CN211469634U - Battery transfer mechanism and battery replacing robot - Google Patents

Battery transfer mechanism and battery replacing robot Download PDF

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Publication number
CN211469634U
CN211469634U CN201921824525.1U CN201921824525U CN211469634U CN 211469634 U CN211469634 U CN 211469634U CN 201921824525 U CN201921824525 U CN 201921824525U CN 211469634 U CN211469634 U CN 211469634U
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China
Prior art keywords
tray
battery
temporary storage
pick
place
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CN201921824525.1U
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Chinese (zh)
Inventor
邬全兵
邹宸邦
李宁
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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Abstract

The application discloses a battery transfer mechanism and a battery replacing robot, wherein double tray devices are connected with a vertical lifting mechanism on the battery replacing robot, each double tray device comprises an upper tray device and a lower tray device, and the upper tray device and the lower tray device are connected through a tray bracket; the trays are of a double-layer double-tray structure, when one tray is a temporary storage tray and the other tray is a taking and placing tray, the temporary storage tray can be used for placing batteries which do not need to be operated, and the taking and placing tray is used for carrying out spent battery lifting and full battery placing operations of the construction robot; when two trays are used for taking and placing the trays, the dead battery lifting operation of the construction robot can be carried out on one tray, the full battery placing operation is carried out on the other tray, the battery replacement flexibility is improved, and the battery replacement process is optimized.

Description

Battery transfer mechanism and battery replacing robot
Technical Field
The utility model relates to a device is changed to the battery, a battery transport mechanism and a change battery robot specifically says so.
Background
With the continuous decline of labor force in construction sites and the danger in construction, the construction robot will gradually replace manpower as the main force in construction work. Due to the conditions of the construction site, the robot often needs to be powered remotely by a battery rather than an electric wire. At present, one of the important energy supply methods of the construction robot is battery replacement. The battery replacement means that the power battery which is fully charged replaces the power battery which is exhausted on the construction robot to complete the electric energy supplement.
Generally, the weight of a battery used by a construction robot is about 50 kilograms, the traditional manual battery replacement efficiency is low, and the personal safety problem also exists. And the automation of the building robot in the process of charging and replacing the battery can be realized through the battery replacing robot. A general battery replacement robot moves back and forth between a charging station and a construction robot to remove a power battery in a low-power state and fix a power battery in a full-power state to the construction robot.
The applicant develops a battery replacing robot with a battery rack, the battery rack is provided with a plurality of battery bins, if the battery replacing robot carries a full-bin battery, a conventional battery transfer mechanism only has one taking and placing unit, and when a single taking and placing unit takes off a dead battery on a working robot, the full-battery on the battery rack cannot be taken out. Or if each battery compartment carries more than two batteries, after the first battery position of the battery compartment is loaded with the dead battery, the single taking and placing unit cannot take out the fully charged battery at the back of the dead battery in the battery compartment.
Disclosure of Invention
In view of this, the utility model provides a battery transport mechanism and a change battery robot for solve the problem that exists among the prior art.
A battery transfer mechanism comprises at least two trays for placing batteries; and the at least two trays are arranged on the tray support along the vertical direction.
Preferably, at least one of the at least two trays is a pick-and-place tray, the pick-and-place tray comprising:
a pick-and-place tray guide mounted to the tray support;
a plurality of pick-and-place tray rollers mounted on the pick-and-place tray guide rails;
and the driving piece drives the at least one tray roller to rotate.
Preferably, the plurality of tray taking and placing rollers comprise a tray taking and placing driving roller and a tray taking and placing driven roller, and the width of the tray taking and placing driving roller is greater than that of the tray taking and placing driven roller; the drive roller of the tray and the driven roller of the tray are connected through a synchronous belt.
Preferably, the width of the drive roller of the picking and placing tray is equal to the width between the tray supports.
Preferably, at least one of the at least two trays is a staging tray, the staging tray comprising:
a temporary storage tray guide rail mounted on the tray support;
the temporary storage tray rollers are arranged on the temporary storage tray guide rails;
the driving piece drives at least one temporary storage tray roller to rotate;
the temporary storage tray baffle is installed on the temporary storage tray guide rail.
Preferably, the plurality of temporary storage tray rollers comprise a temporary storage tray driving roller and a temporary storage tray driven roller, and the width of the temporary storage tray driving roller is equal to that of the temporary storage tray driven roller; the temporary storage tray driving roller and the temporary storage tray driven roller are connected through a synchronous belt.
Preferably, the temporary storage tray baffle is installed in front of and at both sides of the temporary storage tray; the height of the temporary storage tray baffle is higher than the upper surfaces of the temporary storage tray driving roller and the temporary storage tray driven roller.
Preferably, the length of the pick-and-place tray guide rail is greater than that of the temporary storage tray guide rail.
Preferably, the tray support has a tray support flaring structure above the pick-and-place tray or the temporary storage tray.
The utility model provides a robot for replacing batteries, which comprises a base; a chassis; the battery rack is fixedly arranged on the chassis and comprises at least one battery compartment for accommodating batteries, and the battery compartment is provided with an inlet and an outlet for the batteries to enter and exit; the battery transfer mechanism can move the battery out of and into the battery bin and the battery box of the operation robot; and the lifting mechanism drives the battery transfer mechanism to move between the inlet and the outlet of the battery box of the operating robot and the inlet and the outlet of the battery cabin.
To sum up, be provided with and install two at least trays on the tray support along vertical direction, make full use of battery compartment space for the battery compartment of changing battery robot carries more batteries.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a battery replacement process of a battery replacement robot;
FIG. 2 is a schematic diagram of a dual tray device according to a first embodiment of the battery replacement robot;
FIG. 3 is a schematic view of a dual tray device according to a second embodiment of the battery replacing robot;
in the figure: 1-a battery compartment; 2-a battery; 3-a tray device; 4-a vertical lifting mechanism; 5-a battery change robot; 301-pick and place tray; 311-picking and placing tray passive roller; 321-taking and placing tray driving roller; 331-pick-and-place tray connecting line; 351-taking and placing tray guide rails; 302-temporary storage tray; 312-temporary storage tray passive roller; 322-temporary storage tray drive roll; 332-temporary storage tray connecting line; 342-a temporary storage tray baffle; 352-temporary storage tray guide rails; 303-tray support; 313 — pallet support flare.
Detailed Description
An embodiment of the utility model provides a battery transport mechanism for solve the problem that exists among the prior art.
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
For explaining the present invention in more detail, the following description is specifically made with reference to the accompanying drawings.
As shown in fig. 1-3, a battery transfer mechanism includes at least two tray devices 3 for holding batteries; and a tray support 303, at least two trays being installed on the tray support 303 in a vertical direction.
At least two trays can be all the taking and placing trays, or one part of the trays can be the taking and placing tray, and the other part of the trays can be the temporary storage tray. The battery can be moved out or in between a battery bin of the battery replacing robot and a battery box of the operating robot by the taking and placing tray; the temporary storage tray can move the battery out of or into a battery bin of the battery replacing robot. When all of the at least two trays are the pick-and-place tray 301, a part of the trays simultaneously play a role in temporarily storing the trays and picking and placing the trays. The taking and placing tray 301 is used for taking the dead battery 2 and placing the full-charged battery 2. The pick-and-place tray 301 includes: a pick-and-place tray guide 351, the pick-and-place tray guide 351 being mounted to the tray support 303; a plurality of pick-and-place tray rollers mounted on the pick-and-place tray guide rails 351; the driving piece drives at least one tray roller to rotate; the plurality of tray taking and placing rollers comprise a tray taking and placing driving roller 321 and a tray taking and placing driven roller 311, and the battery 2 is moved by the rotation of the tray taking and placing driving roller 321 and the tray taking and placing driven roller 311; the width of the taking and placing tray guide rail 351 is larger than that of the taking and placing tray driven roller 311, so that the taking and placing tray 351 guide rail directly extends to the lower part of a battery box of the operating robot to take and place batteries; the pick-and-place tray driving roller 321 is connected with the pick-and-place tray 311 driven roller through a synchronous belt; the width of the pick-and-place tray drive roller 321 is equal to the width between the tray supports 303.
The temporary storage tray 302 includes: a temporary storage tray guide 352, the temporary storage tray guide 352 being mounted on the tray support 303; a plurality of temporary storage tray rollers mounted on temporary storage tray guide rails 352; the driving piece drives at least one temporary storage tray roller to rotate; a temporary storage tray baffle 342, the temporary storage tray baffle 342 being mounted on the temporary storage tray guide rail; the plurality of temporary storage tray rollers include a temporary storage tray driving roller 322 and a temporary storage tray driven roller 312, and the battery 2 is moved by the rotation of the temporary storage tray driving roller 322 and the temporary storage tray driven roller 312; the width of the transient tray drive roller 322 is equal to the width of the transient tray driven roller 312; the buffer tray drive roller 322 and the buffer tray driven roller 312 are connected by a timing belt.
A temporary storage tray baffle 342 is installed in front of and at both sides of the temporary storage tray 302; the height of the temporary storage tray baffle 342 is higher than the upper surfaces of the temporary storage tray drive roller 322 and the temporary storage tray driven roller 312.
The tray support 303 includes two side plates for connecting with a tray; the tray support is provided with a tray support expanding opening 313 structure above the picking and placing tray or the temporary storage tray.
The tray support 303 is connected to the vertical lift mechanism 4 on the battery-replacing robot.
Specific example 1:
as shown in fig. 2, the battery compartment 1 of the construction robot and the construction robot 5 are included in the process of battery replacement. Wherein, the battery compartment 1 can automatically eject the battery 2 through the guide rail; the battery replacing robot 5 comprises a vertical lifting mechanism 4 and a double tray 3; the vertical lifting mechanism 4 comprises a motor and a lead screw and is connected with the double-layer tray device 3, and the lead screw is driven by the motor to realize the up-and-down motion of the double-layer tray device 3 in the vertical direction, so that the battery 2 is taken and placed.
Fig. 2 shows a schematic structure of the transfer mechanism including two trays, i.e., a double-tray structure, but three, four or more trays are provided in the embodiment. The double-tray structure comprises an upper tray and a lower tray. The upper layer tray is a temporary storage tray 302 which can be used for placing batteries which do not need to be operated; the lower layer tray is a taking and placing tray 301 which can carry out the operation of lifting the dead battery 2 and placing the full-charge battery of the construction robot; the two layers of trays are connected through a tray bracket 303.
The pick-and-place tray 301 includes: a pick-and-place tray guide 351, the pick-and-place tray guide 351 being mounted to the tray support 303; the 6 taking and placing tray rollers are arranged on the taking and placing tray guide rails 351; the driving piece drives at least one tray roller to rotate; the tray taking and placing rollers comprise 5 tray taking and placing driving rollers 321 and 1 tray taking and placing driven roller 311, and the batteries 2 are moved through the rotation of the 5 tray taking and placing driving rollers 321 and the 1 tray taking and placing driven roller 311; the width of the taking and placing tray guide rail 351 is larger than that of the taking and placing tray driven roller 311, so that the taking and placing tray 351 guide rail directly stretches to the lower portion of a battery box of the operating robot to take and place batteries. The pick-and-place tray driving roller 321 is positioned at one side close to the inside of the pick-and-place tray 301; the width of the pick-and-place tray drive roller 321 is equal to the width between the tray supports 303. The pick-and-place tray driving roller 321 is provided with a temporary storage tray connecting line 322 connected with the outside, and can obtain an electric signal to control rotation; the drive roller 321 of the taking and placing tray and the driven roller of the taking and placing tray 311 are connected through a synchronous belt, so that the rotating speeds of different rollers are consistent.
The tray support 303 includes two side plates for connecting with a tray; the tray support is provided with a tray support flaring 313 structure above the picking and placing tray or the temporary storage tray, so that the condition that the battery collides with the side plate on the tray below can be avoided under the condition that the battery is not aligned.
One of the two trays is a temporary storage tray 302, and the temporary storage tray 302 is used for placing the battery 2 which does not need to be operated; the temporary storage tray 302 includes: a temporary storage tray guide 352, the temporary storage tray guide 352 being mounted on the tray support 303; 4 temporary storage tray rollers mounted on temporary storage tray guide rails 352; the driving piece drives at least one temporary storage tray roller to rotate; a temporary storage tray baffle 342, the temporary storage tray baffle 342 being mounted on the temporary storage tray guide rail; the temporary storage tray rollers include 1 temporary storage tray driving roller 322 and 3 temporary storage tray driven rollers 312, and the battery 2 is moved by the rotation of the temporary storage tray driving roller 322 and the temporary storage tray driven rollers 312; the width of the temporary storage tray driving roller 322 is equal to the width of the temporary storage tray driven roller 312, which is 330 mm; the temporary storage tray driving roller 322 is positioned at one side close to the inner part of the tray, and the temporary storage tray driving roller 322 is provided with a temporary storage tray connecting wire 332 connected with the outer part and can obtain an electric signal to control the rotation; the temporary storage tray driving roller 322 and the temporary storage tray driven roller 312 are connected through a synchronous belt, so that the rotating speeds of different rollers are consistent.
A temporary storage tray baffle 342 is installed in front of and at both sides of the temporary storage tray 302; the height of the temporary storage tray baffle 342 is higher than the upper surfaces of the temporary storage tray driving roller 322 and the temporary storage tray driven roller 312, so that the displacement of the batteries entering the tray can be limited, and the batteries are prevented from sliding down when being stored.
The length of the tray taking and placing guide rail 351 is larger than that of the temporary storage tray guide rail 352, so that the battery replacing robot is prevented from being close to the operating robot.
When the battery is replaced, firstly, the battery bin 1 automatically pops up the battery 2 through the U-shaped guide rail; then the battery replacing robot 5 lowers the height of the taking and placing tray 301 to be lower than the height of the building robot for ejecting the dead battery 2 through the vertical lifting mechanism 4; the battery replacing robot 5 moves to the vicinity of the construction robot, and the taking and placing tray 301 is positioned below the dead battery; the vertical lifting mechanism 4 lifts the taking and placing tray 301 to jack up the dead battery to leave the U-shaped guide rail extending out of the battery bin 1; the taking and placing tray 301 conveys the dead battery to a storage bin carried by the battery replacing robot 5; the pick-and-place tray 301 reloads the fully charged batteries from the storage bins; the vertical lifting mechanism 4 reduces the height of the tray to make the fully charged battery fall on the U-shaped guide rail of the battery bin; the battery compartment withdraws the U-shaped guide rail and the upper battery to complete the battery replacement operation.
Specific example 2:
as shown in fig. 3, in the present embodiment, the battery transferring mechanism includes two trays, and the upper tray and the lower tray are both pick-and-place trays 301; the two layers of trays are connected through a tray bracket 303. It can be said that, get in this embodiment and put the tray and keep in the tray structure the same, have some promptly to get and put the tray and both carried out the function of getting and put the tray, can shift out or immigration between the battery compartment of changing battery robot and the battery box of work robot with the battery, can shift out or immigration battery again and change the battery compartment upper tray device and the lower tray device of the battery compartment pair tray of battery robot all adopt to get and put the tray, can reduce the height of lead screw for two trays rise a less height and just can get the battery. For example, after the structure of the temporary storage tray of the upper tray of the double trays is changed into the structure of taking and placing the tray, the battery of the uppermost battery compartment is taken, the height of one battery compartment can be increased by less, and a section of lifting mechanism can be omitted.
The pick-and-place tray 301 includes: a pick-and-place tray guide 351, the pick-and-place tray guide 351 being mounted to the tray support 303; the 6 taking and placing tray rollers are arranged on the taking and placing tray guide rails 351; the driving piece drives at least one tray roller to rotate; the tray taking and placing rollers comprise 5 tray taking and placing driving rollers 321 and 1 tray taking and placing driven roller 311, and the batteries 2 are moved through the rotation of the 5 tray taking and placing driving rollers 321 and the 1 tray taking and placing driven roller 311; the width of the pick-and-place tray driving roller 321 is greater than the width of the pick-and-place tray driven roller 311. The pick-and-place tray driving roller 321 is positioned at one side close to the inside of the pick-and-place tray 301; the width of the pick-and-place tray guide 351 is equal to the width between the tray supports 303. The pick-and-place tray driving roller 321 is provided with a temporary storage tray connecting line 322 connected with the outside, and can obtain an electric signal to control rotation; the drive roller 321 of the taking and placing tray and the driven roller of the taking and placing tray 311 are connected through a synchronous belt, so that the rotating speeds of different rollers are consistent.
The tray support 303 includes two side plates for connecting with a tray; the tray support is provided with a tray support flaring 313 structure above the picking and placing tray or the temporary storage tray, so that the condition that the battery collides with the side plate on the tray below can be avoided under the condition that the battery is not aligned.
When the battery is replaced, firstly, the battery bin 1 automatically pops up the battery 2 through the U-shaped guide rail; then the battery replacing robot 5 lowers the height of the lower layer pick-and-place tray 301 to be lower than the height of the dead battery ejected by the construction robot through the vertical lifting mechanism 4; the battery replacing robot 5 moves to the vicinity of the construction robot, and the lower layer taking and placing tray 301 is positioned below the dead battery; the vertical lifting mechanism 4 lifts the lower layer taking and placing tray 301 to jack up the U-shaped guide rail extending out of the battery compartment for the dead battery; the lower layer taking and placing tray 301 conveys the dead battery to a storage bin carried by the battery replacing robot 5, and meanwhile, the upper layer taking and placing tray 301 obtains a full-charge battery from the storage bin; the vertical lifting mechanism 4 lowers the height of the upper layer pick-and-place tray 301, so that the fully charged battery falls on the U-shaped guide rail of the battery bin; the battery compartment withdraws the U-shaped guide rail and the upper battery to complete the battery replacement operation.
The battery transport mechanism that this embodiment provided is provided with along vertical direction install in two at least trays on the tray support can make full use of battery compartment space for more batteries are carried to the battery compartment. One of the at least two trays is used for taking and placing the tray, and the other tray is used for temporarily storing the tray. When all battery compartments all carry full storehouse battery, when needing to place the dead battery of first operation robot in the battery compartment in order vacating to get and put the tray, the tray of keeping in can take out full storehouse battery from the battery compartment earlier in order vacating the vacancy, get to put the dead battery of tray in with operation robot battery box and put into this vacancy after, go the battery compartment again and get full battery and put into operation robot's battery box. Or when the entrance of the battery compartment is used for placing the dead battery and the battery compartment is internally provided with the fully charged battery, the temporary storage tray firstly takes out the dead battery at the entrance of the battery compartment and takes out the fully charged battery behind the dead battery. If only one picking tray is arranged, a layer of battery bin is required to be left to be specially used for temporarily storing batteries.
The embodiment also provides a robot for replacing the battery, which comprises; a chassis; the battery rack is fixedly arranged on the chassis and comprises at least one battery compartment for accommodating batteries, and the battery compartment is provided with an inlet and an outlet for the batteries to enter and exit; the battery transfer mechanism can move the battery out of the battery compartment and the battery box of the operation robot and move the battery into the battery compartment and the battery box of the operation robot; and the lifting mechanism can drive the battery transfer mechanism to move between the inlet and the outlet of the battery box and the inlet and the outlet of the battery bin of the operating robot.
The change battery robot that this embodiment provided, through the vertical range upon range of battery transport mechanism of upgrading mechanism cooperation, can make full use of change battery robot's vertical space, avoid changing battery robot lateral dimension too big, can not get into the room through the door and change the battery for work robot, also avoid changing battery robot longitudinal dimension too big, can not turn in narrow area.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A battery transfer mechanism is characterized by comprising at least two trays for placing batteries; and the at least two trays are arranged on the tray support along the vertical direction.
2. The battery transfer mechanism of claim 1, wherein at least one of the at least two trays is a pick-and-place tray, the pick-and-place tray comprising:
a pick-and-place tray guide mounted to the tray support;
a plurality of pick-and-place tray rollers mounted on the pick-and-place tray guide rails;
and the driving piece drives the at least one tray roller to rotate.
3. The battery transfer mechanism of claim 2, wherein the plurality of pick-and-place tray rollers comprises a pick-and-place tray driving roller and a pick-and-place tray driven roller, and the pick-and-place tray driving roller has a width greater than the pick-and-place tray driven roller; the drive roller of the tray and the driven roller of the tray are connected through a synchronous belt.
4. The battery transfer mechanism of claim 2, wherein the pick-and-place tray guide has a width equal to the width between the tray supports.
5. A battery transfer mechanism according to any of claims 2 to 4, wherein at least one of the at least two trays is a staging tray comprising:
a temporary storage tray guide rail mounted on the tray support;
the temporary storage tray rollers are arranged on the temporary storage tray guide rails; the driving piece drives at least one temporary storage tray roller to rotate;
the temporary storage tray baffle is installed on the temporary storage tray guide rail.
6. The battery transfer mechanism of claim 5, wherein the plurality of buffer tray rollers comprises a buffer tray drive roller and a buffer tray driven roller, the buffer tray drive roller having a width equal to a width of the buffer tray driven roller; the temporary storage tray driving roller and the temporary storage tray driven roller are connected through a synchronous belt.
7. The battery transfer mechanism of claim 5, wherein said staging tray baffle is mounted in front of and on both sides of said staging tray; the height of the temporary storage tray baffle is higher than the upper surfaces of the temporary storage tray driving roller and the temporary storage tray driven roller.
8. The battery transfer mechanism of claim 5, wherein the pick-and-place tray guide has a length greater than the staging tray guide.
9. The battery transfer mechanism of claim 8, wherein the tray support has a tray support flaring structure above the pick-and-place tray or the staging tray.
10. A robot for replacing a battery, comprising; a chassis;
the battery rack is fixedly arranged on the chassis and comprises at least one battery compartment for accommodating batteries, and the battery compartment is provided with an inlet and an outlet for the batteries to enter and exit;
the battery transfer mechanism according to any one of claims 1 to 9, capable of moving a battery out of and into the battery compartment and a battery box of an operation robot;
and the lifting mechanism drives the battery transfer mechanism to move between the inlet and the outlet of the battery box of the operating robot and the inlet and the outlet of the battery cabin.
CN201921824525.1U 2019-10-28 2019-10-28 Battery transfer mechanism and battery replacing robot Active CN211469634U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921824525.1U CN211469634U (en) 2019-10-28 2019-10-28 Battery transfer mechanism and battery replacing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921824525.1U CN211469634U (en) 2019-10-28 2019-10-28 Battery transfer mechanism and battery replacing robot

Publications (1)

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CN211469634U true CN211469634U (en) 2020-09-11

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Application Number Title Priority Date Filing Date
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