CN219990893U

CN219990893U - Grabbing device and have its motor ware people that trades

Info

Publication number: CN219990893U
Application number: CN202321437263.XU
Authority: CN
Inventors: 李立国; 孙松伟; 张玉良
Original assignee: Sichuan Zhili Intelligent Energy Technology Co ltd
Current assignee: Sichuan Zhili Intelligent Energy Technology Co ltd
Priority date: 2023-06-07
Filing date: 2023-06-07
Publication date: 2023-11-10
Anticipated expiration: 2033-06-07

Abstract

The utility model discloses a grabbing device and a motor replacing robot with the grabbing device, wherein the grabbing device comprises a lifting appliance with a cross beam arranged below the cross beam, the cross beam is flexibly connected with the lifting appliance through a plurality of hanging chains, the upper ends of the hanging chains penetrate through the cross beam and are fixed on the cross beam through locking pins, the lower ends of the hanging chains are fixedly arranged on the lifting appliance, and weighing sensors are arranged between the cross beam and the hanging chains or between the hanging chains and the lifting appliance or in the middle of the hanging chains. The grabbing device detects the weight of the object grabbed by the grabbing device through the weighing sensor, and if the weight exceeds a set value, the object is stopped from being lifted, so that the grabbing device has safer and more reliable performance.

Description

Grabbing device and have its motor ware people that trades

Technical Field

The utility model relates to the technical field of power conversion, in particular to a grabbing device and a power conversion robot.

Background

With the rapid development of new energy automobile industry, the heavy truck power conversion mode is gradually brought into the field of vision of people. Compared with a charging mode, the power conversion mode has the advantages of short power conversion time, high operation efficiency and the like, the power conversion station is used as a facility for providing power conversion service for a power conversion heavy truck, a mechanical device for grabbing and carrying a power conversion battery is usually arranged in the power conversion station, the power conversion station is called a power conversion robot in the industry, the current power conversion robot usually adopts a lifting appliance to fix the power conversion battery, and lifting of the lifting appliance is realized through a steel rope and the like. For example, according to the technology disclosed in the prior art such as CN214692860U and CN216889685U, when the battery is lifted, the cable or the steel rope is difficult to avoid shaking, the service life of the cable or the steel rope is gradually reduced along with the increase of the use times, the shaking battery becomes difficult to accurately position the battery, the battery replacement time is increased, and because the abrasion degree of the steel rope or the cable is difficult to judge, if the lifted battery is towards the limit which can be born by the battery replacement robot, the lifting appliance still can forcedly lift the battery replacement, and at the moment, the shaking battery replacement can increase potential safety hazards, so that the gripping device of the battery replacement is necessary to be improved.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model aims to provide a safer, more rapid and more reliable grabbing device.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the utility model provides a grabbing device, including the crossbeam and install the hoist in the crossbeam below, its characterized in that, through a plurality of chain links flexonics between crossbeam and the hoist, the upper end of chain link runs through the crossbeam and is fixed in on the crossbeam through the lockpin, the lower extreme fixed mounting of chain link is on the hoist, be equipped with weighing sensor between crossbeam and the chain link or between chain link and the hoist or in the middle of the chain link.

Further, be equipped with the fixed mounting plate on the crossbeam, the hoist chain is installed on the fixed mounting plate, there are a plurality of flexible positioning mechanism still between crossbeam and the hoist, flexible positioning mechanism is including locating the fixed part on the fixed mounting plate and from the flexible portion of fixed part downwardly extending, be equipped with the location portion that matches with flexible lower extreme on the hoist.

Further, the lower end of the positioning telescopic part is provided with a conical guide head.

Further, a screw rod is arranged between the telescopic part and the fixed part, the fixed part comprises a base fixedly connected with the fixed mounting plate and a driving motor fixed with the base into a whole, and the driving motor drives the screw rod to rotate so as to realize a telescopic function.

Further, the lifting appliance is provided with a plurality of rotating lock pins, and each rotating lock pin comprises a rotating shaft part which is connected to the lifting appliance in a shaft mode and a locking part which can rotate around the rotating shaft part.

Further, the lifting appliance is provided with a plurality of guiding devices in a downward extending mode, and the guiding devices comprise guiding columns provided with guiding inclined planes.

Further, a guide supporting plate is further arranged on the cross beam and is parallel to the fixed mounting plate, and a guide hole for limiting the movable range of the telescopic part is formed in the guide supporting plate.

Further, a through hole is formed in the cross beam, a stop block is arranged above the through hole, the hanging chain penetrates through the stop block and then is movably mounted on the stop block through a lock pin, and the lock pin penetrates through the hanging chain and is fixedly mounted on the stop block.

Further, the grabbing device further comprises a control module, data read by the weighing sensor are transmitted to the control module, and the control module is used for controlling lifting of the cross beam.

The utility model also aims to provide a safer, more stable and more efficient motor replacing robot, which comprises the grabbing device.

The beneficial effects of the utility model are as follows:

the gripping device consistent with the utility model adopts the hanging chain with fixed length and the weighing sensor, can better prevent the hanging chain from breaking, improves the stability and the safety of the power changing action, adopts the telescopic positioning mechanism to prevent the lifting appliance from shaking, improves the accuracy and the efficiency of power changing, and has higher safety performance and power changing efficiency.

Drawings

Fig. 1 is a schematic perspective view of a gripping device according to an embodiment of the present utility model;

FIG. 2 is a partial side view of the gripping device of FIG. 1;

fig. 3 is a partial perspective view of the grasping device shown in fig. 1.

In the figure:

100. a gripping device; 10. a lifting appliance; 102. a positioning part; 11. a swivel lock pin; 110. a locking part; 111. a rotating shaft portion; 12. a guide device; 121 guide ramps; 20. a cross beam; 21. a fixed mounting plate; 22. a stop block; 24. a guide support plate; 240. a guide hole; 3. a hanging chain; 31. a locking pin; 4. a weighing sensor; 5. a telescopic positioning mechanism; 51. a fixing part; 510. a driving motor; 511. a base; 52. a telescopic part; 520. a guide head; 53. a screw rod; 60. an anti-falling device.

Description of the embodiments

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The technical scheme of the utility model is further described below by the specific embodiments with reference to the accompanying drawings.

Referring to fig. 1 to 3, an embodiment of the present utility model provides a gripping device 100, where the gripping device 100 is used for gripping and moving a battery (not shown), the gripping device 100 includes a beam 20 and a spreader 10 mounted below the beam 20, the beam 20 and the spreader 10 are flexibly connected by a plurality of hanging chains 3, the upper ends of the hanging chains 3 penetrate through the beam 20 and are fixed on the beam 20 by locking pins 31, the number of the hanging chains 3 is at least three, and since the spreader 10 disclosed by the present utility model is rectangular and has four top corners, the hanging chains 3 are preferably four and are respectively fixed on the four corners of the spreader 10. The lower end of the hanging chain 3 is fixedly mounted on the lifting appliance 10, a weighing sensor 4 is arranged between the cross beam 20 and the hanging chain 3, and in the same way, in other embodiments, the weighing sensor 4 may be arranged between the hanging chain 3 and the lifting appliance 10, or even the weighing sensor 4 may be arranged on the hanging chain 3, for example, in the middle position of the hanging chain 3, and the hanging chain 3 may be divided into two parts and respectively fixed on the weighing sensor 4. The gripping device 100 is further provided with a control module (not shown), the data read by the weighing sensor 4 is finally transmitted to the control module, and the control module calculates the value transmitted by the weighing sensor 4 and then determines whether to control the lifting of the cross beam 20.

The lifting chain 3 is arranged on the fixed mounting plate 21, a plurality of telescopic positioning mechanisms 5 are arranged between the lifting chain 20 and the lifting appliance 10, each telescopic positioning mechanism 5 comprises a fixed part 51 arranged on the fixed mounting plate 21 and a telescopic part 52 extending downwards from the fixed part 51, the lifting appliance 10 is provided with a positioning part 102 matched with the lower end of the telescopic part 52, in order to play a role in guiding and positioning, the lower end of the positioning telescopic part 52 is provided with a conical guide head 520, the positioning part 102 is provided with a flared opening and has a certain depth, after the grabbing device 100 grabs a battery, if the numerical value read by the weighing sensor 4 does not show overload, the telescopic parts 52 are synchronously inserted into the positioning part 102, the lifting appliance 10 and the telescopic positioning mechanism 5 playing a role in supporting can form a frame structure with relatively stable structure, and the grabbing device 100 which is flexible at the moment becomes rigid, so that the lifting appliance 10 can be prevented from shaking.

Further, a screw rod 53 is disposed between the telescopic portion 52 and the fixing portion 51, the fixing portion 51 includes a base 511 fixedly connected with the fixing plate 21 and a driving motor 510 integrally fixed with the base 511, the driving motor 510 drives the screw rod 53 to rotate, so that the telescopic portion 52 can extend or retract, and the support and release of the lifting appliance 10 can be realized through the telescopic function. In other embodiments, the telescopic part 52 and the fixed part 51 may be driven by an air cylinder or a hydraulic cylinder, so that the use of the screw rod 53 is omitted.

The lifting appliance 10 is provided with a plurality of rotating lock pins 11, and the rotating lock pins 11 comprise a rotating shaft part 111 which is connected to the lifting appliance 10 in a shaft mode and a locking part 110 which can rotate around the rotating shaft part 111. Preferably, the positioning portion 102 may be disposed between the hoist chain 3 and the swivel lock pin 11, or the hoist chain 3 may be disposed between the positioning portion 102 and the swivel lock pin 11. The rotating lock pins 11, the hanging chains 3 and the telescopic positioning mechanisms 5 are arranged in groups, and the telescopic positioning mechanisms 5 and the hanging chains 3 in the same group are arranged on the same fixed mounting plate 21, so that assembly parts and process steps can be reduced, the grabbing device 100 is easy to manufacture, and further, a plurality of the rotating lock pins 11 are synchronously driven by the same driving device (not shown).

Further, the lifting appliance 10 is provided with a plurality of guiding devices 12 extending downwards, and the guiding devices 12 comprise guiding columns 120 provided with guiding inclined planes 121. The guiding ramp 121 of the guiding means 12 has at least three different orientations, such a spreader 10 being able to guide the battery from a plurality of directions or to be compatible with different types of battery. When the lifting appliance 10 grabs the battery, the telescopic part 52 of the telescopic positioning mechanism 5 does not extend, so that the lifting appliance 10 is in a state of flexible connection with the cross beam 20, and the lifting appliance 10 can fall into an accurate position more easily. After the lifting appliance 10 enters the preset position of the battery replacement, the control module controls the rotating lock pin 11 to rotate, so that the lifting appliance 10 locks the battery replacement, the beam 20 is lifted upwards at the moment and can be lifted together with the battery replacement, and the purpose of transferring the battery replacement is achieved by moving the beam 20.

The beam 20 is further provided with a guide support plate 24, the guide support plate 24 is parallel to the fixed mounting plate 21, a notch (not numbered) for avoiding the hanging chain 3 is formed in the guide support plate 24, and a guide hole 240 for limiting the movable range of the telescopic part 52 is further formed in the guide support plate 24.

The cross beam 20 is provided with a through hole (not shown), a stop 22 is arranged above the through hole, the hanging chain 3 penetrates through the stop 22 and is mounted on the stop 22 through a lock pin 31, and the lock pin 31 penetrates through the hanging chain 3 and is fixedly mounted on the stop 22 through bolts. The weighing sensor 4 is arranged between the stop block 22 and the fixed mounting plate 21, when the lifting appliance at the lower end of the hanging chain 3 grabs the battery, the born tensile force is transferred to the lock pin 31, then transferred to the stop block 22 through the lock pin 31, and finally the magnitude of the tensile force born by the hanging chain 3 is read by the weighing sensor 4 and transferred to the control module. Preferably, an anti-falling device 60 is further disposed between the lifting device 10 and the cross beam 20, the anti-falling device 60 is preferably a chain thicker than the lifting chain 3, the anti-falling device 60 comprises a lifting hook arranged on the cross beam 20 and a lifting rod fixedly installed on the lifting device 10, and the lifting rod can be contacted with the lifting hook only under the condition that the lifting chain 3 breaks and fails, so as to play a role in safety.

The utility model also provides a battery changing robot which is provided with the grabbing device 100, when the weighing sensor 4 detects that the battery changing battery grabbed by the lifting appliance 10 is overloaded, the battery changing robot can not lift the cross beam 20, and the upper end of the hanging chain 3 penetrates through the cross beam 20 and is inserted and fixed through the lock pin 31, and the hanging chain 3 is easier to detach and replace in the later maintenance.

The above embodiments merely illustrate the basic principle and features of the present utility model, and the present utility model is not limited to the above embodiments, but may be varied and altered without departing from the spirit and scope of the present utility model. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a grabbing device (100), includes crossbeam (20) and installs hoist (10) in crossbeam (20) below, its characterized in that, through a plurality of hoist chain (3) flexonics between crossbeam (20) and hoist (10), the upper end of hoist chain (3) runs through crossbeam (20) and is fixed in on crossbeam (20) through lockpin (31), the lower extreme fixed mounting of hoist chain (3) is on hoist (10), be equipped with weighing sensor (4) between crossbeam (20) and hoist chain (3) or between hoist chain (3) and hoist (10) or in the middle of hoist chain (3).

2. The gripping device (100) according to claim 1, characterized in that: be equipped with fixed mounting panel (21) on crossbeam (20), hoist chain (3) are installed on fixed mounting panel (21), there are a plurality of flexible positioning mechanism (5) still between crossbeam (20) and hoist (10), flexible positioning mechanism (5) are including locating fixed part (51) on fixed mounting panel (21) and from fixed part (51) downwardly extending's flexible portion (52), be equipped with on hoist (10) with flexible portion (52) lower extreme matched location portion (102).

3. The gripping device (100) according to claim 2, characterized in that: the lower end of the positioning telescopic part (52) is provided with a conical guide head (520).

4. The gripping device (100) according to claim 2, characterized in that: a screw rod (53) is arranged between the telescopic part (52) and the fixed part (51), the fixed part (51) comprises a base part (511) fixedly connected with the fixed mounting plate (21) and a driving motor (510) fixedly integrated with the base part, and the driving motor (510) drives the screw rod (53) to rotate so as to realize a telescopic function.

5. The gripping device (100) according to claim 1, characterized in that: the lifting appliance (10) is provided with a plurality of rotating lock pins (11), and the rotating lock pins (11) comprise a rotating shaft part (111) which is connected to the lifting appliance (10) in a shaft mode and a locking part (110) which can rotate around the rotating shaft part.

6. The gripping device (100) according to claim 1, characterized in that: the lifting appliance (10) is provided with a plurality of guide devices (12) in a downward extending mode, and the guide devices (12) comprise guide columns (120) provided with guide inclined planes (121).

7. The gripping device (100) according to claim 1, characterized in that: the transverse beam (20) is further provided with a guide supporting plate (24), the guide supporting plate (24) is parallel to the fixed mounting plate (21), and the guide supporting plate (24) is provided with a guide hole (240) for limiting the movable range of the telescopic part (52).

8. The gripping device (100) according to claim 1, characterized in that: the cross beam (20) is provided with a through hole, a stop block (22) is arranged above the through hole, the hanging chain (3) penetrates through the stop block (22) and then is movably mounted on the stop block (22) through a lock pin (31), and the lock pin (31) penetrates through the hanging chain (3) and is fixedly mounted on the stop block (22).

9. The gripping device (100) according to claim 1, characterized in that: the device also comprises a control module, wherein the data read by the weighing sensor (4) are transmitted to the control module, and the control module is used for controlling the lifting of the cross beam (20).

10. A trade motor ware people, its characterized in that: comprising a gripping device (100) according to any of claims 1-9.