CN213918323U

CN213918323U - Robot gripper for automobile battery replacement

Info

Publication number: CN213918323U
Application number: CN202022920033.1U
Authority: CN
Inventors: 吴东方; 简玉山; 吴强斌
Original assignee: Shanghai Xingyan Industrial Intelligence Technology Co ltd
Current assignee: Shanghai Xingyan Industrial Intelligence Technology Co ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-08-10
Anticipated expiration: 2030-12-08

Abstract

The utility model provides a robot tongs for car trades electricity belongs to the car and trades electric equipment technical field. The utility model discloses a bearing guiding mechanism, X is to motion and actuating mechanism, bearing guiding mechanism includes the bearing plate, X sets up in the bearing plate bottom surface to motion, X is to two one-level cylinders that motion set up including the symmetry, the one-level cylinder passes through one-level cylinder connecting plate and bearing plate one side bottom surface fixed connection, the second grade cylinder connecting plate is connected to the telescopic link of two one-level cylinders, be provided with the second grade cylinder on the second grade cylinder connecting plate, actuating mechanism is connected to motion with X, actuating mechanism includes the cylinder manifold, cylinder manifold one side is connected to the telescopic link of the second grade cylinder in the motion with X, the opposite side surface evenly is provided with a plurality of vacuum chuck, the utility model discloses effectively realized the full-automatic operation that the battery snatched, improved the work efficiency that automobile battery loaded and unloaded.

Description

Robot gripper for automobile battery replacement

Technical Field

The utility model relates to a robot tongs for car trades electricity belongs to the car and trades electric equipment technical field.

Background

Along with the dual pressure of energy crisis and environmental pollution, the concern and importance of environmental protection in various countries around the world are higher and higher, and the development of new energy automobiles, especially electric automobiles, for replacing traditional fuel oil automobiles is a great trend. On the road where electric vehicles are popularized, the core problem is the endurance mileage and the charging time of the battery, and on the premise that technical breakthroughs are not made in the aspects of battery capacity and charging time, the battery is replaced quickly and conveniently, long charging time does not need to be waited, and only the time for replacing the battery needs to be waited. The current battery replacement station is not high in popularization degree, and the replacement of the automobile battery is realized by using a traditional jacking and moving mechanical structure in the only battery replacement station, so that the structure is complex and heavy, the failure rate is high, and the maintenance is difficult; in addition, the mechanical structure has the risk of damaging the battery in the process of clamping and moving the battery; finally, the current battery replacement station has low automation degree, and is not beneficial to establishing a high-efficiency, environment-friendly and clean modern factory.

SUMMERY OF THE UTILITY MODEL

In view of the above disadvantages of the prior art, an object of the present invention is to provide a robot gripper for exchanging batteries of automobiles, which is used to solve the problems that the popularity of the existing battery exchanging station is not high in the prior art, and the replacement of the batteries of automobiles is realized in the only battery exchanging station by using the traditional jacking and moving mechanical structure, so that the structure is complex and heavy, the failure rate is high, and the maintenance is difficult; in addition, the mechanical structure has the risk of damaging the battery in the process of clamping and moving the battery; finally, the current battery replacement station has low automation degree and is not beneficial to building a high-efficiency, environment-friendly and clean modern factory.

In order to realize above-mentioned purpose and other relevant purpose, the utility model provides a robot tongs for car trades electricity includes: the bearing guide mechanism comprises a bearing plate, two guide blocks are symmetrically arranged at two ends of the bottom surface of the bearing plate, a rolling guide rail is connected below the guide blocks, the X-direction movement mechanism is arranged between the two guide blocks on the bottom surface of the bearing plate and comprises two symmetrically arranged first-stage air cylinders, the first-stage air cylinders are fixedly connected with the bottom surface of one side of the bearing plate through first-stage air cylinder connecting plates, telescopic rods of the two first-stage air cylinders are connected with second-stage air cylinder connecting plates, a second-stage air cylinder is arranged in the middle of the surface of one side, adjacent to the first-stage air cylinders, of the second-stage air cylinder connecting plates, the actuating mechanism is connected with the X-direction moving mechanism and comprises a bus bar, one side of the bus bar is connected with a telescopic rod of a secondary cylinder in the X-direction moving mechanism, and a plurality of vacuum suckers are uniformly arranged on the surface of the other side of the bus bar.

By adopting the technical scheme: when the robot gripper is used for disassembling the battery, the robot drives the gripper to move to a predefined original point, the two primary cylinders simultaneously move and move to the maximum stroke position to stop holding, then the secondary cylinder moves to drive the bus plate to move, when a vacuum chuck on the surface of the bus plate is contacted with the battery, the secondary cylinder stops moving, the vacuum chuck adsorbs the battery, then a telescopic rod of the secondary cylinder retracts, the battery is positioned between the two guide blocks in the retracting process, the guide blocks play a role in limiting and guiding the battery, the guide blocks guide the battery to retract according to a preset track, the battery rolls on a rolling guide rail to reduce the movement resistance of the battery, when the secondary cylinder retracts to the minimum stroke of the cylinder, the primary cylinder retracts, after the primary cylinder retracts to the minimum stroke, the clamping mechanism is started, the clamping head supports the battery in the vertical direction, and the battery is prevented from sliding down through friction force, and the robot gripper reversely runs the process when mounting the battery.

In an embodiment of the utility model, one-level cylinder connecting plate and second grade cylinder connecting plate between still be provided with one-level cylinder guide bar.

By adopting the technical scheme: the one-level cylinder guide rod plays the guide effect when one-level cylinder drive second grade cylinder connecting plate moves, improves the stability of second grade cylinder connecting plate motion.

In an embodiment of the utility model, second grade cylinder connecting plate and cylinder manifold between still be provided with second grade cylinder guide bar.

By adopting the technical scheme: the second grade cylinder guide bar plays the guide effect when second grade cylinder drive cylinder manifold motion, improves the stability of cylinder manifold motion.

In an embodiment of the utility model, still include clamping mechanism, clamping mechanism including pressing from both sides tight head and die clamping cylinder, press from both sides tight head and be provided with two, the symmetry sets up in bearing plate bottom surface and guide block junction tip, die clamping cylinder sets up and corresponds department with pressing from both sides tight head position at the bearing plate up end.

By adopting the technical scheme: the clamping cylinder drives the clamping head to act, the battery is tightly pushed in the vertical direction, and the battery is prevented from sliding down through friction force.

In an embodiment of the utility model, still include detecting element, detecting element include travel switch and photoelectric sensor, travel switch sets up at cylinder manifold inboard surface both ends, photoelectric sensor sets up the outside surface of the one end of being connected with the bearing plate on the guide block.

By adopting the technical scheme: the photoelectric sensor is used for measuring the position of the hand grip from the battery and transmitting position information to the robot body, the robot moves according to the measured position information, the posture is adjusted to move to a position suitable for the battery, and the travel switch is used for monitoring whether the battery exists in front or not so as to judge the relative position of the hand grip from the battery.

In an embodiment of the utility model, still include the power pack, the power pack sets up in bearing plate up end one side, and the power pack includes vacuum generator and solenoid valve, and vacuum generator passes through the trachea and connects vacuum chuck.

By adopting the technical scheme: the battery valve connected with the vacuum generator drives the vacuum generator to act, and the vacuum sucking disc is enabled to be internally vacuumized through the bus board, so that the vacuum sucking disc adsorbs the battery.

In an embodiment of the present invention, the drag chain unit is further included, the drag chain unit is disposed between the bearing plate and the bus board, the drag chain unit includes a drag chain carrier, the bearing plate is connected to one end of the drag chain carrier, the bus board is connected to the other end of the drag chain carrier, and the drag chain main body is disposed inside the drag chain carrier.

By adopting the technical scheme: the drag chain carrier is used for supporting the drag chain main body, the drag chain main body moves in the drag chain carrier to ensure that the drag chain main body does not collide with accessory parts in the moving process, and the drag chain main body is used for protecting and guiding an air pipe connected between the vacuum generator and the vacuum chuck and a power line of the travel switch.

As above, the utility model discloses a robot tongs for car trades electricity has following beneficial effect:

the utility model discloses a X has realized snatching the automation of battery to motion, actuating mechanism and bearing guiding mechanism, can realize the linkage with the supporting realization of robot, has effectively realized the full-automatic operation that the battery snatched, improves the work efficiency of car battery loading and unloading to adopt vacuum chuck to snatch the battery, to car battery not damaged, simple structure is reliable, and is easy and simple to handle, use cost is low.

Drawings

Fig. 1 is a schematic view of an overall structure of a robot gripper for exchanging battery for an automobile according to an embodiment of the present invention.

Fig. 2 is a schematic view of a main view structure of a robot gripper for exchanging power for an automobile according to an embodiment of the present invention.

Fig. 3 is a left side view schematically illustrating a robot gripper for exchanging power for a vehicle according to an embodiment of the present invention.

Fig. 4 is a schematic bottom view of a robot gripper for exchanging battery for an automobile according to an embodiment of the present invention.

Wherein, 1, X-direction movement mechanism; 11. a primary cylinder; 12. a secondary cylinder; 13. a primary cylinder guide rod; 14. a secondary cylinder guide rod; 15. a first-stage cylinder connecting plate; 16. a second-stage cylinder connecting plate; 2. an actuator; 21. a vacuum chuck; 22. a bus bar; 3. a load bearing guide mechanism; 31. a guide block; 32. a rolling guide rail; 33. a bearing plate; 4. a clamping mechanism; 41. a clamping cylinder; 42. a clamping head; 5. a detection unit; 51. a travel switch; 52. a photosensor; 6. a power unit; 7. a tow chain unit; 71. a drag chain carrier; 72. a drag chain main body.

Detailed Description

The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.

Please refer to fig. 1 to 4. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.

Referring to fig. 1 to 4, the utility model provides a robot gripper for exchanging battery for automobiles, which comprises: the bearing guide mechanism 3, the X-direction movement mechanism 1 and the executing mechanism 2, wherein the bearing guide mechanism 3 comprises a bearing plate 33, two guide blocks 31 are symmetrically arranged at two ends of the bottom surface of the bearing plate 33, a rolling guide rail 32 is connected below the guide blocks 31, the X-direction movement mechanism 1 is arranged between the two guide blocks 31 on the bottom surface of the bearing plate 33, the X-direction movement mechanism 1 comprises two first-stage cylinders 11 which are symmetrically arranged, the first-stage cylinders 11 are fixedly connected with the bottom surface of one side of the bearing plate 33 through first-stage cylinder connecting plates 15, telescopic rods of the two first-stage cylinders 11 are connected with second-stage cylinder connecting plates 16, a second-stage cylinder 12 is arranged in the middle of one side surface of each second-stage cylinder connecting plate 16 adjacent to the first-stage cylinder 11, the executing mechanism 2 is connected with the X-direction movement mechanism 1, the executing mechanism 2 comprises a confluence plate 22, one side of the confluence plate 22 is connected with the telescopic rods of the second-stage cylinders 12 in the X-direction movement mechanism 1, the other side surface is uniformly provided with a plurality of vacuum suction cups 21.

And a first-stage cylinder guide rod 13 is also arranged between the first-stage cylinder connecting plate 15 and the second-stage cylinder connecting plate 16.

And a secondary cylinder guide rod 14 is also arranged between the secondary cylinder connecting plate 16 and the bus bar 22.

The clamping mechanism 4 comprises two clamping heads 42 and two clamping cylinders 41, the two clamping heads 42 are symmetrically arranged at the end part of the connecting part of the bottom surface of the bearing plate 33 and the guide block 31, and the clamping cylinders 41 are arranged at the corresponding positions of the upper end surface of the bearing plate 33 and the clamping heads 42.

The detection unit 5 is further included, the detection unit 5 includes a travel switch 51 and a photoelectric sensor 52, the travel switch 51 is arranged at two ends of the inner side surface of the bus board 22, and the photoelectric sensor 52 is arranged on the outer side surface of one end of the guide block 31 connected with the bearing plate 33.

Still include power pack 6, power pack 6 sets up in bearing plate 33 up end one side, and power pack 6 includes vacuum generator and solenoid valve, and vacuum generator passes through the trachea and connects vacuum chuck 21.

Still include tow chain unit 7, tow chain unit 7 sets up between bearing plate 33 and cylinder manifold 22, and tow chain unit 7 includes tow chain carrier 71, and bearing plate 33 is connected to tow chain carrier 71 one end, and cylinder manifold 22 is connected to the other end, and tow chain carrier 71 is inside to be provided with tow chain main part 72.

To sum up, the utility model discloses an X has realized snatching the automation of battery to motion, actuating mechanism and bearing guiding mechanism, can realize the linkage with the robot is supporting, has effectively realized the full-automatic operation that the battery snatched, improves the work efficiency that car battery loaded and unloaded to adopt vacuum chuck to snatch the battery, to car battery not damaged, simple structure is reliable, and is easy and simple to handle, and use cost is low. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The robot gripper for replacing the battery of the automobile is characterized by comprising the following components in parts by weight: the bearing guide mechanism (3), the X-direction movement mechanism (1) and the execution mechanism (2), wherein the bearing guide mechanism (3) comprises a bearing plate (33), two guide blocks (31) are symmetrically arranged at two ends of the bottom surface of the bearing plate (33), a rolling guide rail (32) is connected below the guide blocks (31), the X-direction movement mechanism (1) is arranged between the two guide blocks (31) on the bottom surface of the bearing plate (33), the X-direction movement mechanism (1) comprises two first-stage cylinders (11) which are symmetrically arranged, the first-stage cylinders (11) are fixedly connected with the bottom surface of one side of the bearing plate (33) through first-stage cylinder connecting plates (15), telescopic rods of the two first-stage cylinders (11) are connected with second-stage cylinder connecting plates (16), a second-stage cylinder (12) is arranged in the middle of one side surface, adjacent to the first-stage cylinders (11), of the second-stage cylinder connecting plates (16), and the execution mechanism (2) is connected with the X-direction movement mechanism (1), the executing mechanism (2) comprises a bus bar (22), one side of the bus bar (22) is connected with a telescopic rod of the secondary cylinder (12) in the X-direction moving mechanism (1), and a plurality of vacuum suckers (21) are uniformly arranged on the surface of the other side of the bus bar (22).

2. The robot gripper for automobile battery replacement according to claim 1, characterized in that: and a first-stage cylinder guide rod (13) is also arranged between the first-stage cylinder connecting plate (15) and the second-stage cylinder connecting plate (16).

3. The robot gripper for automobile battery replacement according to claim 1, characterized in that: and a secondary cylinder guide rod (14) is also arranged between the secondary cylinder connecting plate (16) and the bus board (22).

4. The robot gripper for automobile battery replacement according to claim 1, characterized in that: the clamping device is characterized by further comprising a clamping mechanism (4), wherein the clamping mechanism (4) comprises two clamping heads (42) and two clamping cylinders (41), the two clamping heads (42) are symmetrically arranged at the end part of the connecting part of the bottom surface of the bearing plate (33) and the guide block (31), and the clamping cylinders (41) are arranged at the position corresponding to the clamping heads (42) on the upper end surface of the bearing plate (33).

5. The robot gripper for automobile battery replacement according to claim 1, characterized in that: the detection unit (5) comprises a stroke switch (51) and a photoelectric sensor (52), the stroke switch (51) is arranged at two ends of the inner side surface of the bus board (22), and the photoelectric sensor (52) is arranged on the outer side surface of one end, connected with the bearing plate (33), of the guide block (31).

6. The robot gripper for automobile battery replacement according to claim 1, characterized in that: still include power pack (6), power pack (6) set up in bearing plate (33) up end one side, and power pack (6) include vacuum generator and solenoid valve, and vacuum generator passes through trachea and connects vacuum chuck (21).

7. The robot gripper for automobile battery replacement according to claim 1, characterized in that: still include tow chain unit (7), tow chain unit (7) set up between bearing plate (33) and cylinder manifold (22), and tow chain unit (7) are including tow chain carrier (71), and bearing plate (33) are connected to tow chain carrier (71) one end, and cylinder manifold (22) are connected to the other end, and tow chain carrier (71) inside is provided with tow chain main part (72).