CN215942945U

CN215942945U - Flexible manipulator based on battery replacement robot

Info

Publication number: CN215942945U
Application number: CN202122258383.0U
Authority: CN
Inventors: 张程超
Original assignee: Hangzhou Hanqian New Energy Technology Development Co ltd
Current assignee: Hangzhou Hanqian New Energy Technology Development Co ltd
Priority date: 2021-09-17
Filing date: 2021-09-17
Publication date: 2022-03-04
Anticipated expiration: 2031-09-17

Abstract

The utility model discloses a flexible manipulator based on a battery replacement robot, which comprises a base, wherein the base is arranged on a truss, the base is driven by a motor and can horizontally rotate along the axis of the base, an electric cylinder is arranged on the base, the fixed end of the electric cylinder is fixed on the base, the output end of the electric cylinder penetrates through the base and is hinged with an installation frame, the installation frame is positioned at the position longitudinally below the electric cylinder, and a grabbing assembly is fixed at the bottom of the installation frame. The utility model relates to a flexible manipulator based on a battery replacement robot, which adopts a truss robot form to quickly replace batteries for vehicles, adopts a motor to control the whole body to perform transverse rotation adjustment, and adopts an electric cylinder hinged mode to perform longitudinal vertical adjustment, so that the whole manipulator has flexible adjustability and avoids the instability similar to a lifting rope structure (flexible connecting piece).

Description

Flexible manipulator based on battery replacement robot

Technical Field

The utility model relates to the technical field of new energy vehicle battery replacement, in particular to a flexible manipulator based on a battery replacement robot.

Background

For top-hung battery replacement of pure electric heavy-duty vehicles, the existing cantilever beam top-hung structure generally adopts a battery grabbing mechanism arranged on a cantilever beam to grab an electricity-deficient battery box on a vehicle to be replaced from the top, and the electricity-deficient battery box is hoisted and rotated by a certain angle to be placed in a battery storage area, or a charged battery box is grabbed from the top of the battery storage area and the charged battery box is hoisted and rotated by a certain angle to be placed on the vehicle to be replaced.

At present, the hoisting mode of flexible connection is adopted, and the hoisting mode is as follows: CN112758837A discloses a robot for changing points, which uses a flexible member to connect a hanger to pick up a battery box. In this way, in practical implementation, the battery box is combined with the execution of the rotation action, so that the stability is low, and the battery changing time is long (the battery box needs to be put down after the battery box is not shaken any more).

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a flexible manipulator based on a battery replacement robot to solve the problems in the background technology.

In order to solve the technical problems, the utility model provides the following technical scheme: the utility model provides a flexible manipulator based on trade electric robot, includes the base, and the pedestal mounting is on the truss, and the base receives motor drive, can follow self axis horizontal rotation, installs the electric jar on the base, and the stiff end of electric jar is fixed on the base, and the output passes the base and articulates there is the mounting bracket, and the mounting bracket is located the position of the vertical below of electric jar, and the bottom of mounting bracket is fixed with snatchs the subassembly.

Preferably, the truss robot comprises slide rails with an X axis, a Y axis and a Z axis, and the Z axis is used for adjusting the height of the machine grabbing component.

Preferably, the electric cylinders are four and are distributed at four corners of the mounting frame in a rectangular shape.

Preferably, the angle adjustment module includes a horizontal adjustment unit and a vertical adjustment unit.

Preferably, the middle part of the mounting frame is hinged with the base above through a ball joint.

Preferably, the base is based on snatching the subassembly, extends one section to both sides, installs laser sensor or camera in the bottom of extension department.

Preferably, the center of the mounting seat is hinged with the base through a ball joint.

Preferably, the motor is installed in the top lateral position of base, through the mode drive base of gear, and the central point of base puts and reserves the installation position for with coordinate slide linkage.

Compared with the prior art, the utility model has the beneficial effects that:

the utility model relates to a flexible manipulator based on a battery replacement robot, which adopts a truss robot form to quickly replace batteries for vehicles, adopts a motor to control the whole body to perform transverse rotation adjustment, and adopts an electric cylinder hinged mode to perform longitudinal vertical adjustment, so that the whole manipulator has flexible adjustability and avoids the instability similar to a lifting rope structure (flexible connecting piece).

Drawings

FIG. 1 is a schematic top view of the overall layout of the present invention;

FIG. 2 is a schematic front view of the overall layout of the present invention;

FIG. 3 is a schematic diagram of the robot and battery box of the present invention;

FIG. 4 is a perspective view of the construction of the robot of the present invention;

FIG. 5 is a cross-sectional view of FIG. 4;

FIG. 6 is a perspective view of the grasping assembly;

fig. 7 is a cross-sectional view of fig. 6.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

The embodiment provides a trade electric robot to new forms of energy car. The specific scheme is shown in figures 1-2.

The system comprises a charging rack, a charging system and a charging system, wherein the charging rack is used for charging a power-lack battery box in the whole power conversion working area; after the vehicle stops at a specific position of the access channel, the robot takes down the battery box in the vehicle, puts the battery box on the charging frame, and puts the battery box on the charging frame, which is charged completely, into the vehicle.

The space layout of the charging frame and the channel is in a parallel mode, so that the path driving of the robot adopts a truss coordinate mode. With particular reference to fig. 1 and 2, the arrangement of the truss enables the robot to form a walking path between the charging rack and the tunnel.

The robot completes displacement on XY coordinates on the truss main body, and a section of Z-axis coordinate sliding rail is added on the connection part of the robot and the truss main body, so that the robot completes height adjustment.

The robot body can adopt a grabbing robot for grabbing and placing the battery box.

In another preferred embodiment, the layout shown in fig. 1-2 is selected, i.e., the two charging racks and the passage are symmetrically arranged. In addition, two truss-robot combinations are mated on both sides. In the battery replacing process, the robot on one side grabs the battery box on the charging frame, and the robot on the other side grabs the battery box on the vehicle, so that synchronization is realized, the battery box in short of electricity is taken away from the vehicle, and the battery box in full of electricity is put into the vehicle. Meanwhile, the method can be realized through two channels. And simultaneously replacing the two vehicles.

Because the position of the vehicle staying in the passage at each time is different, the posture of the battery box on the vehicle (namely, a battery frame on the vehicle) is not fixed, and the robot can be influenced by the posture of the battery frame whether the robot grabs the battery box on the vehicle or puts the battery box on the vehicle.

In order to solve the above problems, firstly, a camera is installed on a robot, when a battery box is taken out, the posture of a battery rack is obtained by using a vision system (it is worth mentioning that the judgment of the position parameters of a static object through vision system software is a mature prior art, and the application in the field is common, for example, a method for replacing a battery, a battery replacement robot and a storage medium with the publication number: CN110936846A discloses a method for vision judgment, so that the important description is not made here, and the disclosure is not considered to be insufficient), and finally, the robot is controlled to make adaptive adjustment.

The adjusting action of the robot is realized by the following structure:

referring to fig. 4 and 5, the device comprises a base 11 mounted on a Z-axis, and the base 11 is driven by a motor and can rotate around its own axis. Thereby controlling the rotation angle of the robot itself in the XY plane. The upper end surface of the base 11 is provided with a plurality of electric cylinders 12 (or other linear driving components), the output ends of the electric cylinders 12 are connected with a ball joint 13, and the bottom of the ball joint is hinged with a mounting seat 21; referring to fig. 5, the electric cylinders 12 are arranged in a rectangular shape and are disposed at four corners of the base 11. The motor for driving the rotation of the base 11 is located at a side position of the center, and can be driven by means of gear engagement. And the central position is provided with a flange which is connected with the coordinate slide rail.

As further shown in fig. 4, a main ball joint 14 is also hinged between the middle of the mounting seat 21 and the base 11, and the main ball joint 14 is used for keeping the mounting seat 21 stable in overall adjustment. In fact, due to the definition of the passage, and the stability of the body structure, the battery carriage generally has only a small amplitude of tilting deflection in the Z axis. However, when the robot is adjusted, if the central position is not limited, a certain degree of deviation can be caused, the stress of the connection position of each electric cylinder is not uniform, the service time is long, and the failure rate can be increased.

In summary, referring to fig. 4, the robot is tilted in the vertical direction by the electric cylinder. Further, referring to fig. 4, gripping assemblies 2 for gripping the battery box are installed at both sides of the bottom of the installation seat 21. On the upper two sides of the gripper assembly 2 (which is also substantially an area extending from the body of the mounting base 21 to both sides) a laser sensor is mounted for alignment. In addition, the middle parts of the two grabbing components 2 can also be used for installing components such as cameras or sensors.

With continued reference to fig. 3, 6 and 7, the grasping assemblies 2 are fixed on both sides of the bottom of the mounting plate 21 (several grasping assemblies 2 are selectively mounted based on the specifications of the battery box).

It is worth mentioning here that the structure of the battery box 3, as shown in fig. 3, the battery box 3 is a frame structure as a whole, the periphery is surrounded by a plurality of groups of beams and longitudinal beams, and a side groove 31 is provided at the top of the battery box 3. the gripping assembly 2 of the present embodiment is based on the principle that a fork arm enters from the opening at the top of the battery box 3, and then extends to the side to pass through the side groove 31, so as to extract the battery box.

Specifically, referring to fig. 6, the grabbing assembly 2 includes two carrier plates 221 arranged at intervals, the carrier plates 221 are fixedly mounted at the bottom of the mounting base 21, so as to enclose a cavity, a bottom plate of the cavity forms a slide way, and a fork arm 224 is slidably connected in the slide way;

referring to fig. 7, two fork arms 224 are installed, and racks are connected to the fork arms 224, and the racks of the two fork arms 224 are engaged through a gear 227 in the middle. One of the yoke arms 224 is connected to a cylinder 226; when the air cylinder 226 is operated, one of the yoke arms 224 is pushed to be extended outwardly, the rack driving gear 227 of the yoke arm 224 is rotated, and the rack installed at the other side of the gear 227 is driven, thereby extending the other yoke arm 224.

With continued reference to fig. 6, extensions (200 and 201 in the figures) are provided on both sides of the grasping assembly, and in particular, extensions 201 are provided near the end walls of the battery case 3. A reinforcing rod 222 is also fixedly mounted on the extension portion for reinforcement. Referring to fig. 3, after the grasping assembly is placed in the battery box 3, the grasping assembly itself is located in the battery box 3. The extension part plays a role of guiding. Moreover, the extension part is positioned at the inner edge of the battery box 3, and the box body is limited to a certain degree when being carried. Preventing shaking during transportation.

To sum up, the battery swapping process of this embodiment is as follows:

(1) the vehicle enters the channel and stops;

(2) starting the battery replacement robot; if the robot is in the single-truss mode, the robot firstly extracts the battery box with short power from the vehicle and places the battery box on the recharging frame, and then extracts the battery box with full power from the battery frame and places the battery box on the vehicle;

if the two-truss mode is adopted, one robot extracts a full-charge battery box from a charging rack to be standby, the other robot extracts an electric lack battery box from the vehicle at the same time, and after the electric lack battery box is taken out, the first robot puts the full-charge battery box into the vehicle;

when the robot takes the power-lack battery box from the vehicle, the posture of the vehicle (the posture of the battery rack in the vehicle is determined by the posture of the vehicle) including whether the vehicle deviates, the deviation angle and the direction is obtained through a vision system; through the parameters, the posture of the robot (namely the mounting seat 21) is controlled to be matched with each other, and finally the battery box with short power is matched; the parameters can be quickly fed back to the grabbing robot of the full-charge battery box, so that the full-charge battery box can be placed into the vehicle in the same posture.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a flexible manipulator based on trade electric robot which characterized in that: including the base, the pedestal mounting is on the truss, and the base receives motor drive, can follow self axis horizontal rotation, installs the electric jar on the base, and the stiff end of electric jar is fixed on the base, and the output passes the base and articulates there is the mounting bracket, and the mounting bracket is located the position of the vertical below of electric jar, and the bottom of mounting bracket is fixed with snatchs the subassembly.

2. The flexible manipulator based on the electric replacing robot as claimed in claim 1, wherein: the truss robot comprises X-axis, Y-axis and Z-axis slide rails, and the Z-axis is used for adjusting the height of the grabbing component of the robot.

3. The flexible manipulator based on the electric replacing robot as claimed in claim 1, wherein: the electric cylinder is provided with four, and is the rectangle distribution in four angles departments of mounting bracket.

4. The flexible manipulator based on the electric replacing robot as claimed in claim 3, wherein: the middle part of the mounting rack is hinged with the base above through a ball joint.

5. The flexible manipulator based on the electric replacing robot as claimed in claim 4, wherein: the base extends a section to both sides based on snatching the subassembly, installs laser sensor or camera in the bottom of extension department.

6. The flexible manipulator based on the electric replacing robot as claimed in claim 5, wherein: the motor is installed in the top lateral position of base, through the mode drive base of gear, and the central point of base puts and reserves the installation position for be connected with the coordinate slide rail.