CN216993969U - Trade electric robot and trade power station - Google Patents

Abstract

The utility model discloses a battery replacing robot and a battery replacing station, and belongs to the technical field of electric vehicle battery charging and replacing. The battery replacing robot is used for moving the battery pack to a preset position. Trade electric robot includes fixture, adjustment mechanism, track and first spacing sensor, and wherein fixture is used for the centre gripping battery package, and adjustment mechanism is used for adjusting fixture position in first direction, second direction and vertical direction to adjust the position of battery package, realize heavily trading the change of battery package in the card. Trade electric robot can be on the track reciprocating motion, and orbital both ends all are equipped with the metal block, and on adjustment mechanism was located to first spacing sensor, when first spacing sensor sensed the metal block, adjustment mechanism stopped on the track removal to effectively reduced because of the impact force that adjustment mechanism and metal block collision produced, guaranteed the safety of trading electric robot and battery package.

Description

Trade electric robot and trade power station

Technical Field

The utility model relates to the technical field of electric vehicle charging and battery replacing, in particular to a battery replacing robot and a battery replacing station.

Background

Nowadays, new energy family cars are widely applied, so that great progress is made in atmospheric pollution control and green low-carbon development. In order to further improve the pollution control effect, a new type of electric heavy truck has been put into use in many places.

The electric heavy truck has two energy continuing modes of a charging mode and a battery replacement mode. The continuation of charge mode can be long time, and must charge near filling electric pile to make the charging process waste time and energy, have certain potential safety hazard moreover. The battery pack can be fully charged in the battery replacement mode in advance, and after the electric heavy truck enters the charging station, the battery pack with sufficient electric quantity can be directly replaced, so that the energy continuing time is effectively shortened.

The battery pack of the electric heavy truck has the characteristics of heavy mass and large volume, if the battery replacement is realized manually, the labor cost is increased, the battery replacement efficiency is low, and even the possibility of side turning of the battery pack in the battery replacement process can exist, so that safety accidents are caused. Therefore, the battery pack of the electric heavy truck is generally replaced by the battery replacement robot. However, the limitation of the current battery replacement robot on the moving distance of the battery pack in the first direction, the second direction and the vertical direction is realized only by the metal blocks arranged at the end parts of the rails, so that the battery replacement robot can be subjected to large impact force, and the battery replacement robot and the battery pack can be negatively influenced to a certain extent even though the battery replacement robot is buffered by the buffer. For example, after a large impact, the battery replacement robot is damaged, or rolls over from the rail, or separates the battery pack from the battery replacement robot, and the like.

Therefore, it is desirable to provide a swapping robot and a swapping station to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a battery replacing robot and a battery replacing station, which solve the problem that the existing battery replacing robot can only limit the movement of a battery pack by virtue of a metal block at the end part of a rail, and ensure the safety of the battery replacing robot and the battery pack.

In order to realize the purpose, the following technical scheme is provided:

the battery replacing robot moves back and forth on the track and is used for moving a battery pack to a preset position; the track extends along a first direction, metal blocks are arranged at two ends of the track and used for limiting the movement of the battery replacing robot on the track; the battery replacement robot comprises:

the clamping mechanism is used for clamping the battery pack;

the adjusting mechanism is arranged on the track in a sliding mode along the first direction, the clamping mechanism is arranged at the output end of the adjusting mechanism, and the adjusting mechanism is used for adjusting the position of the clamping mechanism in the first direction, the second direction and the vertical direction; the first direction, the second direction and the vertical direction are mutually perpendicular in pairs;

the first limiting sensor is arranged on the adjusting mechanism, and when the first limiting sensor senses the metal block, the adjusting mechanism stops moving on the track.

As an alternative to the above battery replacement robot, the adjustment mechanism includes:

a first adjustment assembly, a driving direction of the first adjustment assembly being the first direction;

the second adjusting component is arranged at the output end of the first adjusting component; the driving direction of the second adjusting component is the second direction;

and the clamping mechanism is arranged at the bottom end of the third adjusting assembly, the third adjusting assembly is arranged at the output end of the second adjusting assembly, and the driving direction of the third adjusting assembly is vertical.

As an alternative to the above battery replacement robot, the first adjusting assembly includes:

the bottom of the first frame is provided with a driving wheel and a driven wheel, and the driving wheel and the driven wheel can roll on the track along the first direction;

the first driving part is arranged on the first frame and used for driving the driving wheel to rotate; the first frame is provided with the first limit sensor, and when the first limit sensor senses the metal block, the first driving piece stops;

and the first temperature adjusting assembly covers the first driving part and is used for adjusting the temperature of the working environment of the first driving part.

As an alternative of the above battery replacement robot, a first guide wheel is further disposed below the first frame, and a circumferential surface of the first guide wheel abuts against an inner side wall of the track to guide the first frame to move in the first direction.

As an alternative of the above battery replacing robot, the battery replacing robot further includes a first locking hook, the first locking hook is disposed at the bottom end of the adjusting mechanism, the rail is in an i-shaped structure, and a hook groove of the first locking hook is hooked with the upper end of the rail and can slide along the rail.

As an alternative to the above battery replacement robot, the second adjusting assembly includes:

the bottom of the second frame is provided with a roller, and the roller is arranged on the first frame;

the second driving part is arranged on the second frame, the output end of the second driving part is provided with a helical gear, one side, away from the first driving part, of the first frame is provided with a rack along the second direction, the helical gear and the rack can be meshed with each other, and the second driving part is used for driving the helical gear to reciprocate on the rack; the adjusting mechanism further comprises two second limit sensors, the two second limit sensors are arranged on the first frame at intervals along the second direction, the second frame is arranged between the two second limit sensors, and when the second limit sensors sense the second frame, the second driving piece stops;

and the second temperature adjusting assembly covers the second driving piece and is used for adjusting the temperature of the working environment of the second driving piece.

As an alternative to the above battery replacement robot, the third adjusting assembly includes:

the third frame is arranged below the first frame; the third frame is provided with a movable pulley, the second frame is provided with a winding wheel and a fixed pulley, the winding wheel is wound with a steel wire rope, and the free end of the steel wire rope is sequentially wound around the fixed pulley and the movable pulley and then is hooked with the second frame; a groove is formed in the movable pulley along the circumferential direction of the movable pulley, the steel wire rope slides in the groove, and a detection sensor is arranged in the groove and used for detecting whether the steel wire rope is in the groove or not;

and the third driving piece is arranged on the second frame and used for driving the winding wheel to rotate so as to pay out or take back the steel wire rope.

As an alternative of the battery replacement robot, a limiting plate is arranged on the second frame, a limiting hole is formed in the position, after one end of the limiting plate penetrates through the first frame, of the second frame, a limiting piece, a fourth driving piece and a photoelectric sensor are arranged on the third frame, the limiting piece penetrates through the third frame along the second direction, and an output end of the fourth driving piece can push the limiting piece to move along the second direction until the limiting piece is inserted into the limiting hole; and the photoelectric sensor controls the start and stop of the fourth driving piece according to the relative distance between the third frame and the first frame and between the third frame and the second frame.

As an alternative of the above battery replacing robot, the clamping mechanism includes a fifth driving part, a connecting part and a rotary jaw, the driving direction of the fifth driving part is the first direction, the connecting part is arranged at the output end of the fifth driving part, both ends of the connecting part are connected with the rotary jaw in a rotating manner, and the connecting part can convert the linear motion of the fifth driving part into the rotation of the rotary jaw.

A battery replacement station comprises the battery replacement robot and a rail extending along a first direction, wherein the battery replacement robot is arranged on the rail.

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

the battery replacement robot provided by the utility model is used for moving a battery pack to a preset position. Trade electric robot includes fixture, adjustment mechanism, track and first spacing sensor, and wherein fixture is used for the centre gripping battery package, and adjustment mechanism is used for adjusting fixture position in first direction, second direction and vertical direction to adjust the position of battery package, realize heavily trading the change of battery package in the card. Trade electric robot can be on the track reciprocating motion, and orbital both ends all are equipped with the metal block, and on adjustment mechanism was located to first spacing sensor, when first spacing sensor sensed the metal block, adjustment mechanism stopped on the track removal to effectively reduced because of the impact force that adjustment mechanism and metal block collision produced, guaranteed the safety of trading electric robot and battery package.

Drawings

Fig. 1 is a schematic structural diagram of an electric swapping robot in one working state according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of the battery replacement robot in another working state according to the embodiment of the utility model;

FIG. 3 is a schematic view of a first adjustment assembly in one of the views according to an embodiment of the present invention;

FIG. 4 is a schematic view of the first adjustment assembly from another perspective in accordance with an embodiment of the present invention;

FIG. 5 is a schematic view of a second adjustment assembly of an embodiment of the present invention from one of a plurality of viewing angles;

FIG. 6 is a schematic view of a second adjustment assembly of an embodiment of the present invention from another perspective;

FIG. 7 is a schematic view of a third adjustment assembly of an embodiment of the present invention from one of a plurality of viewing angles;

FIG. 8 is a schematic diagram of a third adjustment assembly from another perspective in accordance with an embodiment of the present invention;

FIG. 9 is an enlarged view taken at A in FIG. 2;

FIG. 10 is an enlarged view at B in FIG. 2;

FIG. 11 is a schematic view of a portion of a third adjustment assembly assembled with a clamping mechanism in accordance with an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a connector according to an embodiment of the present invention.

Reference numerals are as follows:

1. an adjustment mechanism; 2. a clamping mechanism; 3. a track; 4. a battery pack frame;

11. a first adjustment assembly; 111. a first frame; 1111. a buffer member; 112. a first temperature regulating assembly; 113. a rotating shaft; 114. a first guide wheel; 115. a first limit sensor; 116. a second limit sensor; 117. a rack; 118. a first latch hook; 12. a second adjustment assembly; 121. a second frame; 122. a second temperature regulating assembly; 123. a helical gear; 124. a winding wheel; 1241. a reel body; 1242. a fixing member; 1243. a limiting wheel; 1244. a wire rope; 125. a fixed pulley; 126. a first guide sleeve; 127. a limiting plate; 1271. a limiting hole; 128. a hoisting ring; 129. a second guide wheel; 13. a third adjustment assembly; 131. a third frame; 132. a movable pulley; 133. a first positioning member; 134. an in-place sensor; 135. a vision camera; 136. a limiting member; 137. a fourth drive; 138. a coarse positioning piece; 139. a precision positioning element;

21. a fifth driving member; 22. a connecting member; 221. a guide groove; 23. rotating the clamping jaw; 231. a card slot; 24. a drive plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are usually placed when the products of the present invention are used, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

The existing power change robot is limited by the abutting of the metal block on the rail and the adjusting mechanism, but the power change robot in motion collides with the metal block to generate large impact force, and even though the buffer part is used as buffer, the power change robot and the battery pack are inevitably affected in a certain negative way, for example, after the power change robot is subjected to large impact, the power change robot is damaged or turned over from the rail, or the battery pack is separated from the power change robot, and the like.

Therefore, as shown in fig. 1 to 12, the present embodiment proposes an electric replacing robot that reciprocates on a rail 3 for moving a battery pack to a preset position. Referring to fig. 1 and 2, the rail 3 extends along a first direction (i.e., an X direction in the drawings), and both ends of the rail 3 are provided with metal blocks for limiting movement of the battery replacing robot on the rail 3 and preventing the battery replacing robot from separating from the rail 3. The battery replacement robot comprises a clamping mechanism 2, an adjusting mechanism 1 and a first limit sensor 115. The clamping mechanism 2 is arranged at the output end of the adjusting mechanism 1 and used for clamping the battery pack. The adjusting mechanism 1 is used for adjusting the positions of the clamping mechanism 2 in the first direction, the second direction (namely the Y direction in the attached drawing) and the vertical direction (namely the Z direction in the attached drawing), so that the battery pack can be carried to a preset position, and the replacement of the battery pack in the heavy truck is realized. The preset position is a containing cavity which can contain the battery pack in the heavy truck, or a charging slot which can contain the battery pack in the battery replacement station. Wherein, the first direction, the second direction and the vertical direction are mutually vertical.

On adjustment mechanism 1 was located to first spacing sensor 115, when first spacing sensor 115 sensed the metal block, adjustment mechanism 1 stopped in the removal on track 3 to effectively reduced because of trading the impact force that electric robot and metal block collided and produced, guaranteed the safety of trading electric robot and battery package.

The two tracks 3 are arranged, and the two tracks 3 are arranged at intervals along the second direction, so that the stability of the battery replacement robot in the moving process is improved. Further, the parallelism of the two tracks 3 is less than 2 mm.

Further optionally, the rail 3 is an i-shaped structure, the battery replacing robot further includes a first latch hook 118 disposed at the bottom end of the adjusting mechanism 1, and a hook groove of the first latch hook 118 is hooked to the upper end of the rail 3, so that the battery replacing robot is prevented from falling off from the rail 3 in an inclined manner, and the safety of the battery replacing robot is further ensured. And the hook groove of the first lock hook 118 can slide along the rail 3, so that the first lock hook 118 can play a role in protecting all the time in the moving process of the battery replacement robot.

As can be seen from fig. 3 to 4, the adjusting mechanism 1 optionally includes a first adjusting component 11, and the driving direction of the first adjusting component 11 is a first direction, so as to adjust the position of the battery pack in the first direction by the adjusting mechanism 1.

Specifically, the first adjusting assembly 11 includes a first frame 111 and a first driving member disposed on the first frame 111. The bottom of the first frame 111 is provided with a driving wheel and a driven wheel, which can roll on the track 3 in the first direction to enable movement of the first frame 111 relative to the track 3 in the first direction. A first guide wheel 114 is further disposed below the first frame 111, and a circumferential surface of the first guide wheel 114 abuts against an inner sidewall of the rail 3 to guide the first frame 111 to move in the first direction. The first driving member is used for driving the driving wheel to rotate, so that the driving wheel rolls, and after the first frame 111 moves on the track 3, the driven wheel and the first guide wheel 114 can be driven to rotate together, so that the first frame 111 can stably move on the track 3. The first limit sensor 115 is arranged on the first frame 111, when the first limit sensor 115 senses the metal block, the first driving piece stops, the first frame 111 continues to approach the metal block under the action of inertia, the advancing speed of the first frame 111 is continuously reduced in the moving process, and when the first frame 111 contacts the metal block, the impact force received by the first frame 111 is far smaller than that received by the battery replacement robot without the first limit sensor 115. Even when the sensing area of the first limit sensor 115 is large enough, the first frame 111 stops moving before contacting the metal block, which further illustrates that the first limit sensor 115 can provide effective protection for the battery replacement robot and the battery pack. Further, the first driving member is a motor.

Further, first adjusting part 11 still includes pivot 113, and pivot 113 links to each other with the output of first driving piece, and the both ends of pivot 113 all link to each other with the action wheel, and when first driving piece drive pivot 113 rotated, can drive the action wheel simultaneously and rotate.

Optionally, the first frame 111 is provided with a buffer 1111 at two ends opposite to each other along the first direction, and the buffer 1111 is provided to further attenuate the impact force applied to the first frame 111.

The first frame 111 includes two first bars extending in a first direction and three second bars extending in a second direction, the two first bars being spaced apart in the second direction, and the three second bars being spaced apart in the first direction to form a frame structure in a shape of a Chinese character 'ri'. Further, two ends of the two first rod pieces are provided with buffering pieces 1111. Correspondingly, the side of the two first bars contacting the track 3 is provided with a driving wheel, a driven wheel and a first guide wheel 114. In order to make the structure of the battery replacement robot reasonable, the two ends of the first rod piece are both arranged in the abdicating groove, and a driving wheel or a driven wheel is arranged in the abdicating groove. The end portion of the first rod is provided with a buffer 1111 through a mounting plate, and the first lock hook 118 is provided below the buffer 1111 and also provided at the end portion of the first rod through the mounting plate. The first guide wheel 114 is disposed on a side of the receding groove away from the buffer 1111. The rotation shaft 113 is provided in any one of regions between adjacent two second bars.

Because when the working temperature of the first driving member is lower than-20 ℃, the working performance of the first driving member is weakened, in order to smoothly perform the electricity replacement process, the first adjusting assembly 11 further comprises a first temperature adjusting assembly 112 covering the first driving member and used for adjusting the temperature of the working environment of the first driving member, so that the first driving member is always in a proper working environment, the performance of the first driving member is ensured, and the service life of the first driving member is prolonged.

Further optionally, the first temperature adjustment assembly 112 includes a first housing for housing the first driving member, so that the first driving member is in a sealed environment, which is beneficial for subsequent adjustment of the working environment temperature of the first driving member. The first adjusting component 11 further includes a first temperature sensor and a first heating module, which are disposed in the first housing, the first temperature sensor is used for detecting a temperature in the first housing, that is, a working environment temperature of the first driving component, and when the detected temperature is less than-20 ℃, the first heating module works to stop working after the temperature in the first housing reaches more than 10 ℃, so that the first temperature adjusting component 112 automatically adjusts the temperature of the working environment of the first driving component.

As can be seen from fig. 5 to fig. 6, optionally, the adjusting mechanism 1 further includes a second adjusting assembly 12, the second adjusting assembly 12 is disposed at an output end of the first adjusting assembly 11, and a driving direction of the second adjusting assembly 12 is a second direction, so as to adjust a position of the battery pack in the second direction by the adjusting mechanism 1.

Specifically, the second adjusting assembly 12 includes a second frame 121 and a second driving element disposed on the second frame 121, and a roller is disposed at the bottom of the second frame 121 and can roll on the first frame 111 along the second direction, so that on one hand, the second frame 121 moves in the second direction relative to the first frame 111, and on the other hand, the first frame 111 directly moves on the second frame 121, thereby reducing the manufacturing cost and improving the assembly efficiency of the swapping robot. The output end of the second driving member is provided with a helical gear 123, the side of the first frame 111 away from the first driving member is provided with a rack 117 along the second direction, the helical gear 123 and the rack 117 can be engaged with each other, and the second driving member is used for driving the helical gear 123 to reciprocate on the rack 117, so that the second frame 121 moves relative to the first frame 111. Further, the second driving member is a motor.

Further, the second adjusting assembly 12 further comprises a plurality of second guide wheels 129, and a circumferential surface of each second guide wheel 129 abuts against a side wall of the first frame 111, so that the moving direction of the second frame 121 is parallel to the first frame 111, thereby facilitating the engagement of the helical gear 123 and the rack 117.

In order to ensure the working performance of the second driving element and to smoothly perform the battery replacement process, the second adjusting assembly 12 further includes a second temperature adjusting assembly 122 covering the second driving element, and is used for adjusting the temperature of the working environment of the second driving element, so that the second driving element is always in a suitable working environment, and the service life of the second driving element is also prolonged while the performance of the second driving element is ensured.

Further optionally, the second temperature adjustment assembly 122 includes a second housing for housing the second driving member, so that the second driving member is in a sealed environment, which facilitates subsequent adjustment of the working environment temperature of the second driving member. The second adjusting component 12 further includes a second temperature sensor and a second heating module, which are disposed in the second housing, the second temperature sensor is used for detecting the temperature in the second housing, that is, the temperature of the working environment of the second driving component, and when the detected temperature is less than-20 ℃, the second heating module works to stop working after the temperature in the second housing reaches more than 10 ℃, so as to achieve automatic adjustment of the temperature of the working environment of the second driving component by the second temperature adjusting component 122.

As shown in fig. 4, further, the adjusting mechanism 1 further includes two second limit sensors 116, the two second limit sensors 116 are disposed on the first frame 111 at intervals along the second direction, the second frame 121 is disposed between the two second limit sensors 116, and when the second limit sensors 116 sense the second frame 121, the second driving member stops to avoid collision between the second frame 121 and the first frame 111, so as to further ensure safety of the battery replacement robot.

Further, the second adjusting assembly 12 further includes a second locking hook, the second rod in the first frame 111 is in an i-shaped structure, the second locking hook is disposed at the bottom end of the first frame 111, and a hook groove of the second locking hook is hooked to the upper end of the second rod, so that the second frame 121 is prevented from being tilted and dropped from the first frame 111, and the safety of the battery replacement robot is further ensured. And the hook groove of the second lock hook can slide along the second rod piece, so that the second lock hook can play a role in protecting the power exchanging robot all the time in the moving process.

Referring to fig. 7-10, optionally, the adjusting mechanism 1 further includes a third adjusting assembly 13, the clamping mechanism 2 is disposed at a bottom end of the third adjusting assembly 13, the third adjusting assembly 13 is disposed at an output end of the second adjusting assembly 12, and a driving direction of the third adjusting assembly 13 is a vertical direction, so as to achieve position adjustment of the battery pack by the adjusting mechanism 1 in the vertical direction.

Specifically, the third adjusting assembly 13 includes a third frame 131 and a third driving frame, the third frame 131 is disposed below the first frame 111, the third frame 131 is provided with a movable pulley 132, the second frame 121 is provided with a winding wheel 124 and a fixed pulley 125, the winding wheel 124 is wound with a steel wire rope 1244, and a free end of the steel wire rope 1244 sequentially winds around the set pulley 125 and the movable pulley 132 and then is hooked with the second frame 121. A third driving member is disposed on the second frame 121, and the third driving member is used for driving the winding wheel 124 to rotate so as to pay out or take back the wire rope 1244, so that the third frame 131 moves in the vertical direction, and then the battery pack is driven to move in the vertical direction. Further, the third driving member is a motor.

In order to ensure the stability of the battery pack in moving in the vertical direction, four fixed pulleys 132 and four fixed pulleys 125 are provided, the four fixed pulleys 125 are respectively provided at the corners of the second frame 121, and the four movable pulleys 132 are respectively provided at the corners of the third frame 131. The winding wheel 124 is disposed between two fixed pulleys 125 disposed at intervals in the first direction, and accordingly, two winding wheels 124 are provided. Each take-up pulley 124 is wound with two groups of steel wire ropes 1244, and the free ends of the two groups of steel wire ropes 1244 extend away from each other and are wound around a fixed pulley 125 positioned in the extending direction of each group. Further, a hanging ring 128 is arranged at the bottom end of the second frame 121, and the free end of the wire rope 1244 passes through the hanging ring 128 after passing around the movable pulley 132 and forms a knot, so that the wire rope 1244 is hooked with the second frame 121.

Further, as shown in fig. 10, the winding wheel 124 includes a winding wheel body 1241 and a fixing member 1242, and the winding wheel body 1241 is provided with a threaded groove along a circumferential direction thereof for accommodating a steel wire rope 1244 wound on the winding wheel body 1241. Fixing part 1242 includes baffle and nut, and one side of baffle is equipped with the arc wall, and the arc wall has formed the accommodation space that can hold wire rope 1244 with the thread groove, and threaded hole has been seted up along its thickness direction to the baffle, and the nut passes screw hole and reel body 1241 butt to realize that the baffle is to wire rope 1244 at reel body 1241 radial ascending spacing, firmly fix wire rope 1244 on reel body 1241.

Further optionally, locate a plurality of arc walls on the baffle for match with a plurality of corresponding ring channels, improved the fixed effect to wire rope 1244. However, if the number of the arc-shaped slots is too large, the steel wire rope 1244 can be released and retracted in a certain negative effect, so that in the embodiment, two arc-shaped slots are arranged on the baffle plate, and the threaded hole is arranged between the two arc-shaped slots.

Further, the winding wheel 124 includes a plurality of fixing members 1242, and the plurality of fixing members 1242 are distributed along the circumferential direction of the winding wheel body 1241 at intervals, so that the stability of the wire rope 1244 on the winding wheel body 1241 is further improved. In this embodiment, the winding wheel 124 includes four fixing members 1242, when the steel wire rope 1244 is placed, the three fixing members 1242 are used to fix one end of the steel wire rope 1244 to the winding wheel body 1241 at equal intervals, and after the steel wire rope 1244 is bent, the last fixing member 1242 is used to fix the steel wire rope 1244.

Further optionally, the winding wheel 124 further comprises a limiting wheel 1243, a U-shaped support is arranged on the winding wheel body 1241, the limiting wheel 1243 is rotatably connected with the U-shaped support, and the limiting wheel 1243 is parallel to the axis of the winding wheel body 1241, so that the steel wire rope 1244 is prevented from being separated from the thread groove, and the steel wire rope 1244 is effectively prevented from being wound disorderly.

Further optionally, a groove is formed in the circumferential direction of the movable pulley 132, the steel wire rope 1244 slides in the groove, and a detection sensor is arranged in the groove and used for detecting whether the steel wire rope 1244 is in the groove, so that the steel wire rope 1244 can drive the third frame 131 to move. When the detection sensor does not detect the steel wire rope 1244, an alarm signal is sent out, so that a worker can overhaul the steel wire rope.

Further optionally, the lower end of the second frame 121 is provided with a first guiding sleeve 126 along the vertical direction, the upper end of the third frame 131 is provided with a first positioning member 133 along the vertical direction, and the first positioning member 133 can be arranged in the first guiding sleeve 126. When the third frame 131 moves upwards along with the wire cable 1244, the first positioning element 133 can be inserted into the first guide sleeve 126, so that the third frame 131 is prevented from shaking in the process of moving upwards, and the battery pack is accurately positioned.

When the third frame 131 brings the battery pack to the bottom end of the first frame 111, because the battery pack of the heavy truck has a large weight, there is a possibility that the steel wire rope 1244 is broken, therefore, the limiting plate 127 is disposed on the second frame 121, a limiting hole 1271 is disposed at one end of the limiting plate 127 after penetrating through the first frame 111, the third frame 131 is provided with the limiting member 136, the fourth driving member 137 and the photoelectric sensor, the limiting member 136 penetrates through the third frame 131 along the second direction, and the output end of the fourth driving member 137 can push the limiting member 136 to move along the second direction until being inserted into the limiting hole 1271, so that the risk that the battery pack drops in the moving process is effectively reduced, and the safety of the battery pack is further ensured. The photoelectric sensor controls the on/off of the fourth driving member 137 according to the relative distance between the third frame 131 and the first and second frames 111 and 121. Further, the fourth driving member 137 is an electric push rod.

In the downward moving process of the third frame 131, the third frame 131 and the battery pack also need to be accurately positioned, so that the clamping mechanism 2 can accurately clamp the battery pack. Further optionally, the battery pack includes a battery pack frame 4, a coarse positioning element 138 and a fine positioning element 139 are further disposed at the bottom end of the third frame 131, and the coarse positioning element 138 can abut against the top end of the battery pack frame 4 to achieve coarse positioning between the third frame 131 and the battery pack frame 4. The top end of the battery pack frame 4 is provided with a second guide sleeve, and the fine positioning piece 139 can be inserted into the second guide sleeve, so that the third frame 131 and the battery pack frame 4 can be accurately positioned.

Referring to fig. 8, further optionally, a visual camera 135 is disposed at a bottom end of the third frame 131, and is configured to obtain position information of the battery pack, adjust positions of the clamping mechanism 2 in the first direction and the second direction through the adjusting mechanism 1 according to the position information of the battery pack, so that the clamping mechanism 2 is located right above the battery pack, and then the adjusting mechanism 1 controls the clamping mechanism 2 to fall down and clamp the battery pack, so as to take out a battery pack with depleted electric quantity from the heavy card, place the battery pack in a charging station for charging, or take out a battery pack with full electric quantity from the charging slot for placing the battery pack in the heavy card.

Further optionally, the bottom end of the third frame 131 is further provided with an in-position sensor 134 for detecting whether the battery pack is below the clamping mechanism 2. If the battery pack is not positioned below the clamping mechanism 2, the adjusting mechanism 1 continues to control the clamping mechanism 2 to move until the clamping mechanism 2 is positioned above the battery pack.

As shown in fig. 11 to 12, optionally, the clamping mechanism 2 includes a fifth driving member 21, a connecting member 22 and a rotary jaw 23, the driving direction of the fifth driving member 21 is the first direction, the connecting member 22 is disposed at the output end of the fifth driving member 21, and both ends of the connecting member 22 are rotatably connected to the rotary jaw 23, and the connecting member 22 can convert the linear motion of the fifth driving member 21 into the rotation of the rotary jaw 23. Specifically, the clamping mechanism 2 further includes a driving plate 24, two end portions of the connecting member 22 are provided with guide grooves 221 along the second direction, one end of the driving plate 24 is slidably disposed in the guide grooves 221, and the other end of the driving plate is coaxially driven with the rotary jaw 23. When the link 22 is driven to move in the first direction, the end of the driving plate 24 connected to the guide groove 221 slides from one end of the guide groove 221 to the other end, thereby rotating the rotary jaw 23. Further, be equipped with the draw-in groove on the rotatory jack catch 23, rotatory jack catch 23 is under initial condition, and the draw-in groove is parallel with battery package frame 4, and the back is opened to fifth driving piece 21, and drive connecting piece 22 moves along the first direction, drives rotatory jack catch 23 and rotates 90, and at this moment, the draw-in groove of rotatory jack catch 23 and the member joint of following the first direction extension in the battery package frame 4 to realize the centre gripping of fixture 2 to the battery package. Further, in order to secure the stability of the clamping, two fifth driving members 21, two connecting members 22 and four rotary claws 23 are provided in the clamping mechanism 2. The two fifth driving members 21 are disposed opposite to each other, and the two connecting members 22 are disposed at two ends of the third frame 131. Further, the fifth driver 21 is an electric push rod.

The embodiment further provides a power exchanging station, which includes the power exchanging robot and a rail 3 extending along the first direction, and the power exchanging robot is arranged on the rail 3 to assemble the power exchanging robot in the power exchanging station. The battery replacing station ensures the safety of the battery replacing robot and the battery pack in the battery replacing process.

It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in some detail by the above embodiments, the utility model is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the utility model, and the scope of the utility model is determined by the scope of the appended claims.

Claims (10)

1. The battery replacing robot moves on a track (3) in a reciprocating mode and is used for moving a battery pack to a preset position; the track (3) extends along a first direction, metal blocks are arranged at two ends of the track (3) and used for limiting the movement of the battery replacing robot on the track (3); characterized in that, trade electric robot includes:

the clamping mechanism (2) is used for clamping the battery pack;

the adjusting mechanism (1) is arranged on the track (3) in a sliding mode along the first direction, the clamping mechanism (2) is arranged at the output end of the adjusting mechanism (1), and the adjusting mechanism (1) is used for adjusting the positions of the clamping mechanism (2) in the first direction, the second direction and the vertical direction; the first direction, the second direction and the vertical direction are mutually perpendicular in pairs;

the first limit sensor (115) is arranged on the adjusting mechanism (1), and when the first limit sensor (115) senses the metal block, the adjusting mechanism (1) stops moving on the track (3).

2. The galvanic robot according to claim 1, characterized in that the adjustment mechanism (1) comprises:

a first adjustment assembly (11), the driving direction of the first adjustment assembly (11) being the first direction;

the second adjusting component (12), the second adjusting component (12) is arranged at the output end of the first adjusting component (11); the driving direction of the second adjusting component (12) is the second direction;

third adjusting part (13), fixture (2) are located the bottom of third adjusting part (13), third adjusting part (13) are located the output of second adjusting part (12), the drive direction of third adjusting part (13) is vertical direction.

3. The galvanic robot according to claim 2, characterized in that the first adjustment assembly (11) comprises:

a first frame (111), wherein a driving wheel and a driven wheel are arranged at the bottom of the first frame (111), and the driving wheel and the driven wheel can roll on the track (3) along the first direction;

the first driving part is arranged on the first frame (111) and is used for driving the driving wheel to rotate; the first limit sensor (115) is arranged on the first frame (111), and when the first limit sensor (115) senses the metal block, the first driving piece stops;

and the first temperature adjusting component (112) covers the first driving part and is used for adjusting the temperature of the working environment of the first driving part.

4. The battery replacing robot as recited in claim 3, wherein a first guide wheel (114) is further disposed below the first frame (111), and a circumferential surface of the first guide wheel (114) abuts against an inner side wall of a track (3) for guiding the first frame (111) to move along the first direction.

5. The swapping robot as claimed in claim 1, further comprising a first locking hook (118), wherein the first locking hook (118) is disposed at a bottom end of the adjustment mechanism (1), the rail (3) is of an i-shaped structure, and a hooking groove of the first locking hook (118) is hooked with an upper end of the rail (3) and can slide along the rail (3).

6. The battery changing robot according to claim 3, wherein the second adjustment assembly (12) comprises:

the bottom of the second frame (121) is provided with a roller, and the roller is arranged on the first frame (111);

the second driving part is arranged on the second frame (121), the output end of the second driving part is provided with a bevel gear (123), one side, far away from the first driving part, of the first frame (111) is provided with a rack (117) along the second direction, the bevel gear (123) and the rack (117) can be meshed with each other, and the second driving part is used for driving the bevel gear (123) to reciprocate on the rack (117); the adjusting mechanism (1) further comprises two second limit sensors (116), the two second limit sensors (116) are arranged on the first frame (111) at intervals along the second direction, the second frame (121) is arranged between the two second limit sensors (116), and when the second limit sensors (116) sense the second frame (121), the second driving piece stops;

and the second temperature adjusting assembly (122) covers the second driving piece and is used for adjusting the temperature of the working environment of the second driving piece.

7. The electro-mechanical robot as claimed in claim 6, characterized in that said third adjustment assembly (13) comprises:

a third frame (131), wherein the third frame (131) is arranged below the first frame (111); a movable pulley (132) is arranged on the third frame (131), a winding wheel (124) and a fixed pulley (125) are arranged on the second frame (121), a steel wire rope (1244) is wound on the winding wheel (124), and the free end of the steel wire rope (1244) is sequentially wound on the fixed pulley (125) and the movable pulley (132) and then is hooked with the second frame (121); a groove is formed in the movable pulley (132) along the circumferential direction of the movable pulley, the steel wire rope (1244) slides in the groove, and a detection sensor is arranged in the groove and used for detecting whether the steel wire rope (1244) is in the groove;

and the third driving part is arranged on the second frame (121) and is used for driving the winding wheel (124) to rotate so as to pay out or take back the steel wire rope (1244).

8. The electric replacing robot according to claim 7, wherein a limit plate (127) is arranged on the second frame (121), a limit hole (1271) is arranged after one end of the limit plate (127) passes through the first frame (111), a limit piece (136), a fourth driving piece (137) and a photoelectric sensor are arranged on the third frame (131), the limit piece (136) passes through the third frame (131) along the second direction, and an output end of the fourth driving piece (137) can push the limit piece (136) to move along the second direction until the limit piece is inserted into the limit hole (1271); the photoelectric sensor controls the starting and stopping of the fourth driving piece (137) according to the relative distance between the third frame (131) and the first frame (111) and the second frame (121).

9. The electric changing robot as claimed in claim 8, wherein the clamping mechanism (2) comprises a fifth driving member (21), a connecting member (22) and a rotary jaw (23), the driving direction of the fifth driving member (21) is the first direction, the connecting member (22) is arranged at the output end of the fifth driving member (21), both ends of the connecting member (22) are rotatably connected with the rotary jaw (23), and the connecting member (22) can convert the linear motion of the fifth driving member (21) into the rotation of the rotary jaw (23).

10. Battery swapping station comprising a battery swapping robot as claimed in any of claims 1-9, comprising a rail (3) extending in a first direction, the battery swapping robot being arranged on the rail (3).

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