WO2019075961A1 - 用于拧紧枪的反力机械臂以及电池包更换系统 - Google Patents

用于拧紧枪的反力机械臂以及电池包更换系统 Download PDF

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Publication number
WO2019075961A1
WO2019075961A1 PCT/CN2018/075248 CN2018075248W WO2019075961A1 WO 2019075961 A1 WO2019075961 A1 WO 2019075961A1 CN 2018075248 W CN2018075248 W CN 2018075248W WO 2019075961 A1 WO2019075961 A1 WO 2019075961A1
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WIPO (PCT)
Prior art keywords
arm
reaction
reaction force
gun
telescopic
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PCT/CN2018/075248
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English (en)
French (fr)
Inventor
丁习坤
林海岩
李楠
田小涛
Original Assignee
蔚来汽车有限公司
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Application filed by 蔚来汽车有限公司 filed Critical 蔚来汽车有限公司
Priority to EP18869157.0A priority Critical patent/EP3698916A4/en
Publication of WO2019075961A1 publication Critical patent/WO2019075961A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/0078—Reaction arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66—Arrangements of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
    • B60K2001/0438—Arrangement under the floor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0472—Removal or replacement of the energy storages from below
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present invention relates to the field of robotic arms for tightening guns, and more particularly to a counterforce robotic arm for a bolt tightening gun such as an electric vehicle battery pack replacement system and a battery pack replacement system therewith.
  • the electric vehicle manual power change system needs to replace the bottom battery pack accurately.
  • it is necessary to realize the tightening gun to align and press the bolt cap from bottom to top.
  • the number of bolts that can be covered by a set of reaction arm can be as high as possible, and the flexibility of operation is ensured. And convenience.
  • the object of the present invention is to provide a reaction force arm for tightening a gun and a battery pack replacement system therefor, which has a small footprint, is quick and convenient to operate, has a simple structure and low cost, and has a battery pack replacement system provided thereon.
  • a reaction arm of the gun comprising: a fixed column, the bottom of the fixed column is fixed to the operating platform; a rotating arm is connected to the top of the fixed column, and the rotating arm is rotatable relative to the fixed column in a horizontal plane; a telescopic arm defining a slide extending in a horizontal direction, the telescopic arm being fitted into a slide of the rotating arm, by means of which the telescopic arm is linearly movable relative to the rotating arm; a lifting arm coupled to the telescopic arm and movable up and down relative to the telescopic arm;
  • the gun mount is tightened, the tightening gun mount being connected to the top of the lift arm, the tightening gun mount being used to mount the tightening gun.
  • the force transmitting robot arm further includes a support arm spaced apart from the rotating arm and assisting in supporting the telescopic arm.
  • a pulley is disposed at a bottom of the support arm.
  • the support arm is telescopic, and the bottom of the support arm is pivotally connected to the fixed upright.
  • the support arm comprises a vertical rod and a cross bar connected to the bottom of the vertical rod, and a pair of brake casters are arranged under the cross rod.
  • the lifting arm is connected to the end of the telescopic arm
  • the supporting arm is connected to the lifting arm and the rotating arm on the telescopic arm The location between.
  • the reaction force arm further includes a boosting spring connected between the bottom of the lifting arm and the support arm.
  • the tightening gun mount is rotatable relative to the lifting arm along a horizontal plane.
  • the reaction force arm further includes a locking mechanism
  • the locking mechanism includes a connecting rod
  • the first end of the connecting rod is pivotally connected to the top of the lifting arm
  • a second end of the link is pivotally coupled to a locking member
  • the locking member being selectively attachable to one of a plurality of positions along a length of the telescopic arm
  • the locking mechanism is a pawl locking mechanism
  • the telescopic arm is provided with a rack along the length
  • the locking member is provided with a pawl
  • the handle is coupled for selectively engaging the rack on the telescoping arm at different positions.
  • the telescopic arm is provided with a sliding groove extending in the longitudinal direction, and the locking member is fixed to different positions of the sliding groove of the telescopic arm by bolts.
  • a battery pack replacement system in another aspect, includes a lift bracket and a reaction robot arm according to an embodiment, the counterforce robot arm being provided with a tightening gun.
  • the tightening gun includes a gun body and a gun head, and a gun body of the tightening gun is mounted in a clamp of the tightening gun support, the gun head is upward,
  • the fixed position of the tightening gun relative to the tightening gun mount is adjustable.
  • the battery pack replacement system includes a pair of reaction force mechanical arms respectively disposed on front and rear sides of the lift bracket, and the one The reaction force robot arms are also respectively disposed on the left and right sides of the lift bracket.
  • the reaction force arm for tightening the gun and the battery pack replacement system according to the present invention are simple in structure and convenient in operation.
  • FIG. 1 shows a perspective view of a battery pack replacement system and a vehicle thereon, according to an embodiment
  • FIG. 2 shows a perspective view of a reaction force robot arm and a tightening gun thereon, according to an embodiment
  • Figure 3 shows a side view of a reaction force arm and a tightening gun thereon, according to an embodiment
  • Figure 4 shows a partial enlarged view of the locking mechanism of Figure 3.
  • top, bottom, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined with respect to the configurations shown in the respective drawings, which are Relative concepts, so it is possible to change accordingly according to their different locations and different usage states. Therefore, these or other orientation terms should not be construed as restrictive terms.
  • the battery pack replacement system includes a lift bracket 11 disposed on the operating platform.
  • the lift bracket 11 can lift the vehicle 10 to an appropriate height and can complete the battery pack replacement operation at the appropriate height.
  • the battery pack replacement system also includes a reaction force robot arm in accordance with an embodiment of the present invention.
  • the battery pack replacement system includes a first reaction force robot arm 12 and a second reaction force robot arm 13, which are disposed on the first reaction force robot arm 12 and the second reaction force robot arm 13. There is a tightening gun.
  • the tip or torque output of the tightening gun is arranged to be oriented upwardly to facilitate removal and tightening of the bolts at the bottom of the vehicle 10 to effect battery pack replacement.
  • the battery pack replacement system can include a greater or lesser number of reaction robot arms.
  • first reaction force arm 12 and the second reaction force arm 13 are respectively disposed on the front and rear sides of the lift bracket 11, and the first reaction force arm 12 and the second reaction force arm 13 are also respectively They are arranged on the left and right sides of the lifting bracket 11.
  • first reaction force mechanical arm 12 is disposed on the left front side of the lift bracket 11
  • second reaction force mechanical arm 13 is disposed on the right rear side of the lift bracket 11.
  • the reaction mechanism arm includes: a fixed upright 20, and the bottom 21 of the fixed upright 20 is fixed to an operating platform such as a countertop or a floor.
  • the fixed upright 20 can have a cylindrical shape, and the top 22 of the fixed upright 20 can be coupled to the swivel arm 30 by any known means such that the swivel arm 30 can rotate in a horizontal plane relative to the fixed upright 20.
  • 3 shows the top of the fixed upright 20 inserted into the sleeve 31 at the bottom of the rotating arm 30 to effect a rotatable connection of the rotating arm 30 to the fixed upright 20.
  • the rotating arm 30 defines a slide, such as a horizontally extending slide, and the telescopic arm 40 is fitted into the slide of the rotating arm 30.
  • the telescopic arm 40 is slidable along the slide of the swivel arm 30 for telescopic movement, for example, by means of which the telescopic arm 40 can move linearly in a horizontal plane relative to the swivel arm 30.
  • the reaction robot arm further includes a lifting arm 70 that is coupled to the telescopic arm 40 and that is vertically movable relative to the telescopic arm 40.
  • the telescopic arm 40 may have a tiger's mouth or sleeve 44, and the lifting arm 70 may be disposed At the tiger's mouth or sleeve 44, it is possible to move up and down in a vertical direction relative to the tiger's mouth or sleeve 44 for lifting in the vertical direction.
  • a tightening gun mount 80 is disposed on the top 72 of the lift arm, and the gun mount 80 is tightened for mounting the tightening gun 90.
  • the entire reaction force arm can be adjusted in a plurality of degrees of freedom.
  • a wide range of position adjustment of the tightening gun in the horizontal direction can be achieved by the rotating arm 30 and the telescopic arm 40, and the height of the tightening gun can be adjusted by the lifting arm 70.
  • the reaction arm can also include a support arm 50 that is spaced from the swivel arm 30 and assists in supporting the telescoping arm 40 to give the telescoping arm 40 two-point support for smoother.
  • the bottom of the support arm 50 is supported by the ground, and in other embodiments, the bottom of the support arm 50 can be coupled to the fixed mount by a ball hinge, and the support arm 50 is telescopic.
  • the support arm 50 is coupled to a position adjacent the end of the telescoping arm 40 such that the support arm 50 and the fixed upright 20 are sufficiently spaced such that a more stable support can be provided to the telescoping arm 40.
  • the position of the tightening gun can be finely adjusted by tightening the gun mount 80.
  • the tightening gun mount 80 is rotatable relative to the lift arm 70 along a horizontal plane.
  • the tightening gun 90 is adjustable relative to the tightening gun mount 80.
  • the tightening gun 90 can include a gun body 91.
  • the tip 92 can be finely adjusted by fixing the different portions of the gun body 91 to the clamp 81 of the tightening gun mount 80.
  • the bottom of the support arm 50 is provided with a pulley, such as a brake caster.
  • the support arm 50 includes a vertical rod 51 and a crossbar 52 attached to the bottom of the vertical rod 51, and the crossbar 52 is provided with a pair of brake casters 53, 54 underneath. After the telescoping arms 40 are adjusted in position, the brake casters 53, 54 can be locked to avoid further movement of the telescoping arms 40. By virtue of the design of the pulley, the rotation and telescoping of the telescopic arm 40 will be smoother.
  • the telescoping arm 40 includes a first end 41 that is coupled to the lift arm 70 and a second end 42 that is opposite the first end 41.
  • the lift arm 70 is connected to the end of the telescopic arm 40.
  • the support arm 50 is coupled to the position between the lift arm 70 and the swivel arm 30 on the telescopic arm 40, such as the position between the lift arm 70 and the swivel arm 30 that is closest to the first end 41 of the telescopic arm.
  • the support arm 50 is sufficiently spaced from the fixed upright 20 to provide more stable support for the telescoping arm 40.
  • the reaction robot arm further includes a booster spring 60 coupled between the lift arm bottom 71 and the support arm 50.
  • the booster spring 60 acts on the lift arm 70.
  • the assist spring 60 provides assistance when adjusting the lift arm 70, so that the height adjustment of the lift arm 70 is less laborious, and the convenience of the reaction arm operation is provided.
  • the reaction force arm further includes a locking mechanism including a link 100, the first end 101 of the link 100 being pivotally coupled to the top of the lift arm 70, The second end 102 of the rod 100 is pivotally coupled to a locking member 103 that is selectively affixed to one of a plurality of positions along the length of the telescoping arm 40.
  • the telescoping arm 40 can have a chute extending in a lengthwise direction, the locking member 103 being movable along a chute on the telescopic arm and positioned at a plurality of locations along the length of the telescopic arm 40 by means of bolts .
  • the locking mechanism is a pawl locking mechanism
  • the telescopic arm is provided with a rack 43 along the length direction. Both ends of the rack 43 can have limiting bosses 431, 432.
  • the locking member 103 includes The pawl 106, the operating handle 105 coupled to the pawl 106, and the return spring 107.
  • the operating handle 105 can be toggled to decouple the pawl 106 and the rack 43 to move the locking member 103 along the rack 43 to various positions, while the lifting arm 70 is driven to lift and lower accordingly due to the connecting rod 100. .
  • the lifting of the lifting arm is assisted by a boosting spring 60.
  • the operating handle 105 is released, and the pawl 106 is engaged with the appropriate position of the rack 43 by the return spring 107, and the position of the locking member 103 is fixed to the lifting arm 70 and the upper portion thereof.
  • the tightening gun holder 80 is fixed in height. Based on the pawl locking mechanism, the height of the lifting arm 70 can be more conveniently adjusted, further providing the operational convenience of the reaction arm.
  • the present application uses a pair of reaction force mechanical arms instead of the mechanical arm based on the parallelogram principle, and its advantages include but are not limited to:

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Battery Mounting, Suspending (AREA)
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Abstract

一种用于拧紧枪的反力机械臂以及电池包更换系统。反力机械臂包括：固定立柱（20），该固定立柱底部固定至操作平台；旋转臂（30），连接于固定立柱顶部，旋转臂（30）可相对于固定立柱（20）在水平面中旋转且限定沿水平方向延伸的滑道；伸缩臂（40）配合至旋转臂（30）的滑道中，借助于滑道，伸缩臂（40）能够相对于旋转臂（30）做直线运动；升降臂（70），该升降臂（70）连接至伸缩臂（40）并可相对于伸缩臂（40）在竖直方向上升降；以及拧紧枪支座（80），该拧紧枪支座（80）连接至升降臂（70）的顶部，拧紧枪支座（80）用于固定拧紧枪（90）。该反力机械臂以及电池包更换系统结构紧凑，操作便捷且成本低。

Description

用于拧紧枪的反力机械臂以及电池包更换系统 技术领域
本发明涉及用于拧紧枪的机械臂领域,尤其是用于如电动汽车电池包更换系统的螺栓拧紧枪的反力机械臂以及具有其的电池包更换系统。
背景技术
电动汽车手动换电系统需要准确无误地将底部电池包进行更换。拆装电池包时需要实现拧紧枪从下往上对准并压紧螺栓帽，出于空间和成本考虑，一套反力机械臂能覆盖的螺栓数量越多越好，同时保证操作的灵活性和便利性。
如中国实用新型公开号CN204524747U中所记载的，现有技术中工业领域如汽车装配领域的反力折叠臂机械手升降由平行四边形原理完成，大范围覆盖由两节水平方向旋转折叠臂实现，实现同一位置垂直升降的同时需要水平方向旋转的配合。
发明内容
本发明的目的在于解决或至少缓解现有技术中所存在的问题。
本发明的目的在于提供一种占用空间较小，操作快捷方便，结构简单且成本低的用于拧紧枪的反力机械臂以及具有其的电池包更换系统一方面，提供了一种用于拧紧枪的反力机械臂，其包括：固定立柱，所述固定立柱底部固定至操作平台；旋转臂，连接于所述固定立柱顶部，所述旋转臂可相对于所述固定立柱在水平面中旋转；伸缩臂，所述旋转臂限定沿水平方向延伸的滑道，伸缩臂配合至所述旋转臂的滑道中，借助于所述滑道，所述伸缩臂能够相对于所述旋转臂做直线运动；升降臂，所述升降臂连接至所述伸缩臂并可相对于所述伸缩臂在竖直方向上升降；以及
拧紧枪支座，所述拧紧枪支座连接至所述升降臂的顶部，所述拧紧枪支座用于安装拧紧枪。
可选地，在上述反力机械臂中，所述发力机械臂还包括支撑臂，所述支撑臂与所述旋转臂隔开并辅助支撑所述伸缩臂。
可选地，在上述反力机械臂中，所述支撑臂底部设置有滑轮。
可选地，在上述反力机械臂中，所述支撑臂是可伸缩的，所述支撑臂底部枢转连接至所述固定立柱。
可选地，在上述反力机械臂中，所述支撑臂包括竖杆和连接在所述竖杆底部的横杆，所述横杆底下装有一对刹车式脚轮。
可选地，在上述反力机械臂中，所述升降臂连接至所述伸缩臂端部，可选地，所述支撑臂连接在所述伸缩臂上所述升降臂和所述旋转臂之间的位置。
可选地，在上述反力机械臂中，所述反力机械臂还包括连接在所述升降臂底部和所述支撑臂之间的助力弹簧。
可选地，在上述反力机械臂中，所述拧紧枪支座可相对于所述升降臂沿水平面旋转。
可选地，在上述反力机械臂中，所述反力机械臂还包括锁紧机构，所述锁紧机构包括连杆，所述连杆的第一端枢转连接至所述升降臂顶部，所述连杆的第二端枢转连接至锁止件，所述锁止件能够可选择地固定连接至沿所述伸缩臂长度的多个位置中的一个上可选地，在上述反力机械臂中，所述锁紧机构为棘爪锁紧机构，所述伸缩臂上设置有沿长度的齿条,所述锁止件设置有棘爪，所述锁止件的棘爪与操作手柄连接以便有选择地与所述伸缩臂上的齿条在不同位置接合。
可选地，在上述反力机械臂中，所述伸缩臂上设置有沿长度方向延伸的滑槽,所述锁止件借助于螺栓固定至所述伸缩臂的滑槽的不同位置处。
另一方面，提供了一种电池包更换系统，其包括：举升支架以及根据实施例的反力机械臂，所述反力机械臂上设置有拧紧枪。
可选地，在上述电池包更换系统中，所述拧紧枪包括枪体和枪头，所述拧紧枪的枪体安装至所述拧紧枪支座的夹具中，所述枪头朝向上方，所述拧紧枪相对于所述拧紧枪支座的固定位置可调节。
可选地，在上述电池包更换系统中，所述电池包更换系统包括一对反力机械臂，所述一对反力机械臂分别布置在所述举升支架的前后侧，并且所述一对反 力机械臂还分别布置在所述举升支架的左右侧。
根据本发明的用于拧紧枪的反力机械臂以及电池包更换系统结构简单，操作方便。
附图说明
通过结合附图来阅读以下详细描述，本发明的原理将变得更显而易见，其中：
图1示出了根据实施例的电池包更换系统以及其上的汽车的透视图；
图2示出了根据实施例的反力机械臂以及其上的拧紧枪的透视图；
图3示出了根据实施例的反力机械臂以及其上的拧紧枪的侧视图；以及
图4示出了图3中锁紧机构的局部放大图。
具体实施方式
容易理解，根据本发明的技术方案，在不变更本发明实质精神下，本领域的一般技术人员可以提出可相互替换的多种结构方式以及实现方式。因此，以下具体实施方式以及附图仅是对本发明的技术方案的示例性说明，而不应当视为本发明的全部或者视为对本发明技术方案的限定或限制。
在本说明书中提到或者可能提到的上、下、左、右、前、后、正面、背面、顶部、底部等方位用语是相对于各附图中所示的构造进行定义的，它们是相对的概念，因此有可能会根据其所处不同位置、不同使用状态而进行相应地变化。所以，也不应当将这些或者其它的方位用语解释为限制性用语。
首先参考图1，其示出了根据实施例的电池包更换系统以及其上的汽车的立体图。如图1所示，电池包更换系统包括布置在操作平台上的举升支架11。举升支架11可将车辆10举升至适当高度，并可在该适当高度处完成电池包更换操作。电池包更换系统还包括根据本发明的实施例反力机械臂。具体而言，在图示的实施例中，电池包更换系统包括第一反力机械臂12和第二反力机械臂13，第一反力机械臂12和第二反力机械臂13上设置有拧紧枪。拧紧枪的枪头或扭矩输出端布置成朝上定向，以便于对车辆10底部的螺栓进行拆卸和拧紧操作，从而实现电池包更换。在备选的实施例中，电池包更换系统可包括更多或更少数量的反力机械臂。
在一些实施例中，第一反力机械臂12和第二反力机械臂13分别布置在举 升支架11的前后侧，并且第一反力机械臂12和第二反力机械臂13还分别布置在举升支架11的左右两侧。在图示的实施例中，第一反力机械臂12布置在举升支架11的左前侧，第二反力机械臂13布置在举升支架11的右后侧。由此通过一对反力机械臂即可覆盖整个车辆10的底部。
继续参考图2和图3，其示出了反力机械臂的详细结构。反力机械臂包括：固定立柱20，固定立柱20底部21固定至操作平台，如台面或地面。固定立柱20可具有圆柱形的形状，固定立柱20顶部22可通过任何已知的方式连接至旋转臂30，使得旋转臂30可相对于固定立柱20在水平面中旋转。如图3示出了固定立柱20顶部插入旋转臂30底部的套筒31中，以实现旋转臂30与固定立柱20的可旋转连接。旋转臂30限定滑道，如水平延伸的滑道，伸缩臂40配合至旋转臂30的滑道中。伸缩臂40可沿旋转臂30的滑道滑动以实现伸缩运动，例如，借助于该滑道，伸缩臂40能够相对于旋转臂30在水平面中做直线运动。反力机械臂还包括升降臂70，升降臂70连接至伸缩臂40并可相对于伸缩臂40在竖直方向上升降，例如伸缩臂40可具有虎口或套筒44，而升降臂70可布置在该虎口或套筒44，并可相对于该虎口或套筒44在竖直方向上升降运动，以便在竖直方向上升降。升降臂的顶部72上布置了拧紧枪支座80，拧紧枪支座80用于安装拧紧枪90。
基于上述结构，整个反力机械臂可在多个自由度上调节。首先，通过旋转臂30和伸缩臂40可实现拧紧枪在水平方向的大范围位置调节，而通过升降臂70可调节拧紧枪的高度。
在一些实施例中，反力机械臂还可包括支撑臂50，支撑臂50与旋转臂30隔开并辅助支撑伸缩臂40，从而给予伸缩臂40两点支撑，使其更平稳。在一些实施例中，支撑臂50的底部由地面支撑，在另一些实施例中，支撑臂50的底部可通过球铰链连接至固定支座，并且支撑臂50是可伸缩的。在一些实施例中，支撑臂50连接至伸缩臂40端部附近的位置，使得支撑臂50和固定立柱20充分地隔开，这样能够对伸缩臂40提供更稳定的支撑。
更进一步，通过拧紧枪支座80可对拧紧枪的位置进行微调。具体地，在一些实施例中，拧紧枪支座80可相对于升降臂70沿水平面旋转，另一方面，拧紧枪90相对于拧紧枪支座80固定位置可调节，例如拧紧枪90可包括枪体91和 枪头92，可通过将该枪体91的不同部分固定至拧紧枪支座80的夹具81中，以实现拧紧枪位置的微调。
在一些实施例中，支撑臂50底部设置有滑轮，例如刹车式脚轮。在一些实施例中，支撑臂50包括竖杆51和连接在竖杆51底部的横杆52，而横杆52底下装有一对刹车式脚轮53,54。在伸缩臂40调节就位后，刹车式脚轮53,54可被锁定以避免伸缩臂40的进一步移动。借助于滑轮的设计，伸缩臂40的转动和伸缩将更顺畅。
在一些实施例中，伸缩臂40包括与升降臂70连接的第一端41以及与第一端41相对的第二端42。为了充分利用伸缩臂40的长度，因此升降臂70连接至伸缩臂40的端部。另外，支撑臂50连接在伸缩臂40上升降臂70和旋转臂30之间的位置，如升降臂70和旋转臂30之间最靠近伸缩臂的第一端41的位置。这样支撑臂50与固定立柱20充分间隔开，以提供伸缩臂40更稳定的支撑。
在一些实施例中，反力机械臂还包括连接在升降臂底部71和支撑臂50之间的助力弹簧60。助力弹簧60作用于升降臂70。助力弹簧60在对升降臂70调节时提供助力，使得对升降臂70的高度调节更省力，提供反力机械臂操作的便利性。
参考图3和图4，在一些实施例中，反力机械臂还包括锁紧机构，锁紧机构包括连杆100，连杆100的第一端101可枢转连接至升降臂70顶部，连杆100的第二端102枢转连接至锁止件103，该锁止件103可选择地固定至沿伸缩臂40长度的多个位置的其中一个上。在一些实施例中，伸缩臂40可具有沿长度方向延伸的滑槽，该锁止件103可沿伸缩臂上的滑槽移动，并借助于螺栓定位在沿伸缩臂40长度的多个位置上。在另外的实施例中，该锁紧机构为棘爪锁紧机构，伸缩臂上设置有沿长度方向的齿条43，齿条43的两端可具有限位凸台431,432,锁止件103包括棘爪106，与棘爪106连接的操作手柄105以及复位弹簧107。可拨动操作手柄105，使得棘爪106和齿条43脱耦，从而沿齿条43移动锁止件103至各个位置，与此同时，由于连杆100，升降臂70被带动以相应地升降。升降臂的升降由助力弹簧60辅助。在升降臂70调节就位后，放开操作手柄105，则在复位弹簧107的作用下，棘爪106与齿条43的适当位置接合，锁止件103的位置固定而升降臂70以及其上的拧紧枪支座80高度固定。基于该棘爪锁紧机 构，升降臂70的高度可更方便地调节，进一步提供反力机械臂的操作便利性。
相对于传统结构，本申请采用一对反力机械臂来替代基于平行四边形原理的机械臂，其优势包括但不限于：
1.更小的占地面积；
2.更便捷的操作以及更高的操作效率；以及
3.更低的成本。
应当理解的是，所有以上的优选实施例都是示例性而非限制性的，本领域技术人员在本发明的构思下对以上描述的具体实施例做出的各种改型或变形都应在本发明的法律保护范围内。

Claims (12)

  1. 一种用于拧紧枪的反力机械臂，其包括：
    固定立柱，所述固定立柱底部固定至操作平台；
    旋转臂，连接于所述固定立柱顶部，所述旋转臂可相对于所述固定立柱在水平面中旋转；
    伸缩臂，所述旋转臂限定沿水平方向延伸的滑道，所述伸缩臂配合至所述旋转臂的滑道中，借助于所述滑道，所述伸缩臂能够相对于所述旋转臂做直线运动；
    升降臂，所述升降臂连接至所述伸缩臂并可相对于所述伸缩臂在竖直方向上升降；以及
    拧紧枪支座，所述拧紧枪支座连接至所述升降臂的顶部，所述拧紧枪支座用于安装拧紧枪。
  2. 根据权利要求1所述的反力机械臂，其特征在于，所述反力机械臂还包括支撑臂，所述支撑臂与所述旋转臂隔开并辅助支撑所述伸缩臂。
  3. 根据权利要求2所述的反力机械臂，其特征在于，所述支撑臂底部设置有滑轮。
  4. 根据权利要求1-3中任一项所述的反力机械臂，其特征在于，所述升降臂连接至所述伸缩臂端部。
  5. 根据权利要求4所述的反力机械臂，其特征在于，所述反力机械臂还包括连接在所述升降臂底部和所述支撑臂之间的助力弹簧。
  6. 根据权利要求1-3中任一项所述的反力机械臂，其特征在于，所述拧紧枪支座可相对于所述升降臂沿水平面旋转。
  7. 根据权利要求1-3中任一项所述的反力机械臂，其特征在于，所述反力机械臂还包括锁紧机构，所述锁紧机构包括连杆，所述连杆的第一端枢转连接至所述升降臂顶部，所述连杆的第二端枢转连接至锁止件，所述锁止件能够可选择地固定连接至沿所述伸缩臂长度的多个位置的其中一个上。
  8. 根据权利要求7所述的反力机械臂，其特征在于，所述锁紧机构为棘爪锁紧机构，所述伸缩臂上设置有沿长度的齿条,所述锁止件设置有棘爪，所述锁止件的棘 爪与操作手柄连接以便可选择地与所述伸缩臂上的齿条在不同位置接合。
  9. 根据权利要求7所述的反力机械臂，其特征在于，所述伸缩臂上设置有沿长度方向延伸的滑槽,所述锁止件借助于螺栓固定至所述伸缩臂的滑槽的不同位置处。
  10. 一种电池包更换系统，其包括：举升支架以及如权利要求1-9中任一项所述的反力机械臂，所述反力机械臂上设置有拧紧枪。
  11. 根据权利要求10所述的电池包更换系统，其特征在于，所述拧紧枪包括枪体和枪头，所述拧紧枪的枪体安装至所述拧紧枪支座的夹具中，所述枪头朝向上方，所述拧紧枪相对于所述拧紧枪支座的固定位置可调节。
  12. 根据权利要求10或11所述的电池包更换系统，其特征在于，所述电池包更换系统包括一对反力机械臂，所述一对反力机械臂分别布置在所述举升支架的前后侧，并且所述一对反力机械臂还分别布置在所述举升支架的左右侧。
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CN115503457A (zh) * 2022-10-24 2022-12-23 江苏众如金属科技有限公司 一种重卡换电电池箱锁止装置总成
CN115503457B (zh) * 2022-10-24 2023-10-20 江苏众如金属科技有限公司 一种重卡换电电池箱锁止装置总成

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CN108788704B (zh) 2020-11-17
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CN108788704A (zh) 2018-11-13

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