cooperates the motion that realizes the battery pushing hands with battery pushing hands slide rail;
Rfid interrogator, laser range sensor, release mechanism drive motor all are connected with control housing.
Described solution tapered end is collar plate shape, is divided into two semi-circular opening sleeves, rot, embedded disk three parts composition;
The riser of described two semi-circular opening sleeves and battery pushing hands combination is connected and fixed;
Described rot is " soil " font, and the smaller disk of upper end diameter cooperates with two semi-circular opening sleeves, rotation in cover; Middle perpendicular cylinder cooperates with release mechanism drive motor output shaft, and the disk that lower end diameter is big and embedded disk are connected and fixed;
Described embedded disk, centre are an embedded word machine structure, embedded disk inner face welded limiting piece.
Described framework combination comprises:
Central frame and two body side frames, their outsides are provided with the panel beating covering;
Central frame is combined by last face of weld, following face of weld, four rectangle steel columns connections, and the lifting transmission combination is installed in face of weld;
Two body side frames also are the rectangle steel structure, and upper end and central frame are connected and fixed, and the bottom is connected and fixed with walking built channel framework; Combinations of weights is installed in two body side frames;
The walking combination mainly is made up of travel driving motor, driving speed reducer, chan frame, transmission shaft, coupler, rail wheel, the travel driving motor outputting power is by driving speed reducer both sides outputting power, the drive transmission shaft rotates, and transmission shaft drives rail wheel and realizes walking function; Travel driving motor is connected with control housing.
Described lifting transmission combination comprises:
Pair of parallel is installed in the lifting transmission shaft at central frame top, and both link by chain by an end,
The two ends of two lifting transmission shafts are respectively equipped with the lifting driving chain wheel, also are provided with corresponding lifting driving chain wheel in the position corresponding with top lifting driving chain wheel, central frame bottom, also connect by the lifting driving chain between the lifting driving chain wheel of upper and lower correspondence;
Lifting transmission drive motor, lifting transmission speed reducer also are installed in the central frame top, and the lifting transmission speed reducer is connected with a lifting transmission shaft;
Lifting transmission drive motor is connected with control housing.
Described combinations of weights comprises:
Two pairs of entity bloom combinations lay respectively in two body side frames;
The counterweight sprocket wheel is installed in the top of two body side frames;
The counterweight chain, an end is connected with the entity bloom, and the other end is connected by counterweight sprocket wheel and lifting.
The PLC controller unit that is provided with in the described control housing, the PLC controller unit comprises power module, CPU module, serial port module, position module, analog quantity load module, switching value output module, switching input module, each module is installed on the interior guide rail of control housing side by side, is abutted against mouth each other and is connected; Wherein,
The CPU module is connected with touch-screen by RS-232 bus or Ethernet interface;
Serial port module is connected with background computer by the RS-485 bus, also is connected with monitoring system simultaneously;
The switching value output module is connected with control panel;
Position module is connected with described each motor by actuator, is provided with coder at the shaft end of described each motor, and coder is connected with each actuator;
The analog quantity load module is connected with monitoring system;
Switching input module also is connected with button, and button comprises common operation button and scram button, and scram button carries out urgency for the operating abnormal condition of exchange electric machine people and stops, and priority is first.
Described monitoring system comprises:
Long apart from laser sensor, it is installed in the top of framework combination;
Bar code sensor, it is installed in the lifting combination and makes up on the path of vertical lifting along framework,
Length is connected with serial port module respectively apart from laser sensor and bar code sensor;
Laser range sensor is connected with the analog quantity load module with zone location sensor DMP;
The two limit positions of stretching, contract at the end position of the rise and fall of lifting combination, in the pallet fork combination, make up the two limit positions of stretching, contracting in the battery pushing hands and be respectively equipped with limit switch; Release mechanism drive motor output axle head at release mechanism is provided with origin switch, and origin switch and limit switch are connected with switching input module respectively.
The utility model in use, to utilize lifting transmission combination falling-rising to come down to a lower group earlier and close and drop to batteries of electric automobile case position, utilize battery pushing hands combination to take out after the battery release then, then this battery is moved to the pallet that does not have battery box, the mode conversion battery case direction that adopts the original place to turn round, and then utilize battery pushing hands combination that battery box is put into pallet; The combination of lifting subsequently moves to again is equipped with charged pallet place, battery box place, utilize battery pushing hands combination that battery box is taken out, and then pirouette after one's death, and the battery box that drops to electric bus goes out, and with battery pushing hands combination battery sent into electric bus and locking.
The above-mentioned structure of not describing in detail, annexation, position relation etc. are the routine setting of this area, belong to common practise, do not repeat them here.
The beneficial effects of the utility model are:
1. change on the electric equipment pallet is installed, can disposable getting change the required all batteries of electric vehicle one side, reduced forced stroke, shorten and change the electricity time.
2. walking manner has adopted the double track design, and the double track design is more reliable than monorail design stability.
3. lifting type of drive adopts sprocket wheel, chain transmission mode, realizes the transmission of remote power.
4. adopt the original place rotation mode that battery is changed, the use of this kind mode satisfying under the prerequisite that battery box passes on, has been dwindled equipment volume.
5. rotation mode adopts the basket-hanging structure, and the terrain clearance of equipment further reduces like this, adapts to multiple model electronlmobil and changes electricity, and practicality is improved.
6. up-down mode uses the V-type roller to cooperate with the rectangle steel corner, has both reduced the usage quantity of roller, has satisfied the limit function of all around again.
7. the use of combinations of weights makes the power of lifting transmission combination drive motor reduce, and has alleviated weight.
8. control system not only makes simplifying of control mechanism, also shortened multiple changing electric machine people or inter-agency cooperation time and forced stroke time, make that the many structures of original multiple robot, polygamy close, locate more, multiple multiple mode of operation has changed single step into and put in place, change the electric machine people in changing electric process, can realize multi-shaft interlocked, can also realize to battery status locate automatically, the attitude adjustment, automatically identify and quick, accurate, the safe electric bus battery is changed, and then realize the advantage of functions such as battery extracting, installation.Further improve the reliability that changes electric equipment and changed efficient.
Description of drawings
Fig. 1 is integral structure scheme drawing of the present utility model;
Fig. 2 is for changing electric unitized construction scheme drawing;
Fig. 3 is walking unitized construction scheme drawing;
Fig. 4 is framework combination structural representation;
Fig. 5 is the combinations of weights structural representation;
Fig. 6 is lifting transmission combination structural representation;
Fig. 7 is lifting unitized construction scheme drawing;
Fig. 8 is objective table unitized construction scheme drawing;
Fig. 9 is spacing apparatus structure scheme drawing;
Figure 10 is pallet fork combination and battery composite structure scheme drawing;
Figure 11 is the release mechanism structural representation;
Figure 12 is for separating the lock head structure scheme drawing;
Figure 13 is Figure 12 section-drawing;
Figure 14 is the control system constructional drawing.
Wherein, 1. lifting combination, 2. objective table combination, 3. pallet fork combination, 4. battery pushing hands combination, 5. release mechanism, 6. inhibiting device, 7. lifting motor, 8. lifting decelerator, 9. lifter wheel, 10. lifting square steel framework, 11.V type wheels, 12. turntable bearing 13. lifting adapter plates, 14. lifting reinforced ribs, 15. lifting connecting panels, 16. the welding main body frame, 17. pitching motors, 18. pitching reducers, 19. pitching gear, 20. pitch axis bearing adapter plate, 21. turntable bearing outer ring adapter plates, 22. inhibiting device adapter plates, 23. spacing slide rail, 24. position limiting slide block, 25. postive stop baffles, 26. lower floor's pallet forks, 27. operative gear, 28. the pallet fork motor, 29. pallet fork reductors, 30. pallet fork driven wheels, 31. pitch axis bearing, 32. groove track, 33. upper strata pallet forks, 34. track strips, 35. nylon block, 36. pallet fork drives tooth bar, 37. roller mount pads, 38. roller I, 39. roller II, 40. the battery pushing hands drives tooth bar, 41. battery pushing hands slide rails, 42. zone location sensor DMP, 43. riser, 44. dull and stereotyped, 45. floors, 46.RFID read write line, 47. laser range sensor, 48. the release mechanism drive motor, 49. battery pushing hands drive motor, 50. seats that are slidingly installed, 51. semi-circular opening sleeve, 52. rot, 53. embedded disks, 54. limiting stoppers, 55. release mechanism, 56. the framework combination, 57. lifting transmission combinations, 58. combinations of weights, 59. pallet, 60. the walking combination, 61. control housings, 62. travel driving motor, 63. driving speed reducer, 64. coupler, 65. rail wheels, 66. transmission shafts, 67. chan frame, 68. last face of weld, 69. times face of weld, 70. rectangle steel columns, 71. two body side frames, 72. the counterweight chain, 73. counterweight sprocket wheels, the combination of 74. entity blooms, 75. lifting transmission drive motor, 76. the lifting transmission speed reducer, 77. lifting transmission shafts, 78. lifting driving chains, 79. lifting driving chain wheel, 80. background computer, 81. is long apart from laser sensor, 82. bar code sensors, 83. control panel, 84. button, 85. coders, 86. origin switchs, 87. limit switch, 88. power module, 89.CPU module, 90. serial port module, 91. position module, 92. the analog quantity load module, 93. switching value output modules, 94. switching input modules, 95. touch-screen, 96. actuators.
The specific embodiment
Be described further below in conjunction with accompanying drawing and the utility model of embodiment.
Among Fig. 1, Fig. 2, electronic commercial vehicle/comm..vehicle battery box one way of the present utility model is changed robot and is comprised a framework combination 56, make up 56 outsides at framework and be provided with that the panel beating covering is whole to wrap up, be the extraneous adornment covering, described decoration covering is divided into several parts, is inter-connected via a bolt joint to assemble, not only attractive in appearance, and can prevent effectively that foreign matter from entering and change electric machine people inside, cause device damage, influence normal operation.
Be respectively equipped with the pallet 59 of control housing 61 and battery box in the both sides of framework combination 56;
Be provided with the lifting that lifting transmission combination 57 is used for lifting combination 1 at the top of framework combination 56, also be provided with combinations of weights 58 in the both sides of framework combination 56 simultaneously, assist the lifting of lifting combination 1.
Are walking combinations 60 in the bottom of framework combination 56, walking combination 60 drives the motion of whole framework combination 60.
The objective table combination 2 that lifting combination bottom hung is free to rotate, the objective table combination is provided with pallet fork combination 3, battery pushing hands combination 4 and release mechanism 5, it takes off or sends into battery box by pallet fork combination 3 from electronic commercial vehicle/comm..vehicle, and battery pushing hands combination 4 pushes battery box in electronic commercial vehicle/comm..vehicle or the pallet 59;
Because hang free to rotate is adopted in objective table combination 2, after battery is taken off from electronic commercial vehicle/comm..vehicle, the original place is turned round and the battery box that takes off can be sent in the pallet 59 of having vacant position, and then charged battery box taken off from pallet 59, after the revolution battery box is sent back on the electronic commercial vehicle/comm..vehicle.Release when unlocking structure 5 is finished battery box and taken off, and locking after installing.
Described pallet 59 is combined by the panel beating bending, is divided into some layers, is respectively applied to install hold the housing that battery box is used.Housing is formed by panel beating bending welding machine, and there is the U-shaped groove of some rows the housing bottom surface, and roller is installed in the U-shaped groove, and described roller is I shape.
Among Fig. 3, described walking combination 60 mainly is made up of travel driving motor 62, driving speed reducer 63, chan frame 67, transmission shaft 66, coupler 64, rail wheel 65 etc., wherein travel driving motor 62 is by driving speed reducer 63 both sides outputting powers, drive transmission shaft 66 and rotate, transmission shaft 66 drives rail wheel 65 and realizes walking function.
Among Fig. 4, described framework combination 56 mainly is made up of two body side frames 71 of central frame and symmetry, described central frame is combined by the bolt connection by last face of weld 68, following face of weld 69, four rectangle steel columns 70, described two body side frames 71 are the rectangle steel structure, the upper end is connected and fixed with central frame, and the bottom is connected and fixed with the chan frame 67 of walking combination 60.
Among Fig. 5, described combinations of weights 58 mainly is made up of a pair of entity bloom combination 74, counterweight chain 72, counterweight sprocket wheel 73, the lifting connecting panel 15 of described counterweight chain 72 1 ends and lifting combination 1 is connected and fixed, the other end is connected with entity bloom combination 74 by counterweight sprocket wheel 73, when lifting combination 1 was risen, combinations of weights 58 was by the cooperate decline of counterweight sprocket wheel 73 with 72 on counterweight chain.Counterweight sprocket wheel 73 is installed in the top of two body side frames 71.
Among Fig. 6, described lifting transmission combination 57 mainly is made up of lifting transmission drive motor 75, lifting transmission speed reducer 76, a plurality of lifting driving chain wheel 79, a plurality of lifting driving chain 78, a pair of lifting transmission shaft 77.
The last face of weld 68 that is installed in central frame that two lifting transmission shafts 77 are parallel, both ends connect by lifting driving chain 78 and link; Two ends at two lifting transmission shafts 77 also are separately installed with lifting driving chain wheel 79, the following relevant position of face of weld 69 also be provided with above the corresponding lifting driving chain wheel 79 of lifting driving chain wheel 79, connect by corresponding lifting driving chain 78 between them, by lifting transmission speed reducer 76 outputting powers, driving two lifting transmission shafts 77 rotates, lifting transmission shaft 77 drives lifting driving chain wheel 79 and rotates, lifting driving chain wheel 79 drives lifting driving chain wheel 79 rotations of face of weld 68 down by lifting driving chain 78, realizes the lifting transmission.
Among Fig. 2, Fig. 7, Fig. 8, described lifting combination 1 mainly is made up of lifting motor 7, lifting decelerator 8, lifter wheel 9, lifting square steel framework 10, V shaped wheel group 11, turntable bearing 12, lifting adapter plate 13, lifting reinforced rib 14, lifting connecting panel 15.Described lifting square steel framework 10 has a frame plane, four jiaos on plane and four vertical welding of steel pipe, and totally 8 of V shaped wheel groups 11 are divided into 4 pairs, are installed in the two ends of four steel pipes respectively;
Described lifting adapter plate 13 is welded on the centre of frame plane, hollow out in the middle of the lifting adapter plate 13; Lifting reinforced rib 14 is welded on lifting adapter plate 13 surfaces and is connected with frame plane, and lifting reinforced rib 14 parts of midway location are stretched out, and play the rotary stopper effect.
Each V shaped wheel group 11 mainly is made up of roller mount pad, pivot shaft, axle sleeve, bearing, V-type roller, described mount pad is welded by base plate, both sides adapter plate, outside race cooperates with V-type roller endoporus, pivot shaft cooperates with bearing inner ring, each axle sleeve of both sides, pivot shaft is installed on the adapter plate of both sides, and the V-type roller is along 70 arm of angle liftings of four rectangle steel columns.
Objective table combination device of rotation driving comprises turntable bearing 12, and it is positioned at the bottom of lifting adapter plate 13 openwork parts, and meshes with lifter wheel 9, and lifter wheel 9 is connected with lifting motor 7 by lifting decelerator 8, and lifting motor 7 is connected with control housing 61; The inner ring of described turntable bearing 12 is slightly higher than the outer ring, and inner ring and lifting adapter plate 13 are connected and fixed.
Four jiaos at frame plane also are provided with lifting connecting panel 15, are " worker " font welded structure, are used for being connected with lifting driving chain 78.
Among Fig. 8, described objective table combination 2 mainly is made up of a welding main body frame 16, pitching motor 17, pitching reducer 18, pitching gear 19, pitch axis bearing adapter plate 20, turntable bearing outer ring adapter plate 21, inhibiting device adapter plate 22, inhibiting device 6 etc.Described welding main body frame 16 is a square cubic structure, and welding main body frame 16 1 side bottoms are installed pitching motor 17 and driven pitching reducer 18, pitching reducer 18 output shaft band pitching gears 19;
Two pitch axis bearing adapter plates 20 are welded on the front and back side of welding main body frame 16 bottoms; Described turntable bearing outer ring adapter plate 21 is welded on the top of main body frame 16, hollow out in the middle of the turntable bearing outer ring adapter plate 21, its underpart is inhibiting device adapter plate 22, inhibiting device 6 is installed on the inhibiting device adapter plate 22, described inhibiting device 6 is sliding structure, comprise spacing slide rail 23 and position limiting slide block 24 compositions as shown in Figure 9, described spacing slide rail 23 is fixed, position limiting slide block 24 and spacing slide rail 23 routing motions, spacing slide rail 23 two ends respectively have postive stop baffle 25 spacing, and the rotational angle of objective table combination 2 is limited.
Among Figure 10, described pallet fork combination 3 has Telescopic, is divided into two-layer up and down.A side mounting portion gear 27 below lower floor's pallet fork 26, described operative gear 27 is taken several teeth for gear blocks, and it and pitching gear 19 mesh, and finish the pitching action; Pallet fork motors 28 are installed in the middle of below lower floor's pallet fork 26, its band pallet fork reductor 29, pallet fork reductor 29 output shafts are installed pallet fork driven wheel 30, open a strip hole in the middle of lower floor's pallet fork 26, and pallet fork driven wheel 30 exposes a part from strip hole; Pitch axis bearing 31 is installed before and after below lower floor's pallet fork 26, and pitch axis bearing 31 is installed on the pitch axis bearing adapter plate 20; Mounting groove track 32 above lower floor's pallet fork 26.
Among Figure 11, described battery pushing hands group 4 is closed by sheet material and is welded, and is L type mechanism, and L type structure is that riser 43 and dull and stereotyped 44 is formed, and in order to gain in strength, both are in conjunction with going out to weld floor 45.The rfid interrogator 46 that reads battery box information is installed in riser 43 fronts, laser range sensor 47 is installed in riser 43 both sides, described laser range sensor 47 is used for measuring distance and the level angle of battery pushing hands and battery box, the middle release mechanism drive motor 48 of installing; Battery pushing hands drive motor 49 is installed on dull and stereotyped 44, and both sides, dull and stereotyped 44 bottom surface are connected by bolt with the seat 50 of being slidingly installed, by cooperate the motion of realization battery pushing hands with battery pushing hands slide rail 41.
Among Figure 12-Figure 13, described release mechanism 55 is collar plate shape, is divided into two semi-circular opening sleeves 51, rot 52, embedded disk 53 3 parts and forms, and two semi-circular opening sleeves 51 are connected and fixed with the riser 43 of battery pushing hands combination; Described rot 52 is " soil " font, and the smaller disk of upper end diameter cooperates with semi-circular opening sleeve 51, rotation in cover; Middle perpendicular cylinder cooperates with release mechanism drive motor 48 output shafts, and the disk that lower end diameter is big and embedded disk 53 are connected and fixed; Be an embedded word machine structure in the middle of the described embedded disk 53, embedded disk 53 inner face welded limiting pieces.
The PLC controller unit comprises power module 88, CPU module 89, serial port module 90, position module 91, analog quantity load module 92, switching value output module 93, switching input module 94; Each module is installed on the guide rail in the control housing 61 side by side, is abutted against each other mouthful to be connected;
Analog quantity load module 92 is connected with monitoring system;
Switching value output module 93 is connected with control panel 83;
Described monitoring system comprises:
Long apart from laser sensor 81, it is installed in the top of framework combination 56; Bar code sensor 82, it is installed in lifting combination 1 along on the path of framework combination 56 vertical liftings, is respectively applied to exchange the measurement and positioning of electric machine people walking and direction of improvement;
Length is connected with serial port module 90 respectively apart from laser sensor 81 and bar code sensor 82;
At the end position of the rise and fall of lifting combination 1, at pallet fork combination 3 two limit positionses of stretching, contract, make up 4 two limit positionses of stretching, contracting in the battery pushing hands and be respectively equipped with limit switch 87; Release mechanism drive motor 48 output axle heads at release mechanism 5 are provided with origin switch 86, and origin switch 86 and limit switch 87 are connected with switching input module 94 respectively.
Though above-mentionedly by reference to the accompanying drawings the specific embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (13)
1. an electronic commercial vehicle/comm..vehicle battery box one way is changed robot, it is characterized in that it comprises:
Framework combination, framework combination are installed in the walking combination;
One side of framework combination is the battery box pallet, and opposite side is installed control housing;
The lifting transmission combination is installed at the top of framework combination, and lifting transmission combination and lifting are connected, and the lifting combination is connected with combinations of weights;
The lifting combination is installed in the framework combination and moves up and down, and its four jiaos then are provided with the location wheels that match with the rectangle steel column of framework combination;
Objective table makes up the mode of rotating freely and is suspended on lifting combination bottom, and objective table combination simultaneously is connected with objective table combination device of rotation driving, freely rotates thereby make objective table be combined in suspension place original place, also is provided with rotating limit device in the objective table combination;
The pallet fork combination that the replacing battery box is used and battery pushing hands combination are installed in objective table combination bottom;
Control housing is communicated by letter with background computer, and by each motor in monitoring system control walking combination, lifting transmission combination, objective table combination, objective table combination device of rotation driving, pallet fork combination and the battery pushing hands combination, finish walking and battery altering action that described electronic commercial vehicle/comm..vehicle battery box one way is changed robot.
2. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 1 is changed robot, it is characterized in that, described lifting combination comprises:
Lifting square steel framework is installed the location wheels four jiaos of lifting square steel frameworks, and described location wheels are the V shaped wheel group;
Lifting square steel framework also is provided with the lifting connecting panel for four jiaos, is used for connecting lifting transmission combination and combinations of weights;
Lifting square steel frame mid portion is equipped with the lifting adapter plate of hollow out, and the lifting adapter plate is provided with some lifting reinforced ribs, and the reinforced rib plate portion in the middle of wherein being positioned at stretches out;
Objective table combination device of rotation driving is installed in lifting adapter plate bottom, and the objective table combined suspension is on objective table combination device of rotation driving.
3. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 2 is changed robot, it is characterized in that, described objective table combination device of rotation driving comprises turntable bearing, it is positioned at the bottom of lifting adapter plate openwork part, and mesh with lifter wheel, lifter wheel is connected with lifting motor by lifting decelerator, and lifting motor is connected with control housing; The inner ring of described turntable bearing is slightly higher than the outer ring, and inner ring and lifting adapter plate are connected and fixed.
4. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 2 is changed robot, it is characterized in that described V shaped wheel group has 8, is divided into four pairs, and every pair of V shaped wheel group is installed in the two ends of a steel pipe respectively, and each steel pipe is connected in four jiaos of lifting square steel framework; Each V shaped wheel group all has a V-type roller, and two medial surfaces of each V-type roller all are fastened on the square edge of corresponding rectangle steel column.
5. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 1 is changed robot, it is characterized in that, described objective table combination comprises:
The welding main body frame, it is a square cubic structure;
Pitching motor and pitching reducer, their welding main body frame one side bottoms, pitching reducer output shaft band pitching gear, the pitching action is finished in the combination of pitching gear drive pallet fork, and pitching motor is connected with control housing; The front and back side bottom of welding main body frame welds pitch axis bearing adapter plate respectively, and the pallet fork combination is installed on the pitch axis bearing adapter plate;
Turntable bearing outer ring adapter plate is welded on the top of main body frame, is the limiting stopper adapter plate under the adapter plate of turntable bearing outer ring, and inhibiting device is installed on the limiting stopper adapter plate;
Inhibiting device is sliding structure, is made up of spacing slide rail and position limiting slide block, and described spacing slide rail is fixed, position limiting slide block and spacing slide rail routing motion, and spacing slide rail two ends respectively have postive stop baffle spacing.
6. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 5 is changed robot, it is characterized in that, described pallet fork combination is divided into two-layer up and down:
A side mounting portion gear below lower floor's pallet fork, operative gear are the parts that comprises several teeth of taking after a gear is blocked, operative gear and the engagement of pitching gear; Following middle pallet fork motor, the pallet fork reductor installed of lower floor's pallet fork, the pallet fork speed reducer output shaft is installed the pallet fork driven wheel; Open a strip hole in the middle of lower floor's pallet fork, the pallet fork driven wheel exposes a part from strip hole; Side is installed the pitch axis bearing before and after lower floor's pallet fork, and the pitch axis bearing is installed on the pitch axis bearing adapter plate; Mounting groove track above lower floor's pallet fork;
The following attachment rail bar of upper strata pallet fork is installed nylon block on the described track strip, and nylon block is crank motion in groove track; The following installation pallet fork of upper strata pallet fork drives tooth bar, and described pallet fork drives tooth bar and the engagement of pallet fork driven wheel; The roller mount pad is arranged in the top installation of upper strata pallet fork more, the mount pad lateral surface of both sides is concordant with upper strata pallet fork lateral surface, roller I is installed in the mount pad of both sides, middle mount pad is installed roller II, middle mount pad left side is installed the battery pushing hands and is driven tooth bar, be provided with battery pushing hands slide rail between the mount pad of the mount pad of both sides and centre, battery pushing hands combination is installed on the battery pushing hands slide rail; Upper strata pallet fork two outside installation region alignment sensor DMP, pallet fork motor, zone location sensor DMP all are connected with control housing.
7. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 6 is changed robot, it is characterized in that, described battery pushing hands combination is welded by sheet material, is L type mechanism, and L type structure is by riser and dull and stereotyped the composition, and both are provided with floor in the junction;
The rfid interrogator that reads battery box information is installed in the riser front, and laser range sensor is installed in the riser side, and described laser range sensor is used for measuring distance and the level angle of battery pushing hands and battery box;
The release mechanism drive motor is installed in the middle of the riser, and release mechanism drive motor output shaft is connected with the solution tapered end; Battery pushing hands drive motor is installed on the flat board, and the seat that is slidingly installed is installed in the planar bottom surface both sides, and the seat that is slidingly installed cooperates the motion that realizes the battery pushing hands with battery pushing hands slide rail;
Rfid interrogator, laser range sensor, release mechanism drive motor all are connected with control housing.
8. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 7 is changed robot, it is characterized in that described solution tapered end is collar plate shape, is divided into two semi-circular opening sleeves, rot, embedded disk three parts composition;
The riser of described two semi-circular opening sleeves and battery pushing hands combination is connected and fixed;
Described rot is " soil " font, and the smaller disk of upper end diameter cooperates with two semi-circular opening sleeves, rotation in cover; Middle perpendicular cylinder cooperates with release mechanism drive motor output shaft, and the disk that lower end diameter is big and embedded disk are connected and fixed;
Described embedded disk, centre are an embedded word machine structure, embedded disk inner face welded limiting piece.
9. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 1 is changed robot, it is characterized in that, described framework combination comprises:
Central frame and two body side frames, their outsides are provided with the panel beating covering;
Central frame is combined by last face of weld, following face of weld, four rectangle steel columns connections, and the lifting transmission combination is installed in face of weld;
Two body side frames also are the rectangle steel structure, and upper end and central frame are connected and fixed, and the bottom is connected and fixed with walking built channel framework; Combinations of weights is installed in two body side frames;
The walking combination mainly is made up of travel driving motor, driving speed reducer, chan frame, transmission shaft, coupler, rail wheel, the travel driving motor outputting power is by driving speed reducer both sides outputting power, the drive transmission shaft rotates, and transmission shaft drives rail wheel and realizes walking function; Travel driving motor is connected with control housing.
10. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 9 is changed robot, it is characterized in that described lifting transmission combination comprises:
Pair of parallel is installed in the lifting transmission shaft at central frame top, and both link by chain by an end,
The two ends of two lifting transmission shafts are respectively equipped with the lifting driving chain wheel, also are provided with corresponding lifting driving chain wheel in the position corresponding with top lifting driving chain wheel, central frame bottom, also connect by the lifting driving chain between the lifting driving chain wheel of upper and lower correspondence;
Lifting transmission drive motor, lifting transmission speed reducer also are installed in the central frame top, and the lifting transmission speed reducer is connected with a lifting transmission shaft;
Lifting transmission drive motor is connected with control housing.
11. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 9 is changed robot, it is characterized in that described combinations of weights comprises:
A pair of entity bloom combination lays respectively in two body side frames;
The counterweight sprocket wheel is installed in the top of two body side frames;
The counterweight chain, an end is connected with the entity bloom, and the other end is connected by counterweight sprocket wheel and lifting.
12. electronic commercial vehicle/comm..vehicle battery box one way as claimed in claim 1 is changed robot, it is characterized in that, the PLC controller unit that is provided with in the described control housing, the PLC controller unit comprises power module, CPU module, serial port module, position module, analog quantity load module, switching value output module, switching input module, each module is installed on the interior guide rail of control housing side by side, is abutted against mouth each other and is connected; Wherein,
The CPU module is connected with touch-screen by RS-232 bus or Ethernet interface;
Serial port module is connected with background computer by the RS-485 bus, also is connected with monitoring system simultaneously;
The switching value output module is connected with control panel;
Position module is connected with described each motor by actuator, is provided with coder at the shaft end of described each motor, and coder is connected with each actuator;
The analog quantity load module is connected with monitoring system;
Switching input module also is connected with button, and button comprises common operation button and scram button, and scram button carries out urgency for the operating abnormal condition of exchange electric machine people and stops, and priority is first.
13. change robot as claim 1 or 6 or 12 described electronic commercial vehicle/comm..vehicle battery box one way, it is characterized in that described monitoring system comprises:
Long apart from laser sensor, it is installed in the top of framework combination;
Bar code sensor, it is installed in the lifting combination and makes up on the path of vertical lifting along framework;
Length is connected with serial port module respectively apart from laser sensor and bar code sensor;
Laser range sensor is connected with the analog quantity load module with zone location sensor DMP;
The two limit positions of stretching, contract at the end position of the rise and fall of lifting combination, in the pallet fork combination, make up the two limit positions of stretching, contracting in the battery pushing hands and be respectively equipped with limit switch; Release mechanism drive motor output axle head at release mechanism is provided with origin switch, and origin switch and limit switch are connected with switching input module respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320149256 CN203142639U (en) | 2013-03-28 | 2013-03-28 | Single-way replacing robot for battery box of electric commercial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320149256 CN203142639U (en) | 2013-03-28 | 2013-03-28 | Single-way replacing robot for battery box of electric commercial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203142639U true CN203142639U (en) | 2013-08-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320149256 Withdrawn - After Issue CN203142639U (en) | 2013-03-28 | 2013-03-28 | Single-way replacing robot for battery box of electric commercial vehicle |
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| Country | Link |
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| CN (1) | CN203142639U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144615A (en) * | 2013-03-28 | 2013-06-12 | 山东鲁能智能技术有限公司 | Electric commercial vehicle battery box single-trip replacement robot |
| CN104118404A (en) * | 2014-06-30 | 2014-10-29 | 王俊 | Robot for replacing batteries |
| CN104724081A (en) * | 2013-12-20 | 2015-06-24 | 国家电网公司 | Battery swap system for all-electric commercial vehicles |
| CN106627512A (en) * | 2016-12-01 | 2017-05-10 | 西安航天精密机电研究所 | Full-automatic battery changing robot for electric automobile |
| KR101882749B1 (en) | 2018-02-22 | 2018-07-30 | 주식회사 에이치엔에이치 | Ess battery rack dedicated storge device |
| CN109775281A (en) * | 2019-03-29 | 2019-05-21 | 北京新能源汽车股份有限公司 | Battery transfer device |
| CN112572221A (en) * | 2019-09-11 | 2021-03-30 | 沈阳新松机器人自动化股份有限公司 | Automatic battery replacing device for mobile robot |
-
2013
- 2013-03-28 CN CN 201320149256 patent/CN203142639U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144615A (en) * | 2013-03-28 | 2013-06-12 | 山东鲁能智能技术有限公司 | Electric commercial vehicle battery box single-trip replacement robot |
| CN103144615B (en) * | 2013-03-28 | 2015-10-28 | 山东鲁能智能技术有限公司 | Electric commercial vehicle battery box one way changes robot |
| CN104724081A (en) * | 2013-12-20 | 2015-06-24 | 国家电网公司 | Battery swap system for all-electric commercial vehicles |
| CN104118404A (en) * | 2014-06-30 | 2014-10-29 | 王俊 | Robot for replacing batteries |
| CN104118404B (en) * | 2014-06-30 | 2016-07-06 | 王俊 | Change robot with battery |
| CN106627512A (en) * | 2016-12-01 | 2017-05-10 | 西安航天精密机电研究所 | Full-automatic battery changing robot for electric automobile |
| KR101882749B1 (en) | 2018-02-22 | 2018-07-30 | 주식회사 에이치엔에이치 | Ess battery rack dedicated storge device |
| CN109775281A (en) * | 2019-03-29 | 2019-05-21 | 北京新能源汽车股份有限公司 | Battery transfer device |
| CN112572221A (en) * | 2019-09-11 | 2021-03-30 | 沈阳新松机器人自动化股份有限公司 | Automatic battery replacing device for mobile robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130821 Effective date of abandoning: 20151028 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |