CN215322089U - Mobile robot and battery replacement system thereof - Google Patents
Mobile robot and battery replacement system thereof Download PDFInfo
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- CN215322089U CN215322089U CN202120212614.1U CN202120212614U CN215322089U CN 215322089 U CN215322089 U CN 215322089U CN 202120212614 U CN202120212614 U CN 202120212614U CN 215322089 U CN215322089 U CN 215322089U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
This patent belongs to and fills electric technical field, and this patent provides a mobile robot and trades electric system thereof. The mobile robot comprises a robot body, a power source and a power battery box, wherein the robot body is used as the power source of the mobile robot, drives the mobile robot to move, and ensures that the center of gravity of the mobile robot is balanced when the mobile robot is carried and the power battery box is lifted; the lifting mechanism is used for hoisting or dropping the power battery box after accurate alignment; and the battery grabbing mechanism is used for grabbing and putting down the power battery box. The system of this patent has simple structure, does not rely on any fixed equipment, and portable can carry, characteristics such as nimble, safe and reliable.
Description
Technical Field
This patent relates to and fills electric technical field that trades.
Background
The electric automobile replaces oil with electricity, can realize zero emission and low noise, and is an important means for solving the problems of energy and environment. With the shortage of petroleum resources and the development of battery technology, the performance and the economical efficiency of electric vehicles are close to or even better than those of traditional fuel vehicles, and the electric vehicles are gradually popularized and applied worldwide. A new generation of energy-saving and environment-friendly automobiles represented by electric automobiles is a necessary trend in the development of the automobile industry. As an important premise and foundation for large-scale popularization and application of electric automobiles, development of electric automobile battery charging and replacing technology and construction of electric automobile battery charging and replacing facilities attract extensive attention of all parties. The battery box of the electric automobile can be positioned at the bottom, the side or the top of the automobile. The automobile is powered by the battery box. The matched electric vehicle charging and battery replacing facilities are put into use, and an electric vehicle charging and battery replacing system combining facilities such as a charging pile, a charging station, a battery replacing station, a distribution station and the like is formed step by step. Set into detachable with the battery box, the convenience is changed, but the general weight of battery box is big, the transport difficulty to the battery box needs the charging station to provide the battery charging outfit and saves and charge, so that electric automobile changes the battery box.
The current various power conversion solutions have the problems of serious dependence on fixed power conversion station facilities, high infrastructure cost, lack of mobility flexibility and the like, so that a flexible power conversion system scheme with mobility is urgently needed in the industry.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a mobile power switching system scheme independent of any fixed facility.
In order to achieve the purpose, the utility model adopts the following technical scheme: a mobile robot, comprising: the robot car body is used as a power source of the mobile robot, drives the mobile robot to move forward, and ensures that the center of gravity of the mobile robot is balanced when the mobile robot carries and lifts the power battery box; the lifting mechanism is used for hoisting or dropping the power battery box after accurate alignment; and the battery grabbing mechanism is used for grabbing and putting down the power battery box.
Further, the battery grabbing mechanism comprises a control mechanism and a locking mechanism; the control mechanism is fixed on the lifting mechanism; the locking mechanism further comprises a hanging mechanism, the locking mechanism is used for fixedly locking the power battery box, and the hanging mechanism is connected with the control mechanism and used for achieving the lifting function of the locking mechanism.
Still further, the control mechanism includes: a rectangular parallelepiped frame for carrying internal components; the control cabinet is fixed on the cuboid frame; the roller wheel support frames are arranged on two sides above the rectangular frame; the driving roller is arranged on the roller supporting frame; the driven roller is arranged on the roller supporting frame; the encoder is connected with the driving roller and used for reading the number of rotation turns of the driving roller in real time; the drag chain support is arranged on the roller support frame and used for mounting a drag chain; and the limiting collision blocks are arranged at two ends of the roller supporting frame.
Still further, the locking mechanism includes: the fixed bracket comprises a rectangular supporting frame; the rotary locking mechanisms are distributed at four points of the fixed support; the positioning part is arranged on the periphery of the fixed support, extends outwards from the fixed support body, and is positioned with the frame beam of the battery box through the positioning part to realize the X-direction and Y-direction constraint of the lifting appliance and the battery box; the detection parts are arranged at four corners of the fixed support and used for judging whether the lifting appliance is attached to the box body in place or not after the positioning parts are positioned; the driving mechanism is arranged on the fixed support and used for driving the spin lock mechanism to rotate, so that the spin lock hook is dragged and hung below the box body frame to realize Z-direction locking of the lifting appliance and the battery box; the suspension mechanism comprises a suspension chain, a chain fixing seat, a screw semi-stop ring, a pressure ball bearing, an adjusting screw and an anti-swing butt joint rod; the hanging chain is connected with the top of the chain fixing seat; the chain fixing seat is formed by connecting two symmetrical parts into a whole through threads; the screw semi-blocking ring is positioned above the pressure ball bearing, the pressure ball bearing is connected with the adjusting screw, and the screw semi-blocking ring is embedded in a screw groove of the adjusting screw; the screw semi-stop ring and the pressure ball bearing are positioned in the chain fixing seat; the adjusting screw rod is connected with the fixed bracket; the anti-swing butt joint rod is sleeved outside the chain fixing seat and the suspension chain.
Another object of the present invention is to provide a mobile robot-based battery swapping system, including: the mobile robot is used for lifting a power battery box on the vehicle to be changed, then conveying the power battery box to the battery distribution vehicle and putting down the power battery box; and/or the power battery box on the battery distribution vehicle is lifted up and then conveyed to the vehicle to be switched and put down, so that the battery switching operation is realized; the battery distribution vehicle is used for transporting a plurality of fully charged power battery boxes to a battery replacement place to provide fully charged power battery boxes, and/or returning to the vicinity of a charging station for charging after the battery replacement operation is finished; and the battery replacement vehicle is used for receiving full electric power battery boxes.
Further, the battery distribution vehicle also comprises a carrying battery base, and the carrying battery base is used for guiding the power battery box to be placed in place and fixing the power battery box.
Furthermore, the battery distribution vehicle also comprises a battery charging box which is used for connecting a charging gun and charging a power battery box arranged on the carrying battery base.
Further, the vehicle to be changed further comprises a discharging connection base of the vehicle to be changed, and the discharging connection base is used for fixedly bearing the power battery box, and the power battery box provides electric energy for the vehicle to be changed through the discharging connection base of the vehicle to be changed.
The utility model has the beneficial effects that:
the power switching system based on the mobile robot does not depend on any fixed facilities, and power switching stations only need to be paved on a simple road surface without any foundation construction and fixed equipment erection, so that the station building cost is remarkably reduced compared with the traditional power switching scheme. All components of the power exchanging system, including the battery distribution vehicle, the vehicle to be exchanged and the mobile robot, can move for a long distance, so that the power exchanging system has flexibility and maneuverability which cannot be compared with any power exchanging scheme before, and can transfer power exchanging stations at any time.
Drawings
Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a battery replacement system diagram based on a mobile robot.
Wherein: 101 is a battery distribution vehicle, 102 is a vehicle to be changed, 103 is a power battery box, and 104 is a mobile robot.
Fig. 2 is a diagram of a battery dispensing vehicle.
Wherein: a battery distribution vehicle headstock 201, a trailer 202, a carrying battery base 203, a battery charging box 204, a power battery box 103 and a discharging connection base 205.
Fig. 3 is a diagram of a vehicle to be powered.
Wherein: 301 is a vehicle head to be changed, 302 is a discharge connection base of the vehicle to be changed, and 103 is a power battery box.
Fig. 4 is a diagram of a mobile robot.
Wherein: 401 is a robot body, 402 is a lifting mechanism, 403 is a battery grabbing mechanism, and 103 is a power battery box.
Fig. 5 is a diagram of the control mechanism and the locking mechanism.
Fig. 6 is a diagram of the control mechanism and the locking mechanism.
Wherein 505 is a control cabinet, 506 is a roller support frame, 507 is a driving roller, 508 is a driven roller, 509 is an encoder, 510 is a drag chain support, 511 is a limit collision block, 512 is a walking position switch, and 601 is a locking mechanism.
Fig. 7 is a locking mechanism diagram.
Fig. 8 is a diagram of the locking mechanism and the power battery box.
Wherein 602 is a fixed bracket, 603 is four spin lock mechanisms, 604 is a driving mechanism, 605 is a positioning component, 606 is a detection component, 607 is a hanging mechanism, 608 is a rotating shaft, 609 is an electric push rod, 610 is an electric push rod connecting arm, 611 is a first rotating shaft connecting arm, 612 is a second rotating shaft connecting arm, 613 is a first connecting rod, 614 is a second connecting rod, 615 is a third connecting rod, 616 is a fourth connecting rod, 617 is a first padlock connecting arm, 618 is a second padlock connecting arm, 619 is a third padlock connecting arm, 620 is a fourth padlock connecting arm, 621 is a chain fixing seat, 622 is an adjusting screw.
Fig. 9 is a component view of the locking mechanism.
The hook comprises a hook 901, a hook bearing support seat 902, a hook bearing 903, a hook shaft 904, a pressure ball 905 and a U-shaped locknut 906.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the utility model. All falling within the scope of the present invention.
Fig. 1 is a schematic diagram illustrating an embodiment of a power swapping system scheme based on a mobile robot according to the present invention. Fig. 1 includes a battery distribution vehicle 101 for transporting a plurality of fully charged power battery boxes 103 to a battery replacement site to provide fully charged power battery boxes 103, and/or returning to a vicinity of a charging station for charging after the battery replacement operation is completed; a battery replacement-ready vehicle 102, which is a target vehicle for battery replacement, for receiving a full-electric-power battery box 103 and/or providing a deficient-electric-power battery box 103; the power battery box 103 is used for providing electric power for the power systems of the battery distribution vehicle 101 and the vehicle 102 to be changed; the mobile robot 104 is used for connecting the battery distribution vehicle 101 and the vehicle 102 to be replaced, hoisting the power battery box 103 on the vehicle 102 to be replaced, then conveying the power battery box to the battery distribution vehicle 101 and putting down the power battery box; and/or lifting the power battery box 103 on the battery distribution vehicle 101, then conveying the power battery box to the vehicle 102 to be changed and putting down the power battery box; and/or conveying the power battery box 103, and hoisting or dropping the power battery box 103 after accurate alignment, thereby realizing the battery replacement operation.
As shown in fig. 2, as an embodiment of the present invention, a battery dispensing vehicle 101 includes: the battery distribution vehicle head 201 is used as a power source of the whole vehicle and drives the whole vehicle to move; a trailer 202 for providing a platform for loading the power battery box 103; a plurality of battery carrying bases 203 which are arranged on the trailer 202 in parallel and used for guiding the power battery boxes 103 to be placed in place and fixing the power battery boxes 103; and a battery charging box 204 for connecting a charging gun to charge the power battery box 103 arranged on the carrying battery base 203.
In the above embodiment, as shown in fig. 2, the vehicle head 201 uses the power battery box 103 as a power source, and the power battery box 103 is mounted on the discharge connection base 205 of the battery distribution vehicle. The battery delivery vehicle discharge connection base 205 is mechanically identical to the battery carrier base 203. When the power battery box 103 is installed on the discharge connection base 205 of the battery distribution vehicle, the discharge connector at the discharge connection base 205 end of the battery distribution vehicle is connected with the discharge connector at the end of the power battery box 103 in a matching manner, so as to fixedly bear the power battery box, and enable the power battery box 103 to supply electric energy for the vehicle head 201.
As shown in fig. 3, in the above embodiment, the vehicle to be powered 102 includes: the electric vehicle head 301 to be replaced is connected with the base 302 in a discharging mode. The electric vehicle head 301 to be replaced is similar to the battery distribution vehicle head 201, and the electric discharging connection base 302 of the electric vehicle to be replaced, which is installed on the electric vehicle head 301 to be replaced, is identical to the mechanical structure of the carrying battery base 203. The locomotive 301 of the electric vehicle to be replaced also adopts the power battery box 103 as a power source, and the power battery box 103 is installed on the discharging connection base 302 of the electric vehicle to be replaced.
As shown in fig. 4, in the above embodiment, the mobile robot 104 includes: the robot car body 401 is used as a power source of the mobile robot 104, drives the mobile robot 104 to move forward, and ensures that the center of gravity of the mobile robot 104 is balanced when the mobile robot is carried and the power battery box 103 is lifted; the lifting mechanism 402 is used for hoisting or dropping the power battery box 103 after accurate alignment; and a battery grabbing mechanism 403 for grabbing and putting down the power battery box 103.
As shown in fig. 5 and 6, the battery grasping mechanism 403 includes a control mechanism 501 and a locking mechanism 601; the control mechanism is fixed to the lifting mechanism 402.
The control mechanism 501 comprises a rectangular frame, a control cabinet 505, a roller support 506, a driving roller 507, a driven roller 508, an encoder 509, a drag chain support 510, a limit collision block 511 and a walking position switch 512, wherein the rectangular frame is used for bearing internal components. Two control cabinets 505 are fixed to both ends of the rectangular parallelepiped frame, respectively. Two roller support frames 506 are fixed on two sides above the rectangular frame, and the transverse distance between the two roller support frames 506 is matched with the track distance. The driving roller 507 and the driven roller 508 are installed on the roller support frame 506, the driving roller 507 and the driven roller 508 are located on two sides above the rectangular parallelepiped frame, and the encoder 509 is connected with the driving roller 507. The encoder 509 is used for reading the distance that the number of turns of the roller is also the movement in real time, and a PLC (programmable logic controller), a motor variable-frequency speed regulator, an electric element and a hardware circuit are arranged in the control cabinet 505, so that power supply, position control and speed control, position and hoisting control of the lifting locking mechanism 601 and the like are realized.
The drag chain bracket 510 is arranged on the outer side of the roller support bracket 506 and used for installing the drag chain to play a role in protection. Limiting collision blocks 511 are arranged at two ends of the roller support frame 506 to play a role in braking and buffering, and prevent the end part of the roller support frame from directly contacting with the end part of the support frame to collide. The walking position switch 512 is arranged above the cuboid frame, and the walking position switch 512 is used for controlling a moving operation switch.
Referring to fig. 7-9, the locking mechanism 601 is a schematic structural diagram, and includes a fixed bracket 602, four twist-lock mechanisms 603, a driving mechanism 604, a positioning component 605, a detecting component 606, and a suspension mechanism 607; wherein, the four spin-lock mechanisms 603 are distributed at four points of the fixed bracket 602; the positioning component 606 is arranged around the fixed support 602, extends outwards from the body of the fixed support 602, and is positioned by the positioning component 605 and the frame beam of the power battery box 103, so that the locking mechanism 601 and the power battery box 103 are constrained in the X direction and the Y direction; the detection parts 606 are arranged at four corners of the fixed support 602, and are used for judging whether the four corners of the locking mechanism are attached to the power battery box 103 in place or not after the positioning parts 606 are positioned; the driving mechanism 604 is disposed on the fixed bracket 602, and is configured to drive the spin lock mechanism 603 to rotate, so that the hook at the bottom of the spin lock mechanism 603 is dragged and hung below the frame of the power battery box 103, and the Z-direction locking between the locking mechanism 601 and the power battery box 103 is achieved. The driving mechanism 604 includes: the electric push rod 609 is connected with the rotating shaft 608 through the electric push rod connecting arm 610; the rotating shaft 608 is horizontally arranged, and the electric push rod 609 drives the rotating shaft 608 to rotate. The first rotating shaft connecting arm 611 and the second rotating shaft connecting arm 612 are respectively disposed at two ends of the rotating shaft 608 and connected to the rotating shaft 608, and the rotating shaft 608 rotates to drive the rotating shaft connecting arms at the two ends to rotate around the rotating shaft 608. A first link 613, a second link 614, a third link 615 and a fourth link 616, wherein the first link 613 and the third link 615 are respectively arranged perpendicular to the rotating shaft 608, and the second link 614 and the fourth link 616 are respectively arranged perpendicular to the rotating shaft 608. A first padlock connecting arm 617, a second padlock connecting arm 618, a third padlock connecting arm 619 and a fourth padlock connecting arm 620, wherein the first padlock connecting arm 617 is horizontally arranged and connected with the bottom of the other end of the first link 613; a second padlock connecting arm 618, which is horizontally arranged, is connected with the bottom of the other end of the second link 614; the third padlock connecting arm 619 is horizontally arranged and connected with the bottom of the other end of the third link 615; a fourth padlock connecting arm 620 horizontally arranged and connected with the bottom of the other end of the fourth connecting rod 616; the four padlock connecting arms are driven to rotate around the radial direction through the first connecting rod 613, the second connecting rod 614, the third connecting rod 615 and the fourth connecting rod 616 respectively; the four padlock connecting arms are respectively connected with the four-point rotary locking mechanism 603, and the four padlock connecting arms drive the rotary locking mechanism 603 to rotate around the radial direction, so that the four-point synchronous drive full-automatic locking is realized. The detection components are four in-place detection switches 606, and the four in-place detection switches 606 are respectively and vertically arranged at four corners of the fixed support 602. Two horizontal brackets are respectively installed at two ends of the fixed bracket 602, and four in-place detection switches 606 are respectively installed on the two horizontal brackets and located at four corners of the fixed bracket 602. The four in-place detection switches 606 are vertically opposite to the main beam of the frame to sense the position of the main beam. Each suspension mechanism 607 comprises a suspension chain, a chain fixing seat 621, a screw semi-stop ring, a pressure ball bearing and an adjusting screw 622; wherein, the chain fixing seat 621 is formed by connecting two symmetrical parts into a whole, and the inside thereof is provided with an accommodating space; the screw semi-stop ring and the pressure ball bearing are arranged in the chain fixing seat 621, wherein the screw semi-stop ring is positioned above the pressure ball bearing, the pressure ball bearing is connected with the adjusting screw 622, and the screw semi-stop ring is embedded in a screw groove of the adjusting screw for limiting; the chain fixing seat 621 is arranged at the bottom end of the hanging chain, and the hanging chain is connected with the adjusting screw 622; the adjusting screw 622 is disposed on the main beam of the stationary bracket 602. The suspension points of the four suspension mechanisms 607 can be connected in a standard hoisting hoist hook mode, the four suspension mechanisms 607 are respectively connected with the main beam of the fixed support 602 through the four adjusting screw rods 622, the adjustment in a certain range can be carried out in the Z direction, the direct adjustment can be carried out without detaching the chain, and the problem that the four-point suspension height cannot be adjusted horizontally is solved. The suspension mechanism 607 is provided with a suspension chain which can float in any direction, so as to further achieve the positioning of the matching sling. Hang mechanism 607 still includes four and prevents the pendulum butt joint pole, prevents that the pendulum butt joint pole cup joints in chain fixing base 621 and the outside of hanging the chain, prevents that the bottom of pendulum butt joint pole passes through the bolt to be fixed with fixed bolster 602. In the process of lifting, the function of preventing the suspension chain from swinging is achieved. The positioning component 605 includes four guide blocks, the four guide blocks are divided into two groups of guide blocks, and each group of guide blocks are symmetrically disposed on two sides of the fixing bracket 602. The guide block comprises a connecting plate, and two rib plates are arranged above the connecting plate; the connecting plate is fixed with the bottom surface of the side edge of the fixed framework, and the two rib plates are clamped on the outer edge of the side edge of the fixed framework; a lug extending downwards is arranged below the connecting plate, and an L-shaped slot is formed by one side edge of the lug and the bottom surface of the connecting plate and used for inserting and connecting a frame main beam of the box body 7; the lower end of the lug is of a conical structure, and the guiding effect is achieved.
Referring to fig. 8, the power cell box 103 includes a frame beam at an upper portion for connection with the locking mechanism 601. The frame beam can adopt any frame, as shown in the figure, a rectangular frame, and the main beam of the frame can form a locking structure with the spin-locking mechanism 603 without additionally adding a locking support matched with the spin-locking mechanism 2. The shape of locking mechanism's fixed bolster 602 is cuboid support body structure, matches with the shape of power battery box frame roof beam. The size of the fixing bracket 602 of the locking mechanism is slightly smaller than that of the frame beam of the power battery box, so that the periphery of the fixing bracket 602 of the locking mechanism is positioned on the frame beam of the power battery box through the positioning part 605. The power battery box 103 is not required to be additionally provided with a locking attachment support matched with the rotary locking mechanism 601, the rotary locking mechanism 601 can be directly hung below a frame beam to realize Z-direction locking, X and Y directions are restricted by surrounding positioning components, before the locking mechanism 601 is attached to the power battery box 103, XY guide is prior to the box body to generate a positioning effect, and the positioning component 605 can position the locking mechanism within +/-100mm of error to realize large-range error positioning. After the locking mechanism 601 is attached to the box body in place, four detection in-place switches (namely detection parts) are arranged at four points, the locking mechanism is judged to be in place through the four-point switches, and the driving mechanism 604 can be started to drive the spin locking mechanism 603 to rotate for 90 degrees, so that the spin locking mechanism 603 is dragged below the box body frame. In the specific implementation process, the hook of the twist lock mechanism 603 is horizontally arranged with the box frame beam, and the drive mechanism 604 drives the twist lock mechanism 603 to rotate the hook of the twist lock mechanism 603 by 90 degrees, so that the hook is perpendicular to the box frame beam, and the Z-direction locking is realized.
Referring to fig. 9, the twist-lock mechanism 603 includes: the hook 901 is positioned at the bottom end of the spin lock mechanism 603, a hook shaft 904 is arranged on the hook 901, and the hook 901 can rotate along the hook shaft 904; the upper end of the hook shaft 904 is provided with a key slot for connecting with a padlock connecting arm; the two hook bearings 903, the two hook bearings 903 are connected with the hook shaft 904 and used for XY constraint of the hook shaft 904; the spin lock mechanism 603 is supported by bearings, so that the rotation is flexible, the service life is prolonged, and the operation efficiency is improved. The pressure ball 905 is connected with the hook shaft 904, and the U-shaped locknut 906 is arranged above the pressure ball 905; the hook bearing support seat 902 is provided with an accommodating space, a partition plate with a central through hole is arranged in the accommodating space, and the accommodating space is divided into an upper space and a lower space by the partition plate; the hook bearing support seat 902 is sleeved on a hook shaft 904, the hook shaft 904 penetrates through a central through hole of the partition plate, the two hook bearings 903 are positioned in the lower space, and the pressure ball 905 is positioned in the upper space; the outer wall of the upper end of the hook bearing support seat 902 is provided with a circle of outer edge for fixing with the fixed support 602. The pressure ball 905 may also be replaced with a needle bearing.
When the above embodiment of the present invention is used, in a battery replacement scene, one or more mobile robots 104 shuttle between the battery delivery vehicle 101 and the vehicle 102 to be replaced to perform a battery replacement operation. Specifically, as an example, an alternative power battery replacement procedure is as follows: the mobile robot 104 moves to the vicinity of the vehicle 102 to be changed, and the battery grasping mechanism 403 is aligned with the power battery box 103; the lifting mechanism 402 of the mobile robot 104 falls down to make the battery grabbing mechanism 403 in fit contact with the power battery box 103; the battery grabbing mechanism 403 moves to grab the power battery box 103, and the discharging connection base 302 of the vehicle to be changed releases the locking of the power battery box 103; the lifting mechanism 402 of the mobile robot 104 is lifted, so that the power battery box 103 is separated from the discharging connection base 302 of the vehicle to be changed; the mobile robot 104 plans a path, moves the power battery box 103 to a carrying battery base 203 of the battery distribution vehicle 101, and adjusts the position to make the power battery box 103 align with the carrying battery base 203; the lifting mechanism 402 of the mobile robot 104 falls down until the power battery box 103 is stably mounted on the carrying battery base 203, and the carrying battery base 203 locks the power battery box 103; the mobile robot 104 selects a new power battery box 103 from the battery distribution vehicle 101, plans a path and moves to the corresponding carrying battery base 203, and enables the battery grabbing mechanism 403 to align with the power battery box 103; the lifting mechanism 402 of the mobile robot 104 falls down to make the battery grabbing mechanism 403 in fit contact with the power battery box 103; the battery grabbing mechanism 403 moves to grab the power battery box 103, and the corresponding battery carrying base 203 releases the locking of the power battery box 103; the lifting mechanism 402 of the mobile robot 104 is lifted up to separate the power battery box 103 from the corresponding carrying battery pedestal 203; the mobile robot 104 plans a path, moves the power battery box 103 to the discharge connection base 302 of the vehicle to be changed, and adjusts the position to enable the power battery box 103 to be aligned with the discharge connection base 302 of the vehicle to be changed; the lifting mechanism 402 of the mobile robot 104 falls down until the power battery box 103 is stably installed on the discharging connection base 302 of the vehicle to be changed, the discharging connection base 302 of the vehicle to be changed locks the power battery box 103, and the electricity changing operation is completed.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model.
Claims (8)
1. A mobile robot, comprising:
the robot car body is used as a power source of the mobile robot, drives the mobile robot to move forward, and ensures that the center of gravity of the mobile robot is balanced when the mobile robot carries and lifts the power battery box;
the lifting mechanism is used for hoisting or dropping the power battery box after accurate alignment;
and the battery grabbing mechanism is used for grabbing and putting down the power battery box.
2. The mobile robot according to claim 1, wherein the battery grasping mechanism includes a control mechanism and a lock mechanism;
the control mechanism is fixed on the lifting mechanism;
the locking mechanism further comprises a hanging mechanism, the locking mechanism is used for fixedly locking the power battery box, and the hanging mechanism is connected with the control mechanism and used for achieving the lifting function of the locking mechanism.
3. The mobile robot of claim 2, wherein the control mechanism comprises:
a rectangular parallelepiped frame for carrying internal components;
the control cabinet is fixed on the cuboid frame;
the roller wheel support frames are arranged on two sides above the rectangular frame;
the driving roller is arranged on the roller supporting frame;
the driven roller is arranged on the roller supporting frame;
the encoder is connected with the driving roller and used for reading the number of rotation turns of the driving roller in real time;
the drag chain support is arranged on the roller support frame and used for mounting a drag chain;
and the limiting collision blocks are arranged at two ends of the roller supporting frame.
4. The mobile robot of claim 2, wherein the locking mechanism comprises:
the fixed bracket comprises a rectangular supporting frame;
the rotary locking mechanisms are distributed at four points of the fixed support;
the positioning component is arranged on the periphery of the fixed support and extends outwards from the fixed support body;
detection members provided at four corners of the fixed bracket;
the driving mechanism is arranged on the fixed support and used for driving the spin locking mechanism to rotate;
the suspension mechanism comprises a suspension chain, a chain fixing seat, a screw semi-stop ring, a pressure ball bearing, an adjusting screw and an anti-swing butt joint rod; the hanging chain is connected with the top of the chain fixing seat; the chain fixing seat is formed by connecting two symmetrical parts into a whole through threads; the screw semi-blocking ring is positioned above the pressure ball bearing, the pressure ball bearing is connected with the adjusting screw, and the screw semi-blocking ring is embedded in a screw groove of the adjusting screw; the screw semi-stop ring and the pressure ball bearing are positioned in the chain fixing seat; the adjusting screw rod is connected with the fixed bracket; the anti-swing butt joint rod is sleeved outside the chain fixing seat and the suspension chain.
5. The battery swapping system for a mobile robot according to claim 1, comprising:
the mobile robot is used for lifting a power battery box on the vehicle to be changed, then conveying the power battery box to the battery distribution vehicle and putting down the power battery box; and/or the power battery box on the battery distribution vehicle is lifted up and then conveyed to the vehicle to be switched and put down, so that the battery switching operation is realized;
the battery distribution vehicle is used for transporting a plurality of fully charged power battery boxes to a battery replacement place to provide fully charged power battery boxes, and/or returning to the vicinity of a charging station for charging after the battery replacement operation is finished;
and the battery replacement vehicle is used for receiving full electric power battery boxes.
6. The battery swapping system of claim 5, wherein the battery distribution vehicle further comprises a trailer and a battery carrier base for guiding the power battery box into position and securing the power battery box.
7. The swapping system of claim 5, wherein the battery dispensing cart further comprises a battery charging box for connection to a charging gun for charging a power battery box mounted on the carrier battery base.
8. The battery replacement system according to claim 5, wherein the battery replacement vehicle further comprises a battery replacement vehicle discharge connection base for fixedly carrying a power battery box, and the power battery box supplies electric energy to the battery replacement vehicle through the battery replacement vehicle discharge connection base.
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| CN202120212614.1U CN215322089U (en) | 2021-01-26 | 2021-01-26 | Mobile robot and battery replacement system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115195565A (en) * | 2022-06-23 | 2022-10-18 | 上海启源芯动力科技有限公司 | Power transmission vehicle |
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2021
- 2021-01-26 CN CN202120212614.1U patent/CN215322089U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115195565A (en) * | 2022-06-23 | 2022-10-18 | 上海启源芯动力科技有限公司 | Power transmission vehicle |
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