CN216154940U - Trade electric truss transfer robot - Google Patents
Trade electric truss transfer robot Download PDFInfo
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- CN216154940U CN216154940U CN202122249813.2U CN202122249813U CN216154940U CN 216154940 U CN216154940 U CN 216154940U CN 202122249813 U CN202122249813 U CN 202122249813U CN 216154940 U CN216154940 U CN 216154940U
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Abstract
The invention provides a battery replacing truss transfer robot which comprises a moving seat, a grabbing seat fixedly connected with the moving seat and Y-direction rails arranged at two ends of the moving seat, wherein the moving seat comprises a Y-axis moving device with the moving seat sliding on the Y-direction rails at two ends, an X-axis moving device driving the grabbing seat to move in the X direction and a Z-axis moving device driving the grabbing seat to move in the Z direction, and a grabbing device used for grabbing a heavy-duty battery is arranged on the grabbing seat. The application transfer robot through being provided with triaxial mobile device, can drive and snatch the seat and carry out the motion of three direction, and then the effectual motion ability that snatchs the seat that has improved has made things convenient for snatching to heavy truck battery, simultaneously, in this application, increased the initiative and prevented falling the function, prevent the robot at hoist and mount battery package in-process emergence rope fracture accident of falling through preventing weighing down the bolt.
Description
Technical Field
The invention relates to the field of robots, in particular to a battery replacing truss carrying robot.
Background
The existing electric automobiles are used more and more frequently, particularly electric heavy trucks are appeared, and as the electric heavy trucks need to maintain the endurance, in addition to increasing the capacity of the batteries of the electric trucks, the replenishing speed of the batteries of the electric trucks also needs to be increased.
The battery can be supplemented by: slow charging, quick charging and mechanical charging. The electric truck requires high efficiency in operation, and therefore, requires high time efficiency. For slow and fast charging, the fastest charge time is one hour for electric vehicles with low battery capacity, and the one hour time cost is very expensive for electric trucks. And mechanical charging, namely directly replacing the battery, can replace the battery of the electric automobile in only a few minutes to ensure that the battery of the electric automobile is in a full state. Similarly, if a mechanical charging method is used for the electric truck, the battery recharging time of the electric truck is shortened to about ten minutes, which provides an important condition for large-scale commercialization of the electric truck.
The existing mechanical charging technology is mainly focused on the field of electric automobiles, and for electric trucks, no specific battery replacing device is provided.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a battery replacing truss transfer robot for replacing batteries of a heavy truck, which improves the speed of replacing batteries of the heavy truck.
In order to achieve the purpose, the invention provides a battery replacing truss carrying robot which comprises a moving seat, a grabbing seat fixedly connected with the moving seat and Y-direction rails arranged at two ends of the moving seat, wherein the moving seat comprises a Y-axis moving device with the moving seat sliding on the Y-direction rails at two ends, an X-axis moving device driving the grabbing seat to move in the X direction and a Z-axis moving device driving the grabbing seat to move in the Z direction, and a grabbing device used for grabbing a heavy-duty battery is arranged on the grabbing seat.
Furthermore, the Y-axis moving device comprises two Y-axis moving columns which are respectively arranged on the two Y-direction tracks in a sliding manner, each Y-axis moving column is internally provided with a driving roller and at least one driven roller, wherein the driving roller is connected with a roller driving device,
and a fixed column is fixedly connected between the two Y-axis moving columns, an electric cabinet and a roller driving device are fixedly arranged on the fixed column, the roller driving device comprises a Y-axis driving motor, a first gear reduction box connected with the Y-axis driving motor and an output rotating shaft connected with the rotating shafts of the reduction boxes at the two ends of the first gear reduction box, one end of the output rotating shaft is connected with the rotating shaft of the reduction box, the other end of the output rotating shaft is connected with one end of the driving rotating shaft through a universal joint, and the other end of the driving rotating shaft is respectively connected with a driving roller.
Furthermore, the surface of fixed column is provided with at least one distance sensor, just the tip of Y axle removal post is provided with soft buffer head.
Furthermore, the X-axis moving device comprises two X-axis moving columns which are arranged on the two Y-axis moving columns and parallel to each other, two ends of the two X-axis moving columns are arranged on the Y-axis moving columns in a sliding mode, an X-axis moving track is arranged above each X-axis moving column, an X-axis sliding seat is arranged on each X-axis moving track in a sliding mode, an X-axis driving device is arranged on one X-axis sliding seat, the X-axis driving device is an X-axis motor base fixedly arranged on the X-axis sliding seat, an X-axis driving motor is fixedly arranged on the X-axis motor base, an output shaft of the X-axis driving motor is connected with a rear gear of the speed reducer, and a rack meshed with the gear is fixedly arranged on the X-axis sliding seat.
Furthermore, the Z-axis moving device comprises a rectangular sliding base, two long edges of the sliding base are arranged on the X-axis sliding base, a positioning seat is fixedly connected between the long edges of the two rectangular frames, a Z-axis driving device is fixedly arranged on the upper surface of the positioning seat, the Z-axis driving device comprises a double-cylinder winch, and a main guide wheel is arranged at each of four corners of the sliding base.
Furthermore, the grabbing seat comprises a rectangular grabbing seat base, auxiliary guide wheels are arranged at four corners of the grabbing seat base, four hanging rings are fixedly arranged on the lower surface of the sliding base,
a fixed cross bar is arranged between the two long edges of the grabbing seat base, an electric cylinder is hinged on the fixed cross bar and comprises two transverse electric cylinders with output shafts facing the two short plates and two vertical electric cylinders with output shafts facing the two long edges, wherein the output shafts of the two transverse electric cylinders are hinged with a connecting rod, grabbing seat sliding blocks are fixedly arranged at the two ends of the connecting rod and are arranged on grabbing seat rails in a sliding manner, the grabbing seat rails are arranged on the front surfaces of the long edges of the grabbing seat base, and each grabbing seat sliding block is fixedly provided with a grabbing block,
and meanwhile, the output shaft of the vertical electric cylinder is fixedly connected with an anti-falling bolt, the anti-falling bolt penetrates through a fixing lug fixedly arranged on the base of the grabbing seat, and the lower surface of the positioning seat is provided with a positioning column provided with a plurality of anti-falling bolt holes.
Furthermore, at least one positioning pin is arranged on the upper surface of the short side of the grabbing base, and a positioning pin column matched with the positioning pin is arranged on the lower surface of the sliding base.
Furthermore, all be provided with a spacing post on the four sides of the lower surface of snatching a base.
Furthermore, all be provided with proximity switch on the supplementary leading wheel.
As described above, the electric truss replacing transfer robot according to the present invention has the following beneficial effects:
the application transfer robot through being provided with triaxial mobile device, can drive and snatch the seat and carry out the motion of three direction, and then effectual improvement snatch the motion ability of seat, made things convenient for snatching to heavy truck battery.
Simultaneously, in this application, increased the initiative and prevented falling the function, prevented that the robot from taking place rope fracture accident of falling at hoist and mount battery package in-process through preventing weighing down the bolt.
The safety detection function is added, and the auxiliary guide wheel is provided with the proximity switch, so that the tightness of the rope can be detected, and whether the rope works normally can be sensed.
Drawings
Fig. 1 is a schematic structural view of a transfer robot according to the present invention;
FIG. 2 is a schematic view of the connection between the base and the mounting base according to the present invention;
FIG. 3 is another perspective view of FIG. 2;
FIG. 4 is a schematic view of the internal structure of the Y-axis moving column according to the present invention;
FIG. 5 is a schematic structural view of the mounting base of the present invention;
FIG. 6 is a schematic connection diagram of a steel cord;
in the figure: 1. a battery box; 2. a movable seat; 3. a grabbing seat; 4. a positioning column; 5. a Y-direction track; 6. a Y-axis moving column; 7. Fixing a column; 8. an electric cabinet; 9. a Y-axis drive motor; 10. a first gear reduction box; 11. an X-axis moving column; 12. an X-axis moving track; 13. an X-axis sliding seat; 14. a twin-drum hoist; 15. a distance sensor; 16. a flexible buffer head; 17. positioning seats; 18. a main guide wheel; 19. an auxiliary guide wheel; 20. an X-axis drive motor; 21. a rack; 22. a gear; 23. grabbing blocks; 24. a grabbing seat sliding block; 25. an output shaft; 26. driving the rotating shaft; 27. a driving roller; 28. a passive roller; 29. positioning pins; 30. positioning the pin column; 31. a sliding base; 32. a grabbing seat base; 33. a hoisting ring; 34. a limiting column; 35. a connecting rod; 36. a gripping base track; 37. a proximity switch; 38. a vertical electric cylinder; 39. a transverse electric cylinder; 40. an anti-falling bolt; 41. fixing the bump; 42. anti-falling bolt hole 43, wire rope.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1-5. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Example (b):
the utility model provides a trade electric truss transfer robot, works in the upside of battery box 1, including remove seat 2, with remove 2 fixed connection's of seat snatch seat 3 and set up in the Y that removes 2 both ends to track 5, wherein, remove seat 2 including taking the Y of removal seat 2 at both ends to gliding Y axle mobile device on track 5, drive the X axle mobile device who snatchs the motion of seat 3X direction and drive the Z axle mobile device who snatchs the motion of seat 3Z axle direction, it is provided with the grabbing device who is used for snatching the heavy truck battery on the seat 3 to snatch.
In this embodiment, the Y-axis moving device includes two Y-axis moving columns 6 respectively slidably disposed on the two Y-direction rails 5, each Y-axis moving column 6 has a driving roller 27 and at least one driven roller 28 disposed therein, wherein the driving roller 27 is connected to a roller driving device,
and a fixed column 7 is fixedly connected between the two Y-axis moving columns 6, an electric control box 8 and a roller driving device are fixedly arranged on the fixed column 7, the roller driving device comprises a Y-axis driving motor 9, a first gear 22 reduction box 10 connected with the Y-axis driving motor 9, and an output rotating shaft 25 connected with reduction box rotating shafts at two ends of the first gear 22 reduction box 10, one end of the output rotating shaft 25 is connected with the reduction box rotating shaft, the other end of the output rotating shaft is connected with one end of a driving rotating shaft 26 through a universal joint, and the other end of the driving rotating shaft 26 is respectively connected with a driving roller 27.
In this embodiment, at least one distance sensor 15 is disposed on the outer surface of the fixed column 7, and a soft buffer head 16 is disposed at the end of the Y-axis moving column 6.
In this embodiment, the X-axis moving device includes two X-axis moving columns 11 that are parallel to each other and are disposed on two Y-axis moving columns 6, two ends of the two X-axis moving columns 11 are all slidably disposed on the Y-axis moving columns 6, an X-axis moving track 12 is disposed above each X-axis moving column 11, an X-axis sliding seat 13 is disposed on each X-axis moving track 12, and an X-axis driving device is disposed on one of the X-axis sliding seats 13, wherein the X-axis driving device is an X-axis motor base fixedly disposed on the X-axis sliding seat 13, an X-axis driving motor 20 is fixedly disposed on the X-axis motor base, an output shaft of the X-axis driving motor 20 is connected through a rear gear 22 of the speed reducer, and a rack 21 meshed with the gear 22 is fixedly disposed on the X-axis sliding seat 13.
In this embodiment, the Z-axis moving device includes a rectangular sliding base 31, two long sides of the sliding base 31 are disposed on the X-axis sliding base 13, a positioning seat 17 is fixedly connected between the two long sides of the rectangular frame, a Z-axis driving device is fixedly disposed on an upper surface of the positioning seat 17, the Z-axis driving device includes a double-drum winch 14, and one main guide wheel 18 is disposed at each of four corners of the sliding base 31.
In this embodiment, the grabbing seat 3 includes a rectangular grabbing seat 3 base, the auxiliary guide wheels 19 are arranged at four corners of the grabbing seat 3 base, the four hanging rings 33 are fixedly arranged on the lower surface of the sliding base 31, the steel wire rope on the double-drum winch 14 firstly passes through the main guide wheel 18, then passes through the auxiliary guide wheels 19, and finally is fixed to the hanging rings 33, and when the double-drum winch 14 drives the steel wire rope to rotate, the lifting of the grabbing seat 3 is driven.
A fixed cross bar is arranged between two long edges of the base of the grabbing seat 3, an electric cylinder is hinged on the fixed cross bar and comprises two transverse electric cylinders 39 with output shafts facing two short plates and two vertical electric cylinders 38 with output shafts facing two long edges, wherein the output shafts of the two transverse electric cylinders 39 are hinged with a connecting rod 35, two ends of the connecting rod 35 are fixedly provided with grabbing seat 3 sliding blocks, the grabbing seat 3 sliding blocks are all arranged on grabbing seat rails 36 in a sliding manner, the grabbing seat rails 36 are arranged on the front surfaces of the long edges of the base of the grabbing seat 3, and each grabbing seat sliding block is fixedly provided with a grabbing block 23,
meanwhile, an anti-falling bolt 40 is fixedly connected to an output shaft of the vertical electric cylinder 38, the anti-falling bolt 40 penetrates through a fixing projection 41 fixedly arranged on a base of the grabbing seat 3, and a positioning column 4 provided with a plurality of anti-falling bolts 40 is arranged on the lower surface of the positioning seat 17.
In this embodiment, the upper surface of the short side of the base of the gripping seat 3 is provided with at least one positioning pin 29, and the lower surface of the sliding base 31 is provided with a positioning pin 29 column used in cooperation with the positioning pin 29.
In this embodiment, a limiting column 34 is disposed on each of four sides of the lower surface of the base of the grabbing seat 3.
In this embodiment, the auxiliary guide wheels 19 are provided with proximity switches 37 to prevent the wire rope on the auxiliary guide wheels 19 from loosening.
When the carrying robot works specifically, two identical carrying robots are arranged on the Y-direction track 5, and the distance sensor 15 is arranged, so that the two carrying robots can be kept at a safe distance to work, and the soft buffer head 16 is arranged, so that the carrying robot can be prevented from being damaged even if the two carrying robots touch each other. When the transport robot works, the Y-axis moving device of one transport robot drives the moving seat 2 to slide on the Y-direction rail 5, the X-axis moving device drives the grabbing seat 3 to move in the X direction, when the used battery reaches the position, the Z-axis moving device drives the grabbing seat 3 to move downwards, the used battery is wrapped through the four limiting columns 34, at the moment, two transverse electric cylinders 39 on the grabbing seat 3 drive the connecting rod 35 to push outwards, so that the sliding block of the grabbing seat 3 slides on the grabbing seat rail 36, the four grabbing blocks 23 are clamped into four grooves of the battery to grab the battery, then the Z-axis moving device rotates to drive the grabbing seat 3 to ascend, the X-axis moving device and the Y-axis moving device also drive the grabbing seat 3 to return to the upper side of the battery box 1, at the moment, the Z-axis moving device drives the grabbing seat 3 to descend to the vacant position of the battery box 1, and the transverse electric cylinders 39 retract, the grabbing block 23 is withdrawn from the groove of the battery, and the used battery is placed in the battery box 1; when the carrying robot puts the old battery into the battery box 1, the other carrying robot takes out the new battery from the battery box 1 and carries the new battery to a replacement place for replacing the new battery, so that the two carrying robots move together, and the whole battery replacement efficiency is improved.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can 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 (9)
1. The utility model provides a trade electric truss transfer robot, including removing seat (2), with remove seat (2) fixed connection snatch seat (3) and set up in Y that removes seat (2) both ends to track (5), wherein, remove seat (2) including taking to remove seat (2) Y at both ends to gliding Y axle mobile device on track (5), drive and snatch the X axle mobile device of seat (3) X direction motion and drive and snatch the Z axle mobile device of seat (3) Z axle direction motion, it is provided with the grabbing device who is used for snatching heavy truck battery on seat (3) to snatch.
2. The electric truss swap handling robot of claim 1, wherein: the Y-axis moving device comprises two Y-axis moving columns (6) which are respectively arranged on two Y-direction tracks (5) in a sliding manner, a driving roller (27) and at least one driven roller (28) are arranged in each Y-axis moving column (6), wherein the driving roller (27) is connected with a roller driving device,
and a fixed column (7) is fixedly connected between the two Y-axis moving columns (6), an electric cabinet (8) and a roller driving device are fixedly arranged on the fixed column (7), the roller driving device comprises a Y-axis driving motor (9), a first gear (22) reduction box (10) connected with the Y-axis driving motor (9), and an output rotating shaft (25) connected with reduction box rotating shafts at two ends of the first gear (22) reduction box (10), one end of the output rotating shaft (25) is connected with the reduction box rotating shaft, the other end of the output rotating shaft is connected with one end of a driving rotating shaft (26) through a universal joint, and the other end of the driving rotating shaft (26) is connected with a driving roller (27) respectively.
3. The electric truss swap handling robot of claim 2, wherein: the outer surface of the fixed column (7) is provided with at least one distance sensor (15), and the end part of the Y-axis moving column (6) is provided with a soft buffer head (16).
4. The electric truss swap handling robot of claim 1, wherein: the X-axis moving device comprises two X-axis moving columns (11) which are arranged on two Y-axis moving columns (6) and are parallel to each other, two ends of the two X-axis moving columns (11) are arranged on the Y-axis moving columns (6) in a sliding manner, an X-axis moving track (12) is arranged above each X-axis moving column (11), an X-axis sliding seat (13) is arranged on each X-axis moving track (12) in a sliding manner, and an X-axis driving device is arranged on one X-axis sliding seat (13), wherein the X-axis driving device is an X-axis motor base fixedly arranged on an X-axis sliding seat (13), an X-axis driving motor (20) is fixedly arranged on the X-axis motor base, an output shaft of the X-axis driving motor (20) is connected with a rear gear (22) of the speed reducer, and a rack (21) meshed with a gear (22) is fixedly arranged on the X-axis sliding seat (13).
5. The electric truss swap handling robot of claim 1, wherein: the Z-axis moving device comprises a rectangular sliding base (31), two long edges of the sliding base (31) are arranged on an X-axis sliding base (13), a positioning seat (17) is fixedly connected between the long edges of two rectangular frames, a Z-axis driving device is fixedly arranged on the upper surface of the positioning seat (17), the Z-axis driving device comprises a double-drum winch (14), and four corners of the sliding base (31) are respectively provided with a main guide wheel (18).
6. The electric truss swap handling robot of claim 5, wherein: the grabbing seat (3) comprises a rectangular grabbing seat (3) base, auxiliary guide wheels (19) are arranged at four corners of the grabbing seat (3) base, four lifting rings (33) are fixedly arranged on the lower surface of the sliding base (31),
a fixed cross bar is arranged between two long edges of a base of the grabbing seat (3), electric cylinders are hinged on the fixed cross bar and comprise two transverse electric cylinders (39) with output shafts facing two short plates and two vertical electric cylinders (38) with output shafts facing two long edges, wherein the output shafts of the two transverse electric cylinders (39) are hinged with a connecting rod (35), two ends of the connecting rod (35) are fixedly provided with grabbing seat (3) sliding blocks, the grabbing seat (3) sliding blocks are arranged on grabbing seat rails (36) in a sliding manner, the grabbing seat rails (36) are arranged on the front surfaces of the long edges of the base of the grabbing seat (3), and each grabbing seat sliding block is fixedly provided with a grabbing block (23),
simultaneously, equal fixedly connected with one on the output shaft of vertical electric jar (38) prevents weighing down bolt (40), prevent weighing down bolt (40) and pierce through fixed setting in fixed lug (41) on grabbing seat (3) base, just the lower surface of positioning seat (17) is provided with reference column (4) of seting up a plurality of bolts (40) of preventing weighing down hole.
7. The electric truss swap handling robot of claim 6, wherein: the grabbing seat is characterized in that at least one positioning pin (29) is arranged on the upper surface of the short side of the base of the grabbing seat (3), and a positioning pin (29) column matched with the positioning pin (29) is arranged on the lower surface of the sliding base (31).
8. The electric truss swap handling robot of claim 7, wherein: and four sides of the lower surface of the base of the grabbing seat (3) are provided with a limiting column (34).
9. The electric truss swap handling robot of claim 6, wherein: and the auxiliary guide wheels (19) are provided with proximity switches (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122249813.2U CN216154940U (en) | 2021-09-16 | 2021-09-16 | Trade electric truss transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122249813.2U CN216154940U (en) | 2021-09-16 | 2021-09-16 | Trade electric truss transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216154940U true CN216154940U (en) | 2022-04-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122249813.2U Active CN216154940U (en) | 2021-09-16 | 2021-09-16 | Trade electric truss transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216154940U (en) |
-
2021
- 2021-09-16 CN CN202122249813.2U patent/CN216154940U/en active Active
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