WO2023060606A1 - 转运装置 - Google Patents

转运装置 Download PDF

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Publication number
WO2023060606A1
WO2023060606A1 PCT/CN2021/124238 CN2021124238W WO2023060606A1 WO 2023060606 A1 WO2023060606 A1 WO 2023060606A1 CN 2021124238 W CN2021124238 W CN 2021124238W WO 2023060606 A1 WO2023060606 A1 WO 2023060606A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
battery
transfer device
assembly
clamp assembly
Prior art date
Application number
PCT/CN2021/124238
Other languages
English (en)
French (fr)
Inventor
陈伟峰
Original Assignee
宁德时代新能源科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 宁德时代新能源科技股份有限公司 filed Critical 宁德时代新能源科技股份有限公司
Priority to PCT/CN2021/124238 priority Critical patent/WO2023060606A1/zh
Priority to CN202180089995.1A priority patent/CN116783130A/zh
Publication of WO2023060606A1 publication Critical patent/WO2023060606A1/zh
Priority to US18/487,107 priority patent/US20240058946A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

Definitions

  • the present application relates to the technical field of energy storage devices, in particular to a transfer device.
  • the batteries used in some new energy vehicles can be replaced.
  • the batteries that need to be replaced in the new energy vehicles are removed through a clamp, and then a new battery is placed on the new energy vehicle through the clamps.
  • the existing clamps have low work efficiency and cannot meet user needs.
  • An embodiment of the present application provides a transfer device, which adjusts the clamp assembly by setting a rotation adjustment assembly, improves the alignment accuracy of the clamp assembly and the battery to be transferred, and improves the transfer efficiency.
  • the present application provides a transfer device for transferring batteries, and the transfer device includes:
  • the positioning component is used to obtain the position information of the battery to be transferred
  • the rotation adjustment assembly includes a first driving member signal-connected to the positioning assembly, a meshing first gear and a second gear, the first gear is connected to the first driving member, and the second gear is rotatably connected to the frame;
  • the gripper assembly is used to grab or release the battery to be transferred, the gripper assembly is connected to the side of the second gear away from the frame, and the first driving member is used to drive the first gear to rotate according to the position information so that the first gear drives the second gear The gear and clamp assembly turn together.
  • the location information of the battery to be transferred is obtained by setting the positioning assembly, so that the rotation adjustment assembly can adjust the positional relationship between the clamp assembly and the battery to be transferred according to the position information, making the transfer device more intelligent; by setting the first drive member, the first gear and the second gear, so that the first gear can be driven to rotate through the first driving member, so that the first gear drives the second gear and the clamp assembly to rotate, and the clamp assembly and the battery to be transferred can be accurately corresponded in the vertical direction, improving the success of the clamp assembly. Increase the probability of battery transfer and improve transfer efficiency.
  • the first gear is an external gear
  • the second gear is an internal gear having a mounting hole
  • the external gear is disposed in the mounting hole and meshes with the internal gear.
  • the internal gear is set to mesh with the external gear, so that the distance between the central axis of the first gear and the central axis of the second gear is shortened, the rotation adjustment assembly is more compact, the space utilization rate is high, and the overall volume is reduced.
  • the positioning component includes a camera connected to the frame, and the camera is configured to acquire an image of the battery to be transferred, and generate position information according to the image and send it to the rotation adjustment component; the rotation adjustment component is configured to Information controls the first drive member.
  • the clamp assembly includes a base connected to the second gear, two engaging parts arranged at intervals, and a driving part arranged on the base, and the driving part is used to drive the two engaging parts to approach or move away from each other. to toggle between closed and clamped positions.
  • the battery to be transferred can be taken and placed by driving the two engaging parts to approach or move away from each other by the driving part.
  • the driving component includes a second driving member that reciprocates along the first direction
  • the engaging member includes a claw and a connecting rod
  • the opposite ends of the connecting rod are respectively rotatably connected to the second driving member and the claw
  • the two driving members respectively drive the two claws to approach or move away from each other along the second direction through the two connecting rods, and the first direction and the second direction intersect each other.
  • the second driving member is provided to be rotationally connected with the two connecting rods, so that one second driving member can move in one direction to realize the two claws approaching or moving away from each other.
  • the base has a guide groove disposed along the second direction, and the claw is engaged in the guide groove and can move along the guide groove.
  • the movement of the jaws along the second direction is limited by the guide grooves, thereby improving the stability of the movement process of the jaws.
  • the multiple clamp assemblies are sequentially arranged at intervals along the first direction.
  • the plurality of clamp components can increase the loadable weight of the transfer device, and at the same time, increase the focus points of the clamp components on the battery to be transferred, and improve the stability of the battery to be transferred during the transfer process.
  • the clamp assembly further includes a plurality of guides connected to the base, and the surface of the guides away from the center of the clamp assembly is an inclined plane.
  • the plurality of guides provided can guide the gripper assembly to move into the box, improving the efficiency of the gripper assembly to grip the battery to be transported.
  • the transfer device further includes a horizontal traveling mechanism and a lifting mechanism, the horizontal traveling mechanism can drive the frame to move in the horizontal direction, and the lifting mechanism can drive the frame to move in the vertical direction.
  • the relative position of the clamp assembly and the battery to be transferred can be adjusted through the horizontal walking mechanism and the lifting mechanism.
  • the transfer device further includes at least one in-position sensing assembly, the in-position sensing assembly includes a position sensor and a movable part, the position sensor is arranged on the base and is connected to the clamp assembly for signals, and the movable part is arranged vertically through the base , the movable part can move vertically to enter or leave the sensing area of the position sensor, and the position sensor is configured to detect whether the movable part enters the sensing area and send the detection signal to the gripper assembly; the gripper assembly is configured to grab according to the detection signal Or release the battery to be transported.
  • the in-position sensing assembly includes a position sensor and a movable part
  • the position sensor is arranged on the base and is connected to the clamp assembly for signals
  • the movable part is arranged vertically through the base , the movable part can move vertically to enter or leave the sensing area of the position sensor, and the position sensor is configured to detect whether the movable part enters the sensing area and send the detection signal to the gripper assembly
  • FIG. 1 is a schematic structural view of a vehicle in some embodiments of the present application.
  • FIG. 2 is a schematic diagram of an exploded structure of a battery in some embodiments of the present application.
  • FIG. 3 is a schematic diagram of an exploded structure of a battery and a mounting base in some embodiments of the present application;
  • FIG. 4 is a schematic diagram of an exploded structure of a battery cell in some embodiments of the present application.
  • Fig. 5 is a schematic structural diagram of a transfer device and a battery to be transferred in some embodiments of the present application;
  • Fig. 6 is a perspective schematic view of the three-dimensional structure of the transfer device in some embodiments of the present application.
  • Fig. 7 is a schematic perspective view of the three-dimensional structure of the rotation adjustment assembly and the positioning assembly of some embodiments of the present application;
  • Fig. 8 is a perspective view of the three-dimensional structure of the transfer device of some embodiments of the present application.
  • Fig. 9 is a schematic diagram of an enlarged structure of part A shown in Fig. 8.
  • FIG. 10 is a schematic perspective view of the three-dimensional structure of the clamp assembly in some embodiments of the present application.
  • Fig. 11 is a schematic perspective view of the three-dimensional structure of the transfer device in some embodiments of the present application moving to the state above the battery to be transferred;
  • Fig. 12 is a schematic diagram of an enlarged structure of part B shown in Fig. 11;
  • Fig. 13 is a schematic perspective view of the three-dimensional structure of the transfer device in some embodiments of the present application in the state of picking up the battery to be transferred;
  • Fig. 14 is a schematic diagram of an enlarged structure of part C shown in Fig. 13;
  • vehicle 1000 battery 100 ; controller 200 ; motor 300 ; installation base 400 ; upper cover 10 ; battery cell 20 ; ; Side plate 50; Frame 1; Positioning assembly 2; Camera 21; Rotation adjustment assembly 3; First driving member 31; First gear 32; Second gear 33; Fitting 42; Claw 421; Connecting rod 422; First end 422a; Second end 422b; Driving part 43; Second driving part 431; Guide rail 432; Mounting seat 433; 51; movable part 52.
  • the battery cells may include lithium-ion secondary batteries, lithium-ion primary batteries, lithium-sulfur batteries, sodium-lithium-ion batteries, sodium-ion batteries, or magnesium-ion batteries, which are not limited in the embodiments of the present application.
  • the battery cell can be in the form of a cylinder, a flat body, a cuboid or other shapes, which is not limited in this embodiment of the present application.
  • Battery cells are generally divided into three types according to packaging methods: cylindrical battery cells, square square battery cells and pouch battery cells, which are not limited in this embodiment of the present application.
  • the battery mentioned in the embodiments of the present application refers to a single physical module including one or more battery cells to provide higher voltage and capacity.
  • the battery mentioned in this application may include a battery module or a battery pack, and the like.
  • Batteries generally include a case for enclosing one or more battery cells. The box can prevent liquid or other foreign objects from affecting the charging or discharging of the battery cells.
  • the battery cell includes an electrode assembly and an electrolyte, and the electrode assembly is composed of a positive electrode sheet, a negative electrode sheet, and a separator.
  • a battery cell works primarily by moving metal ions between the positive and negative plates.
  • the positive electrode sheet includes a positive electrode current collector and a positive electrode active material layer.
  • the positive electrode active material layer is coated on the surface of the positive electrode current collector.
  • the current collector without the positive electrode active material layer protrudes from the current collector coated with the positive electrode active material layer.
  • the current collector coated with the positive electrode active material layer is stacked as the positive electrode tab.
  • the material of the positive electrode current collector can be aluminum, and the positive electrode active material can be lithium cobaltate, lithium iron phosphate, ternary lithium or lithium manganate.
  • the negative electrode sheet includes a negative electrode current collector and a negative electrode active material layer.
  • the negative electrode active material layer is coated on the surface of the negative electrode current collector.
  • the current collector coated with the negative electrode active material layer is stacked as the negative electrode tab.
  • the material of the negative electrode current collector may be copper, and the negative electrode active material may be carbon or silicon.
  • the material of the isolation film may be PP (polypropylene, polypropylene) or PE (polyethylene, polyethylene).
  • the electrode assembly may be a wound structure or a laminated structure, which is not limited in the embodiment of the present application.
  • the transfer device has low working efficiency and consumes time for the user.
  • the structure and use environment of the transfer device are analyzed and studied.
  • the existing transfer device can only move in two intersecting directions in the horizontal plane, so that the accuracy of the transfer device and the battery to be transferred in the vertical direction is poor, and the jig in the transfer device needs to make multiple attempts to align with the battery to be transferred. Accurate, resulting in low transfer efficiency.
  • the applicant has improved the structure of the transfer device.
  • the technical solution described in the embodiment of the application is applicable to any scene where the battery needs to be transferred. on the device.
  • the electrical device may be a vehicle, ship, spacecraft, etc.
  • Vehicles can be fuel vehicles, gas vehicles or new energy vehicles, and new energy vehicles can be pure electric vehicles, hybrid vehicles or extended-range vehicles, etc.
  • spacecraft include airplanes, rockets, space shuttles and spaceships, etc.
  • the embodiment of the present application does not impose special limitations on the above electric equipment.
  • a vehicle 1000 as an electric device according to an embodiment of the present application is taken as an example for description.
  • FIG. 1 is a schematic structural diagram of a vehicle provided by some embodiments of the present application.
  • the vehicle 1000 can be a fuel vehicle, a gas vehicle or a new energy vehicle, and the new energy vehicle can be a pure electric vehicle, a hybrid vehicle or an extended-range vehicle.
  • the interior of the vehicle 1000 is provided with a battery 100 , and the battery 100 may be provided at the bottom, head or tail of the vehicle 1000 .
  • the battery 100 can be used for power supply of the vehicle 1000 , for example, the battery 100 can be used as an operating power source of the vehicle 1000 .
  • the vehicle 1000 may further include a controller 200 and a motor 300 , the controller 200 is used to control the battery 100 to supply power to the motor 300 , for example, for starting, navigating and running the vehicle 1000 .
  • the battery 100 can not only be used as an operating power source for the vehicle 1000 , but can also be used as a driving power source for the vehicle 1000 , replacing or partially replacing fuel oil or natural gas to provide driving power for the vehicle 1000 .
  • FIG. 2 is an exploded view of a battery provided in some embodiments of the present application.
  • the battery 100 includes a case and battery cells 20 .
  • the box body may include a bracket 40 and a side plate 50 covering the bracket 40.
  • the side plate 50 encloses a space for accommodating the battery cell 20.
  • the box body may be in various shapes, such as a cylinder, a cuboid etc.
  • the box body of the battery 100 can be directly installed on the vehicle 1000, and the box body of the battery 100 can also be connected with the mounting base 400 provided on the vehicle 1000, so that the battery 100 can be fixed to the vehicle 1000.
  • Sockets or plugs corresponding to the power transmission structure of the battery 100 may also be provided in the installation base 400 , so that the battery 100 supplies power to electric devices in the vehicle 1000 .
  • the bottom end of the bracket 40 can be provided with a connection structure connected to the installation base 400
  • the top end of the bracket 40 can be provided with a handle, beam or card slot for easy transfer device or user's taking.
  • the battery 100 there may be multiple battery cells 20 , and the multiple battery cells 20 may be connected in series, in parallel or in parallel.
  • the mixed connection means that the multiple battery cells 20 are connected in series and in parallel.
  • a plurality of battery cells 20 can be directly connected in series or in parallel or mixed together, and then the whole body composed of a plurality of battery cells 20 is accommodated in the box; of course, the battery 100 can also be a plurality of battery cells 20 connected in series first Or parallel or mixed connection to form a battery module form, and multiple battery modules are connected in series or parallel or mixed to form a whole, and accommodated in the box.
  • the battery 100 may also include other structures, for example, the battery 100 may also include a bus component for realizing electrical connection between multiple battery cells 20 .
  • each battery cell 20 may be a secondary battery or a primary battery; it may also be a lithium-sulfur battery, a sodium-ion battery or a magnesium-ion battery, but not limited thereto.
  • the battery cell 20 may be in the form of a cylinder, a flat body, a cuboid or other shapes.
  • FIG. 4 is a schematic diagram of an exploded structure of a battery cell provided in some embodiments of the present application.
  • the battery cell 20 refers to the smallest unit constituting a battery. As shown in FIG. 4 , the battery cell 20 includes an end cap 201 , a casing 202 , an electrode assembly 203 and other functional components.
  • the end cap 201 refers to a component that covers the opening of the casing 202 to isolate the internal environment of the battery cell 20 from the external environment.
  • the shape of the end cap 201 can be adapted to the shape of the housing 202 to fit the housing 202 .
  • the end cap 201 can be made of a material (such as aluminum alloy) with a certain hardness and strength, so that the end cap 201 is not easy to deform when being squeezed and collided, so that the battery cell 20 can have a higher Structural strength and safety performance can also be improved.
  • Functional components such as electrode terminals 201 a may be provided on the end cap 201 .
  • the electrode terminal 201 a can be used for electrical connection with the electrode assembly 203 for outputting or inputting electric energy of the battery cell 20 .
  • the end cover 201 may also be provided with a pressure relief mechanism for releasing the internal pressure when the internal pressure or temperature of the battery cell 20 reaches a threshold value.
  • the material of the end cap 201 may also be various, for example, copper, iron, aluminum, stainless steel, aluminum alloy, plastic, etc., which is not particularly limited in this embodiment of the present application.
  • an insulator can be provided inside the end cap 201 , and the insulator can be used to isolate the electrical connection components in the housing 202 from the end cap 201 to reduce the risk of short circuit.
  • the insulating member may be plastic, rubber or the like.
  • the casing 202 is a component used to cooperate with the end cap 201 to form the internal environment of the battery cell 20 , wherein the formed internal environment can be used to accommodate the electrode assembly 203 , electrolyte and other components.
  • the shell 202 and the end cover 201 can be independent components, and an opening can be provided on the shell 202 , and the internal environment of the battery cell 20 can be formed by making the end cover 201 cover the opening at the opening.
  • the end cap 201 and the shell 202 can also be integrated. Specifically, the end cap 201 and the shell 202 can form a common connection surface before other components are put into the shell. When the inside of the shell 202 needs to be encapsulated, then Make the end cap 201 cover the housing 202 .
  • the housing 202 can be in various shapes and sizes, such as cuboid, cylinder, hexagonal prism and so on. Specifically, the shape of the shell 202 can be determined according to the specific shape and size of the electrode assembly 203.
  • the housing 202 can be made of various materials, such as copper, iron, aluminum, stainless steel, aluminum alloy, plastic, etc., which is not particularly limited in this embodiment of the present application.
  • the electrode assembly 203 is a part where the electrochemical reaction occurs in the battery cell 20 .
  • One or more electrode assemblies 203 may be contained within the casing 202 .
  • the electrode assembly 203 is mainly formed by winding or stacking positive electrode sheets and negative electrode sheets, and a separator is usually provided between the positive electrode sheets and the negative electrode sheets.
  • the part of the positive electrode sheet and the negative electrode sheet with the active material constitutes the main body of the electrode assembly 203 , and the parts of the positive electrode sheet and the negative electrode sheet without the active material respectively constitute tabs.
  • the positive pole tab and the negative pole tab can be located at one end of the main body together or at both ends of the main body.
  • the positive electrode active material and the negative electrode active material react with the electrolyte, and the tabs are connected to the electrode terminal 201a to form a current loop.
  • the present application provides a transfer device.
  • the transfer device includes a frame 1, a positioning assembly 2, a rotation adjustment assembly 3 and a clamp assembly 4.
  • the positioning assembly 2 is used to obtain the position information of the battery 100 to be transferred;
  • the rotation adjustment assembly 3 includes a first drive Part 31, the meshing first gear 32 and second gear 33, the first gear 32 is connected with the first driving member 31, the second gear 33 is rotatably connected with the frame 1;
  • the clamp assembly 4 is used for grabbing or releasing the The transfer battery 100, the clamp assembly 4 is connected to the side of the second gear 33 away from the frame 1, the first driving member 31 is used to drive the first gear 32 to rotate according to the position information, so that the first gear 32 drives the second gear 33 and The clamp assembly 4 rotates.
  • the side of the frame 1 away from the clamp assembly 4 can be connected to the truss, so that the frame 1 can be driven to move between the A area and the B area through the truss to realize battery transfer.
  • the A area and the B area can specifically be the area where the vehicle with the battery to be replaced, the area where the secondary battery can be charged, the battery processing area, the battery storage area, and the like.
  • the truss can drive the frame 1 horizontally along the X-axis or Y-axis direction shown in FIG. 6 , and can also drive the frame 1 to move along the vertical direction Z.
  • the positioning component 2 is used to obtain the location information of the battery 100 to be transferred, and the positioning component 2 may specifically obtain the location information of the battery 100 to be transferred through sonic positioning, infrared positioning, viewfinder positioning and other technologies.
  • the positioning component 2 may include multiple ultrasonic receivers, the ultrasonic transmitter in the battery to be transferred 100 sends ultrasonic pulses at a certain time interval, and the multiple ultrasonic receivers respectively receive ultrasonic transmissions. According to the pulse signals sent by different ultrasonic receivers, the position information of the battery 100 to be transferred is determined according to the time sequence of the signals received by different ultrasonic receivers.
  • the positioning component 2 may include an infrared transmitter and an infrared receiver, and the infrared transmitter sends an infrared scanning signal to the outside, and the infrared scanning signal is reflected by the battery 100 to be transferred, and the infrared receiver receives The reflected signal and position information can be obtained according to the reflected signal.
  • the infrared transmitter sends an infrared scanning signal to the outside
  • the infrared scanning signal is reflected by the battery 100 to be transferred
  • the infrared receiver receives
  • the reflected signal and position information can be obtained according to the reflected signal.
  • There are various ways to locate the battery 100 to be transferred and those skilled in the art can obtain the location information of the battery 100 to be transferred by using the existing positioning technology, which will not be repeated here.
  • the rotation adjustment assembly 3 can adjust the relative positional relationship between the clamp assembly 4 and the battery 100 to be transported by rotating the clamp assembly 4 .
  • the first driving member 31 may be a servo motor fixed on the frame 1 , and the output shaft of the first driving member 31 is connected with the first gear 32 to drive the first gear 32 to rotate. Since the first gear 32 and the second gear 33 mesh, the rotation of the first gear 32 can drive the rotation of the second gear 33 .
  • the second gear 33 is connected with the clamp assembly 4, so the rotation of the first gear 32 can drive the second gear 33 and the clamp assembly 4 to rotate along the central axis of the second gear 32.
  • the number of the first gear 32 and/or the second gear 33 can be multiple, so as to realize the N-level gear transmission structure.
  • a plurality of first gears 32 may be sequentially engaged with each other, and then one or more first gears 32 may mesh with a second gear 33 ; it may also be that a plurality of first gears 32 mesh with a second gear 33 respectively.
  • Those skilled in the art can set the number of the first gear 32 and the second gear 33 and the order of the transmission according to the changing requirements of different transmission ratios.
  • the location information of the battery 100 to be transferred is obtained by setting the positioning component 2, so that the rotation adjustment component 3 can adjust the positional relationship between the clamp assembly 4 and the battery 100 to be transferred according to the position information, making the transfer device more intelligent; by setting the second A driver 31, a first gear 32 and a second gear 33, so that the first gear 32 can be driven to rotate by the first driver 31, so that the first gear 32 drives the second gear 33 and the clamp assembly 4 to rotate, and the clamp assembly 4 It can accurately correspond to the battery to be transported 100 along the vertical direction, which improves the probability of the clamp assembly 4 successfully picking up the battery to be transported 100 and improves the transport efficiency.
  • the first gear 32 can be an external gear
  • the second gear 33 can be an internal gear with a mounting hole 34
  • the external gear is disposed in the mounting hole 34 and meshes with the internal gear.
  • the central axis of the internal gear and the central axis of the mounting hole 34 can be on the same straight line, and the central axis of the external gear and the internal gear can not be on the same straight line, that is, the central axis of the internal gear deviates from the position of the external gear and the mounting hole 34.
  • the central axis, the pitch circle of the external gear and the pitch circle of the internal gear are inscribed.
  • the internal gear is set to mesh with the external gear, so that the distance between the central axis of the first gear 32 and the central axis of the second gear 33 is shortened, the rotation adjustment assembly 3 is more compact, the space utilization rate is high, and the overall volume is reduced.
  • the positioning component 2 includes a camera 21 connected to the frame 1, and the camera 21 is configured to acquire an image of the battery 100 to be transferred, generate position information according to the image and send it to the rotation adjustment component 3; the rotation adjustment component 3 is It is configured to control the first driving member 31 according to the position information.
  • the camera 21 captures an image containing the battery 100 to be transferred, recognizes a preset marker in the image, and generates position information of the battery 100 to be transferred according to the coordinates of the preset marker in the image.
  • there are many ways to generate the position information according to the image and those skilled in the art can select an appropriate method to analyze and calculate according to the needs, and details will not be repeated here.
  • the position information may be the position coordinates of the battery to be transported 100 based on the world coordinate system, or the angular deviation value and horizontal deviation value obtained based on the relative coordinate system of the battery to be transported 100 and the clamp assembly 4 .
  • the first driving member 31 rotates, so that the clamp assembly 4 rotates on the basis that the height does not change , until the angle deviation value is less than the first preset deviation value; the horizontal deviation value is greater than the second preset deviation value, then the rack 1 can be moved through the truss, so that the clamp assembly 4 can move along the X-axis direction and /or move in the Y-axis direction until the horizontal deviation value is less than the second preset deviation value, so as to ensure that the clamp assembly 4 and the battery to be transported 100 can correspond accurately in the vertical direction.
  • the first preset deviation value and the second preset deviation value are values preset by those skilled in the art.
  • the visual positioning of the battery 100 to be transferred can be performed, and the accuracy of the vertical correspondence between the jig assembly 4 and the battery 100 to be transferred can be improved.
  • the camera 21 can be arranged in the mounting hole 34 of the second gear 33 , so as to prevent the second gear 33 from blocking the viewing of the camera 21 .
  • the camera 21 can be arranged along the central axis of the mounting hole 34 , so as to avoid interference between the camera 21 and the first gear 32 .
  • the camera 21 can also be arranged on the side of the second gear 33 away from the clamp assembly 4 , and ambient light enters the viewfinder of the camera 21 through the mounting hole 34 .
  • the clamp assembly 4 includes a base 41 connected to the second gear 33 , two engaging members 42 arranged at intervals, and a driving component 43 disposed on the base 41 , the driving part 43 is used to drive the two engaging parts 42 to approach or move away from each other to switch between the closed position and the clamping position.
  • the two engaging parts 42 move close to each other to the closed position, and the space occupied by the two engaging parts 42 is small, which is convenient for inserting into the case of the battery 100 to be transferred; after the clamp assembly 4 falls in the vertical direction, the engaging parts 42 Moving to the box of the battery 100 to be transferred, the driving part 43 drives the engaging member 42 to move, so that the two engaging members 42 move away from and move to the clamping position. At this time, the positions occupied by the two engaging members 42 are relatively large.
  • the ends of the two engaging parts 42 can abut against the two opposite side plates 50 of the battery to be transported 100, or the two engaging parts 42 can be engaged with a pre-set engaging structure in the battery to be transported 100, for example With the crossbeam of the bracket 40 , the clamp assembly 4 clamps the battery 100 to be transported. Therefore, by driving the two engaging parts 42 to approach or move away from each other by the driving part 43 , the battery 100 to be transported can be taken and placed.
  • the driving part 43 includes a second driving member 431 that reciprocates along the first direction
  • the engaging member 42 includes a claw 421 and a connecting rod 422, and the opposite ends of the connecting rod 422 are rotationally connected to the second driving member 431 and the claw 421 respectively.
  • the second driving member 431 respectively drives the two claws 421 to approach or move away from each other along the second direction through the two connecting rods 422, and the first direction and the second direction intersect.
  • the second driving member 431 is provided to be rotatably connected to the two connecting rods 422 respectively, so that one second driving member 431 can move in one direction to realize the two claws 421 approaching or moving away from each other.
  • the driving part 43 also includes a guide rail 432 arranged on the base 41 and a mount 433 that moves along the guide rail 432.
  • the guide rail 432 is arranged along the first direction, and the second driver 431 drives the mount 433 to move along the guide rail 432.
  • the connecting rod 422 The first end 422 a is rotatably connected to the mounting base 433 , and the second end 422 b of the connecting rod 422 is rotatably connected to the claw 421 .
  • a guiding structure may also be provided on the base 41 to limit the claw 421 from moving along the second direction.
  • the base 41 has a guide groove disposed along the second direction, and the claw 421 is engaged in the guide groove and can move along the guide groove. The claw 421 is restricted from moving along the second direction by setting the guide groove.
  • clamp assemblies 4 There are multiple clamp assemblies 4 , and the multiple clamp assemblies 4 are sequentially arranged at intervals along the first direction. In the embodiment shown in FIG. 8 , there are two clamp assemblies 4 , and the two clamp assemblies 4 are arranged symmetrically with the central axis of the second gear 33 . Multiple clamp assemblies 4 can increase the loadable weight of the transfer device, and at the same time increase the force point of the clamp assembly 4 when the clamp assembly 4 clamps the battery 100 to be transferred, and improve the stability of the battery 100 to be transferred during the transfer process. Of course, those skilled in the art can set an appropriate number of clamp assemblies 4 according to the weight and volume of the battery 100 to be transported.
  • the clamp assembly 4 further includes a plurality of guides 44 connected to the base 41 , and the surfaces of the guides 44 away from the center of the clamp assembly 4 are sloped.
  • the guide 44 can be disposed on the edge of the base 41 , and a plurality of guides 44 are respectively disposed on different sides of the base 41 .
  • the inclined surface of the guide member 44 can be in contact with the box, so as to guide the clamp assembly 4 to move into the box. Therefore, a plurality of guide members 44 are provided to facilitate the movement of the clamp assembly 4 into the box, and improve the efficiency of the clamp assembly 4 to clamp the battery to be transferred.
  • the transfer device further includes a horizontal traveling mechanism and a lifting mechanism, the horizontal traveling mechanism can drive the frame 1 to move in the horizontal direction, and the lifting mechanism can drive the frame 1 to move in the vertical direction.
  • the transfer device can first move the rack 1 to the top of the battery 100 to be transferred through the horizontal traveling mechanism, so that the positioning component 2 can obtain the position information of the transferred battery, and the rotation adjustment component 3 and the horizontal traveling mechanism can be adjusted according to the position.
  • the information adjusts the relative position of the clamp assembly 4 and the battery to be transported 100, so that the clamp assembly 4 corresponds to the battery to be transported 100 in the vertical direction, and the lifting mechanism drives the frame 1 to drop in the vertical direction until the clamp assembly 4 and the battery to be transported 100 Contact, the claw 421 in the clamp assembly 4 moves to the clamping position, so that the clamp assembly 4 is connected to the battery 100 to be transferred, and the lifting mechanism drives the rack 1 to lift in the vertical direction, so that the battery 100 to be transferred is separated from the installation base 400, And move the battery 100 to be transferred to the preset position through the horizontal traveling mechanism, the claw 421 in the clamp assembly 4 moves to the closed position, the lifting mechanism drives the frame 1 to lift in the vertical direction, the clamp assembly 4 is separated from the battery 100 to be transferred, The transfer of the battery 100 to be transferred is completed.
  • the relative position of the clamp assembly 4 and the battery to be transferred 100 can be adjusted by the horizontal traveling mechanism and the lifting mechanism.
  • the transfer device also includes at least one in-position sensing assembly 5, the in-position sensing assembly 5 includes a position sensor 51 and a movable part 52, the position sensor 51 is arranged on the base 41 and is connected to the clamp assembly 4 for signals, and the movable part 52 is arranged vertically through the base 41, the movable part 52 can move vertically to enter or leave the sensing area of the position sensor 51, and the position sensor 51 is configured to detect whether the movable part 52 enters the sensing area and send a detection signal To the gripper assembly 4; the gripper assembly 4 is configured to grasp or release the battery 100 to be transported according to the detection signal.
  • the position sensor 51 detects the movable part 52, and sends a detection signal to the clamp assembly 4, and the clamp assembly 4 switches to the clamping position after receiving the detection signal, to grasp or The battery 100 to be transported is released.
  • the position sensor 51 can also be connected with the lifting mechanism signal, so that when the movable part 52 moves to the sensing area of the position sensor 51, the position sensor 51 can send a detection signal to the lifting mechanism, and the lifting mechanism stops falling the frame 1 after receiving the detection signal.
  • the movable part 52 corresponds to the top of the battery 100 to be transferred in the vertical direction
  • the lifting mechanism drives the frame 1 to fall in the vertical direction until the movable part 52 and the top of the battery 100 to be transferred correspond to each other in the vertical direction.
  • the elevating mechanism drives the frame 1 to continue falling vertically, and the movable part 52 is blocked by the top of the battery 100 to be transferred, so that the movable part 52 and the battery 100 to be transferred remain relatively stationary, and the movable part 52 Relative displacement occurs with the position sensor 51, and when the movable part 52 moves to the sensing area of the position sensor 51 in the vertical direction, the position sensor 51 senses the movable part 52, indicating that the clamp assembly 4 has moved into the battery 100 to be transported.
  • the gripper assembly 4 is controlled to grip the battery 100 to be transferred.
  • the present application provides a transfer device for transferring batteries, the transfer device includes a frame 1, a positioning assembly 2, a rotation adjustment assembly 3 and a clamp assembly 4,
  • the positioning assembly 2 is used to obtain the position information of the battery 100 to be transferred;
  • the rotation adjustment assembly 3 includes a first driving member 31, a meshing first gear 32 and a second gear 33, the first gear 32 is connected to the first driving member 31,
  • the second gear 33 is rotatably connected to the frame 1;
  • the clamp assembly 4 is used to grab or release the battery 100 to be transported, the clamp assembly 4 is connected to the side of the second gear 33 away from the frame 1, and the first drive member 31 is used for
  • the first gear 32 is driven to rotate according to the position information, so that the first gear 32 drives the second gear 33 and the clamp assembly 4 to rotate.
  • the rotation adjustment assembly 3 can adjust the positional relationship between the clamp assembly 4 and the battery 100 to be transferred according to the position information, and improve the intelligence of the transfer device; by setting the first drive member 31, The first gear 32 and the second gear 33 can drive the first gear 32 to rotate through the first driving member 31, so that the first gear 32 drives the second gear 33 and the clamp assembly 4 to rotate, and the clamp assembly 4 and the battery 100 to be transported Accurate correspondence along the vertical direction increases the probability that the clamp assembly 4 successfully picks up the battery 100 to be transferred and improves the transfer efficiency.

Abstract

本申请实施例提供一种转运装置。该转运装置包括机架、定位组件、转动调整组件和夹具组件，定位组件用于获取待转运电池的位置信息；转动调整组件包括与定位组件信号连接的第一驱动件、相啮合的第一齿轮和第二齿轮，第一齿轮与第一驱动件连接，第二齿轮与机架可转动连接；夹具组件用于抓取或释放待转运电池，夹具组件与第二齿轮远离机架的一侧连接，第一驱动件用于根据位置信息驱动第一齿轮转动，以使第一齿轮带动第二齿轮和夹具组件转动。本申请提供的转运装置转运效率高。

Description

转运装置 技术领域
本申请涉及储能器件技术领域，尤其涉及一种转运装置。
背景技术
随着现代社会的高速发展和人民生活水平的提高，汽车普及度也越来越广。为了缓解由此带来的环境问题，新能源汽车产量和销量快速攀升。
现有技术中，部分新能源汽车中使用的电池可进行更换，通常通过夹具取下新能源汽车中需要更换的电池，再通过夹具放置新的电池于新能源汽车上。但是现有夹具工作效率低，不能满足用户需求。
综上，需要设计出一种转运装置，以解决上述的技术问题。
发明内容
本申请实施例提供了一种转运装置，通过设置转动调整组件对夹具组件进行调节，提高夹具组件与待转运电池对准精度，提高转运效率。
第一方面，本申请提供一种转运装置，用于转运电池，转运装置包括：
机架；
定位组件，用于获取待转运电池的位置信息；
转动调整组件，包括与定位组件信号连接的第一驱动件、相啮合的第一齿轮和第二齿轮，第一齿轮与第一驱动件连接，第二齿轮与机架可转动连接；
夹具组件，用于抓取或释放待转运电池，夹具组件与第二齿轮远离机架的一侧连接，第一驱动件用于根据位置信息驱动第一齿轮转动，以使第一齿轮带动第二齿轮和夹具组件一并转动。
通过设置定位组件获取待转运电池的位置信息，使得转动调整组件可以根据位置信息调整夹具组件和待转运电池的位置关系，使得转运装置更智能；通过设置第一驱动件、第一齿轮和第二齿轮，从而可以通过第一驱动件驱动第一齿轮转动，以使第一齿轮带动第二齿轮和夹具组件转动，夹具组件和待转运电池沿竖直方向可以准确对应，提高夹具组件成功拿取待转运电池的机率，提高转运效率。
在一些实施例中，第一齿轮为外齿轮，第二齿轮为具有安装孔的内齿轮，外齿轮设置于安装孔内并与内齿轮啮合。设置内齿轮与外齿轮啮合，使得第一齿轮的中心轴和第二齿轮的中心轴的间隔距离缩短，转动调整组件更为紧凑，空间利用率高，整体体积变小。
在一些实施例中，定位组件包括与机架连接的摄像头，摄像头被配置为获取待转运电池的图像，并根据图像生成位置信息并发送给所述转动调整组件；转动调整组件被配置为根据位置信息控制所述第一驱动件。通过设置摄像头，从而可以对待转运电池进行视觉定位，提高夹具组件和待转运电池在竖直方向上对应的准确性。
在一些实施例中，夹具组件包括与第二齿轮连接的基座、两个间隔设置的卡合件、以及设于基座上的驱动部件，驱动部件用于驱动两卡合件相互靠近或远离以在闭合位置和夹持位置之间切换。通过驱动部件驱动两卡合件相互靠近或远离可以实现对待转运电池的取放。
在一些实施例中，驱动部件包括沿第一方向往复移动的第二驱动件，卡合件包括卡爪和连杆，连杆的相对两端分别与第二驱动件和卡爪转动连接；第二驱动件通过两个连杆分别驱动两个卡爪沿第二方向相互靠近或远离，第一方向和第二方向相交设置。设置第二驱动件分别与两个连杆转动连接，从而可以通过一个第二驱动件单向移动，实现两个卡爪相互靠近或远离。
在一些实施例中，基座具有沿第二方向设置的导向槽，卡爪卡合于导向槽内并能够沿导向槽移动。通过导向槽限制卡爪沿第二方向移动，提高卡爪移动过程的稳定性。
在一些实施例中，夹具组件的数量为多个，多个夹具组件沿第一方向依次间隔设置。多个夹具组件可提高转运装置可负载的重量，同时增加夹具组件对待转运电池的着力点，提高待转运电池转运过程中的稳定性。
在一些实施例中，夹具组件还包括与基座连接的多个导向件，导向件远离夹具组件中心的表面为斜面。设置的多个导向件可引导夹具组件移动至箱体内，提高夹具组件夹取待转运电池的效率。
在一些实施例中，转运装置还包括水平行走机构和升降机构，水平行走机构能够驱动机架沿水平方向移动，升降机构能够驱动机架沿竖直方向移动。通过水平行走机构和升降机构可以对夹具组件和待转运电池的相对位置进行调节。
在一些实施例中，转运装置还包括至少一个到位感应组件，到位感应组件包括位置传感器和活动件，位置传感器设置于基座上并与夹具组件信号连接，活动件沿竖直方向贯穿基座设置，活动件能够沿竖直方向移动以进入或远离位置传感器的感应区域，位置传感器被配置为检测活动件是否进入感应区域并将检测信号发送给夹具组件；夹具组件被配置为根据检测信号抓取或释放待转运电池。通过设置位置传感器和活动件，可以检测夹具组件与待转运电池在竖直方向的位置关系，从而提高夹具组件 夹取待转运电池的成功率。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据附图获得其他的附图。
图1为本申请一些实施例的车辆的结构示意图；
图2为本申请一些实施例的电池的分解结构示意图；
图3为本申请一些实施例的电池和安装底座的分解结构示意图；
图4为本申请一些实施例的电池单体的分解结构示意图；
图5为本申请一些实施例的转运装置和待转运电池的结构示意图；
图6为本申请一些实施例的转运装置一角度的立体结构示意图；
图7为本申请一些实施例的转动调整组件和定位组件的立体结构示意图；
图8为本申请一些实施例的转运装置另一角度的立体结构示意图；
图9为图8所示A部分的放大结构示意图；
图10为本申请一些实施例的夹具组件的立体结构示意图；
图11为本申请一些实施例的转运装置运动至待转运电池上方状态的立体结构示意图；
图12为图11所示B部分的放大结构示意图；
图13为本申请一些实施例的转运装置夹取待转运电池状态的立体结构示意图；
图14为图13所示C部分的放大结构示意图；
在附图中，附图并未按照实际的比例绘制。
标记说明：车辆1000；电池100；控制器200；马达300；安装底座400；上盖10；电池单体20；端盖201；电极端子201a；外壳202；电极组件203；下盖30；支架40；侧板50；机架1；定位组件2；摄像头21；转动调整组件3；第一驱动件31；第一齿轮32；第二齿轮33；安装孔34；夹具组件4；基座41；卡合件42；卡爪421； 连杆422；第一端422a；第二端422b；驱动部件43；第二驱动件431；导轨432；安装座433；导向件44；到位感应组件5；位置传感器51；活动件52。
具体实施方式
下面结合附图和实施例对本申请的实施方式作进一步详细描述。以下实施例的详细描述和附图用于示例性地说明本申请的原理，但不能用来限制本申请的范围，即本申请不限于所描述的实施例。
在本申请的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。“垂直”并不是严格意义上的垂直，而是在误差允许范围之内。“平行”并不是严格意义上的平行，而是在误差允许范围之内。
下述描述中出现的方位词均为图中示出的方向，并不是对本申请的具体结构进行限定。在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本申请中的具体含义。
本申请中，电池单体可以包括锂离子二次电池、锂离子一次电池、锂硫电池、钠锂离子电池、钠离子电池或镁离子电池等，本申请实施例对此并不限定。电池单体可呈圆柱体、扁平体、长方体或其它形状等，本申请实施例对此也不限定。电池单体一般按封装的方式分成三种：柱形电池单体、方体方形电池单体和软包电池单体，本申请实施例对此也不限定。
本申请的实施例所提到的电池是指包括一个或多个电池单体以提供更高的电压和容量的单一的物理模块。例如，本申请中所提到的电池可以包括电池模块或电池包等。电池一般包括用于封装一个或多个电池单体的箱体。箱体可以避免液体或其他异物影响电池单体的充电或放电。
电池单体包括电极组件和电解液，电极组件由正极片、负极片和隔离膜组成。电池单体主要依靠金属离子在正极片和负极片之间移动来工作。正极片包括正极集流体和正极活性物质层，正极活性物质层涂覆于正极集流体的表面，未涂敷正极活性物质层的集流体凸出于已涂覆正极活性物质层的集流体，未涂敷正极活性物质层的集流体层叠后作为正极极耳。以锂离子电池为例，正极集流体的材料可以为铝，正极活性物质可以为钴酸锂、磷酸铁锂、三元锂或锰酸锂等。负极片包括负极集流体和负极活性物质层，负极活性物质层涂覆于负极集流体的表面，未涂敷负极活性物质层的集流 体凸出于已涂覆负极活性物质层的集流体，未涂敷负极活性物质层的集流体层叠后作为负极极耳。负极集流体的材料可以为铜，负极活性物质可以为碳或硅等。隔离膜的材质可以为PP(polypropylene，聚丙烯)或PE(polyethylene，聚乙烯)等。此外，电极组件可以是卷绕式结构，也可以是叠片式结构，本申请实施例并不限于此。
申请人发现在新能源汽车的使用过程中，需要转运装置对需要更换的电池进行转运，转运装置的工作效率低，耗费用户时间。对转运装置的结构和使用环境进行了分析和研究。申请人发现，现有转运装置需要先在一水平面内调整转运装置和待转运电池在竖直方向对应，再将转运装置中的夹具沿竖直方向放下，使得夹具可以抓取待转运电池，但是现有转运装置在水平面内仅能沿两个相交的方向进行移动，使得转运装置与待转运电池在竖直方向上对应的精确度差，转运装置中的夹具需要多次尝试与待转运电池对准，导致转运效率低下。
基于申请人发现的上述问题，申请人对转运装置的结构进行了改进，本申请实施例描述的技术方案适用于任何需要对电池进行转运的场景，该电池可以单独设置，也可以安装在用电装置上。
用电装置可以是车辆、轮船、航天器等等。车辆可以是燃油汽车、燃气汽车或新能源汽车，新能源汽车可以是纯电动汽车、混合动力汽车或增程式汽车等；航天器包括飞机、火箭、航天飞机和宇宙飞船等等。本申请实施例对上述用电设备不做特殊限制。
以下实施例为了方便说明，以本申请一实施例的一种用电装置为车辆1000为例进行说明。
请参照图1，图1为本申请一些实施例提供的车辆的结构示意图。车辆1000可以为燃油汽车、燃气汽车或新能源汽车，新能源汽车可以是纯电动汽车、混合动力汽车或增程式汽车等。车辆1000的内部设置有电池100，电池100可以设置在车辆1000的底部或头部或尾部。电池100可以用于车辆1000的供电，例如，电池100可以作为车辆1000的操作电源。车辆1000还可以包括控制器200和马达300，控制器200用来控制电池100为马达300供电，例如，用于车辆1000的启动、导航和行驶时的工作用电需求。
在本申请一些实施例中，电池100不仅可以作为车辆1000的操作电源，还可以作为车辆1000的驱动电源，代替或部分地代替燃油或天然气为车辆1000提供驱动动力。
请参照图2，图2为本申请一些实施例提供的电池的爆炸图。电池100包括箱体和电池单体20。在一些实施例中，箱体可以包括支架40和覆盖在支架40上的侧板50，侧板50围成收容电池单体20的容纳空间，箱体可以是多种形状，比如，圆柱体、长方体等。
请参照图3，电池100的箱体可以直接安装于车辆1000上，电池100的箱体也 可以与车辆1000上设置的安装底座400连接，从而实现电池100固定至车辆1000上。安装底座400中还可以设置与电池100的输电结构对应的插口或插头，以实现电池100向车辆1000中的用电装置供电。在一些实施例中，支架40的底端可以设置与安装底座400连接的连接结构，支架40的顶端可以设置方便转运装置或用户拿取的把手、横梁或卡槽等。
在电池100中，电池单体20可以是多个，多个电池单体20之间可串联或并联或混联，混联是指多个电池单体20中既有串联又有并联。多个电池单体20之间可直接串联或并联或混联在一起，再将多个电池单体20构成的整体容纳于箱体内；当然，电池100也可以是多个电池单体20先串联或并联或混联组成电池模块形式，多个电池模块再串联或并联或混联形成一个整体，并容纳于箱体内。电池100还可以包括其他结构，例如，该电池100还可以包括汇流部件，用于实现多个电池单体20之间的电连接。
其中，每个电池单体20可以为二次电池或一次电池；还可以是锂硫电池、钠离子电池或镁离子电池，但不局限于此。电池单体20可呈圆柱体、扁平体、长方体或其它形状等。
请参照图4，图4为本申请一些实施例提供的电池单体的分解结构示意图。电池单体20是指组成电池的最小单元。如图4，电池单体20包括有端盖201、外壳202、电极组件203以及其他的功能性部件。
端盖201是指盖合于外壳202的开口处以将电池单体20的内部环境隔绝于外部环境的部件。不限地，端盖201的形状可以与外壳202的形状相适应以配合外壳202。可选地，端盖201可以由具有一定硬度和强度的材质(如铝合金)制成，这样，端盖201在受挤压碰撞时就不易发生形变，使电池单体20能够具备更高的结构强度，安全性能也可以有所提高。端盖201上可以设置有如电极端子201a等的功能性部件。电极端子201a可以用于与电极组件203电连接，以用于输出或输入电池单体20的电能。在一些实施例中，端盖201上还可以设置有用于在电池单体20的内部压力或温度达到阈值时泄放内部压力的泄压机构。端盖201的材质也可以是多种的，比如，铜、铁、铝、不锈钢、铝合金、塑胶等，本申请实施例对此不作特殊限制。在一些实施例中，在端盖201的内侧还可以设置有绝缘件，绝缘件可以用于隔离外壳202内的电连接部件与端盖201，以降低短路的风险。示例性的，绝缘件可以是塑料、橡胶等。
外壳202是用于配合端盖201以形成电池单体20的内部环境的组件，其中，形成的内部环境可以用于容纳电极组件203、电解液以及其他部件。外壳202和端盖201可以是独立的部件，可以于外壳202上设置开口，通过在开口处使端盖201盖合开口以形成电池单体20的内部环境。不限地，也可以使端盖201和外壳202一体化，具体地，端盖201和外壳202可以在其他部件入壳前先形成一个共同的连接面，当需要封装外壳202的内部时，再使端盖201盖合外壳202。外壳202可以是多种形状和多种尺寸的，例如长方体形、圆柱体形、六棱柱形等。具体地，外壳202的形状可以根据 电极组件203的具体形状和尺寸大小来确定。外壳202的材质可以是多种，比如，铜、铁、铝、不锈钢、铝合金、塑胶等，本申请实施例对此不作特殊限制。
电极组件203是电池单体20中发生电化学反应的部件。外壳202内可以包含一个或更多个电极组件203。电极组件203主要由正极片和负极片卷绕或层叠放置形成，并且通常在正极片与负极片之间设有隔膜。正极片和负极片具有活性物质的部分构成电极组件203的主体，正极片和负极片不具有活性物质的部分各自构成极耳。正极极耳和负极极耳可以共同位于主体的一端或是分别位于主体的两端。在电池的充放电过程中，正极活性物质和负极活性物质与电解液发生反应，极耳连接电极端子201a以形成电流回路。
根据本申请的一些实施例，请一并参照图5至图7。本申请提供一种转运装置，转运装置包括机架1、定位组件2、转动调整组件3和夹具组件4，定位组件2用于获取待转运电池100的位置信息；转动调整组件3包括第一驱动件31、相啮合的第一齿轮32和第二齿轮33，第一齿轮32与第一驱动件31连接，第二齿轮33与机架1可转动连接；夹具组件4用于抓取或释放待转运电池100，夹具组件4与第二齿轮33远离机架1的一侧连接，第一驱动件31用于根据位置信息驱动第一齿轮32转动，以使第一齿轮32带动第二齿轮33和夹具组件4转动。
机架1远离夹具组件4的一侧可以与桁架连接，以通过桁架驱动机架1在A区域和B区域之间移动，实现电池转运。A区域和B区域具体可以是具有待换取电池的车辆所在区域、二次电池可进行充电的区域、电池加工区域、电池贮藏区域等。本领域技术人员可以理解的是，桁架可以驱动机架1在水平内沿图6所示X轴方向或Y轴方向，还可以驱动机架1沿竖直方向Z移动。
定位组件2用于获取待转运电池100的位置信息，定位组件2具体可以通过声波定位、红外定位、取景定位等技术获取待转运电池100的位置信息。定位组件2采用超声波定位技术获取位置信息时，定位组件2可以包括多个超声波接收器，待转运电池100中的超声波发射器按照一定的时间间隔发送超声波脉冲，多个超声波接收器分别接收超声波发射器发出来的脉冲信号，根据不同超声波接收器收到信号的时间先后，确定待转运电池100的位置信息。定位组件2采用红外定位获取位置信息时，定位组件2可以包括红外发射器和红外接收器，红外发射器向外发送红外扫描信号，红外扫描信号遇到待转运电池100进行反射，红外接收器接收反射信号并根据反射信号可以获取位置信息。对待转运电池100的定位方式多种多样，本领域技术人员可以采用现有定位技术实现获取待转运电池100的位置信息，在此不再一一赘述。
转动调整组件3可以通过转动夹具组件4，调节夹具组件4和待转运电池100的相对位置关系。第一驱动件31可以是固定在机架1上的伺服电机，第一驱动件31的输出轴与第一齿轮32连接，从而驱动第一齿轮32转动。由于第一齿轮32和第二齿轮33啮合，第一齿轮32转动可带动第二齿轮33转动。第二齿轮33与夹具组件4连 接，所以第一齿轮32转动可以带动第二齿轮33和夹具组件4一并沿第二齿轮32的中心轴转动。第一齿轮32和/或第二齿轮33的数量可以为多个，以实现N层齿轮传动构造。可以是多个第一齿轮32之间依次啮合连接，再通过一个或多个第一齿轮32与第二齿轮33啮合；还可以是多个第一齿轮32分别与第二齿轮33啮合。本领域技术人员可以根据不同传动比变化需求，设置第一齿轮32和第二齿轮33的个数，以及传动的次序。
在本申请中，通过设置定位组件2获取待转运电池100的位置信息，使得转动调整组件3可以根据位置信息调整夹具组件4和待转运电池100的位置关系，使得转运装置更智能；通过设置第一驱动件31、第一齿轮32和第二齿轮33，从而可以通过第一驱动件31驱动第一齿轮32转动，以使第一齿轮32带动第二齿轮33和夹具组件4转动，夹具组件4和待转运电池100沿竖直方向可以准确对应，提高夹具组件4成功拿取待转运电池100的机率，提高转运效率。
第一齿轮32可以为外齿轮，第二齿轮33可以为具有安装孔34的内齿轮，外齿轮设置于安装孔34内并与内齿轮啮合。可选地，内齿轮的中心轴和安装孔34的中心轴可以在同一直线上，外齿轮和内齿轮的中心轴可以不在同一直线上，即内齿轮的中心轴偏离外齿轮和安装孔34的中心轴，外齿轮的分度圆与内齿轮的分度圆相内切。
设置内齿轮与外齿轮啮合，使得第一齿轮32的中心轴和第二齿轮33的中心轴的间隔距离缩短，转动调整组件3更为紧凑，空间利用率高，整体体积变小。
在一些实施例中，定位组件2包括与机架1连接的摄像头21，摄像头21配置为获取待转运电池100的图像，并根据图像生成位置信息并发送给转动调整组件3；转动调整组件3被配置为根据位置信息控制第一驱动件31。例如摄像头21拍摄包含待转运电池100的图像，对图像中预设标志物进行识别，并根据该预设标志物在图像中的坐标生成待转运电池100的位置信息。当然根据图像生成位置信息的方式多种，本领域技术人员可以根据需要选择合适的方法分析计算得到，在此不再赘述。
位置信息可以是待转运电池100基于世界坐标系的位置坐标，也可以是基于待转运电池100与夹具组件4的相对坐标系得到的角度偏差值和水平偏差值。当位置信息包括角度偏差值和水平偏差值的情况下，角度偏差值大于第一预设偏差值，则第一驱动件31转动，以使得在夹具组件4在高度不发生变化的基础上进行转动，直至角度偏差值小于第一预设偏差值；水平偏差值大于第二预设偏差值，则可以通过桁架移动机架1，使得夹具组件4在高度不发生变化的基础上沿X轴方向和/或Y轴方向进行移动，直至水平偏差值小于第二预设偏差值，从而保证夹具组件4和待转运电池100在竖直方向上可以准确对应。其中第一预设偏差值和第二预设偏差值为本领域技术人员预先设置的数值。
通过设置摄像头21，从而可以对待转运电池100进行视觉定位，提高夹具组件4和待转运电池100在竖直方向上对应的准确性。
摄像头21可以设置在第二齿轮33的安装孔34内，从而避免第二齿轮33阻挡摄像头21的取景。同时在一些实施例中，由于第一齿轮32的中心轴偏离第二齿轮33和安装孔34的中心轴设置，使得第一齿轮32在安装孔34中的运动轨迹绕安装孔34的中心轴移动，摄像头21可以沿安装孔34的中心轴设置，从而避免摄像头21和第一齿轮32发生干涉。当然摄像头21也可以设置在第二齿轮33远离夹具组件4的一侧，环境光穿过安装孔34进入摄像头21的取景器内。
请参阅图8至图10，在一些实施例中，夹具组件4包括与第二齿轮33连接的基座41、两个间隔设置的卡合件42、以及设于基座41上的驱动部件43，驱动部件43用于驱动两卡合件42相互靠近或远离以在闭合位置和夹持位置之间切换。
两个卡合件42相互靠近运动至闭合位置，两个卡合件42占用的位置较小，方便插入待转运电池100的箱体中；夹具组件4沿竖直方向下落后，卡合件42移动至待转运电池100的箱体内，驱动部件43驱动卡合件42运动，以使得两个卡合件42远离并运动至夹持位置，此时两个卡合件42占用的位置较大，两个卡合件42的端部可以与待转运电池100的两相对设置的侧板50抵接，或者两个卡合件42可以与待转运电池100中预先设置的卡合结构卡合，例如与支架40的横梁，实现夹具组件4夹取待转运电池100。所以通过驱动部件43驱动两卡合件42相互靠近或远离可以实现对待转运电池100的取放。
驱动部件43包括沿第一方向往复移动的第二驱动件431，卡合件42包括卡爪421和连杆422，连杆422的相对两端分别与第二驱动件431和卡爪421转动连接；第二驱动件431通过两个连杆422分别驱动两个卡爪421沿第二方向相互靠近或远离，第一方向和第二方向相交设置。设置第二驱动件431分别与两个连杆422转动连接，从而可以通过一个第二驱动件431单向移动，实现两个卡爪421相互靠近或远离。
驱动部件43还包括设于基座41上的导轨432和沿导轨432移动的安装座433，导轨432沿第一方向设置，第二驱动件431驱动安装座433沿导轨432移动，连杆422的第一端422a与安装座433转动连接，连杆422的第二端422b与卡爪421转动连接。第二驱动件431推动安装座433沿第一方向向靠近卡爪421方向移动时，第一端422a与安装座433一并沿第一方向向靠近卡爪421方向移动，两个连杆422的第二端422b分别推动两个卡爪421沿第二方向相互远离；第二驱动件431推动安装座433沿第一方向向远离卡爪421方向移动时，第一端422a与安装座433一并沿第一方向向远离卡爪421方向移动，两个连杆422的第二端422b分别拉动两个卡爪421沿第二方向相互远离。设置导轨432可以限制驱动部件43沿第一方向移动连杆422.
在基座41上还可以设置导向结构以限制卡爪421沿第二方向移动。在一些实施例中，基座41具有沿第二方向设置的导向槽，卡爪421卡合于导向槽内并能够沿导向槽移动。通过设置导向槽限制卡爪421沿第二方向移动。
夹具组件4的数量为多个，多个夹具组件4沿第一方向依次间隔设置。在图8所示实施例中，夹具组件4的数量两个，两个夹具组件4以第二齿轮33的中心轴对称 设置。多个夹具组件4可提高转运装置可负载的重量，同时增加夹具组件4夹取待转运电池100时，夹具组件4对待转运电池100的着力点，提高待转运电池100转运过程中的稳定性。当然本领域技术人员可以根据待转运电池100的重量和体积设置合适数量的夹具组件4。
夹具组件4还包括与基座41连接的多个导向件44，导向件44远离夹具组件4中心的表面为斜面。导向件44可以设置于基座41的边沿，多个导向件44分别设置于基座41的不同侧边。夹具组件4移动至箱体的过程中，导向件44的斜面可以与箱体接触，从而引导夹具组件4移动至箱体内。所以设置多个导向件44，有利于夹具组件4移动至箱体内，提高夹具组件4夹取待转运电池的效率。
在一些实施例中，转运装置还包括水平行走机构和升降机构，水平行走机构能够驱动机架1沿水平方向移动，升降机构能够驱动机架1沿竖直方向移动。
转运装置工作过程中，转运装置可以先通过水平行走机构移动机架1至待转运电池100的上方，以使得定位组件2可以获取得到转运电池的位置信息，转动调整组件3和水平行走机构根据位置信息调节夹具组件4和待转运电池100的相对位置，使得夹具组件4和待转运电池100沿竖直方向对应，升降机构驱动机架1沿竖直方向落下，直至夹具组件4与待转运电池100接触，夹具组件4中的卡爪421运动至夹持位置，使得夹具组件4和待转运电池100连接，升降机构驱动机架1沿竖直方向提升，使得待转运电池100和安装底座400分离，并通过水平行走机构移动待转运电池100至预设位置，夹具组件4中的卡爪421运动至闭合位置，升降机构驱动机架1沿竖直方向提升，夹具组件4与待转运电池100分离，完成待转运电池100的转运。通过水平行走机构和升降机构可以对夹具组件4和待转运电池100的相对位置进行调节。
请参阅图11至图14，转运装置还包括至少一个到位感应组件5，到位感应组件5包括位置传感器51和活动件52，位置传感器51设置于基座41上并夹具组件4信号连接，活动件52沿竖直方向贯穿基座41设置，活动件52能够沿竖直方向移动以进入或远离位置传感器51的感应区域，位置传感器51被配置为检测活动件52是否进入感应区域并将检测信号发送给夹具组件4；夹具组件4被配置为根据检测信号抓取或释放待转运电池100。
活动件52运动至位置传感器51的感应区域时，位置传感器51检测到活动件52，并向夹具组件4发送检测信号，夹具组件4接收到该检测信号后切换至夹持位置，以抓取或释放待转运电池100。位置传感器51还可以与升降机构信号连接，使得活动件52运动至位置传感器51的感应区域时，位置传感器51可以向升降机构发送检测信号，升降机构接收到该检测信号后停止落下机架1。例如：夹具组件4与待转运电池100在竖直方向对应时，活动件52与待转运电池100的顶端在竖直方向对应，升降机构驱动机架1沿竖直方向落下，直至活动件52与待转运电池100的顶端触碰，升降机构驱动机架1继续沿竖直方向落下，活动件52被待转运电池100的顶端阻挡，使得活动件52与待转运电池100保持相对静止，活动件52与位置传感器51发生相对位 移，活动件52沿竖直方向移动至位置传感器51的感应区域时，位置传感器51感受到活动件52，表明夹具组件4已移动至待转运电池100内，此时可以控制夹具组件4夹取待转运电池100。通过设置位置传感器51和活动件52，可以检测夹具组件4与待转运电池100在竖直方向的位置关系，从而提高夹具组件4夹取待转运电池100的成功率。
根据本申请的一些实施例，参见图5至图7，本申请提供了一种用于转运电池的转运装置，该转运装置包括机架1、定位组件2、转动调整组件3和夹具组件4，定位组件2用于获取待转运电池100的位置信息；转动调整组件3包括第一驱动件31、相啮合的第一齿轮32和第二齿轮33，第一齿轮32与第一驱动件31连接，第二齿轮33与机架1可转动连接；夹具组件4用于抓取或释放待转运电池100，夹具组件4与第二齿轮33远离机架1的一侧连接，第一驱动件31用于根据位置信息驱动第一齿轮32转动，以使第一齿轮32带动第二齿轮33和夹具组件4转动。通过设置定位组件2获取待转运电池100的位置信息，使得转动调整组件3可以根据位置信息调整夹具组件4和待转运电池100的位置关系，提高转运装置智能化；通过设置第一驱动件31、第一齿轮32和第二齿轮33，从而可以通过第一驱动件31驱动第一齿轮32转动，以使第一齿轮32带动第二齿轮33和夹具组件4转动，夹具组件4和待转运电池100沿竖直方向可以准确对应，提高夹具组件4成功拿取待转运电池100的机率，提高转运效率。
虽然已经参考优选实施例对本申请进行了描述，但在不脱离本申请的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (10)

  1. 一种转运装置，用于转运电池，所述转运装置包括：
    机架；
    定位组件，用于获取待转运电池的位置信息；
    转动调整组件，包括与所述定位组件信号连接的第一驱动件、相啮合的第一齿轮和第二齿轮，所述第一齿轮与所述第一驱动件连接，所述第二齿轮与所述机架可转动连接；
    夹具组件，用于抓取或释放待转运电池，所述夹具组件与所述第二齿轮远离所述机架的一侧连接，所述第一驱动件用于根据所述位置信息驱动所述第一齿轮转动，以使所述第一齿轮带动所述第二齿轮和所述夹具组件一并转动。
  2. 根据权利要求1所述的转运装置，其中，所述第一齿轮为外齿轮，所述第二齿轮为具有安装孔的内齿轮，所述外齿轮设置于所述安装孔内并与所述内齿轮啮合。
  3. 根据权利要求2所述的转运装置，其中，所述定位组件包括与所述机架连接的摄像头，所述摄像头被配置为获取待转运电池的图像，并根据所述图像生成所述位置信息并发送给所述转动调整组件；所述转动调整组件被配置为根据所述位置信息控制所述第一驱动件。
  4. 根据权利要求1至3中任一项所述的转运装置，其中，所述夹具组件包括与所述第二齿轮连接的基座、两个间隔设置的卡合件、以及设于所述基座上的驱动部件，所述驱动部件用于驱动两个所述卡合件相互靠近或远离以在闭合位置和夹持位置之间切换。
  5. 根据权利要求4所述的转运装置，其中，所述驱动部件包括沿第一方向往复移动的第二驱动件，所述卡合件包括卡爪和连杆，所述连杆的相 对两端分别与所述第二驱动件和所述卡爪转动连接；
    所述第二驱动件通过两个所述连杆分别驱动两个所述卡爪沿所述第二方向相互靠近或远离，所述第一方向和所述第二方向相交设置。
  6. 根据权利要求5所述的转运装置，其中，所述基座具有沿所述第二方向设置的导向槽，所述卡爪卡合于所述导向槽内并能够沿所述导向槽移动。
  7. 根据权利要求5或6所述的转运装置，其中，所述夹具组件的数量为多个，多个所述夹具组件沿所述第一方向依次间隔设置。
  8. 根据权利要求4至7中任一项所述的转运装置，其中，所述夹具组件还包括与所述基座连接的多个导向件，所述导向件远离所述夹具组件中心的表面为斜面。
  9. 根据权利要求1至8中任一项所述的转运装置，还包括水平行走机构和升降机构，所述水平行走机构能够驱动所述机架沿水平方向移动，所述升降机构能够驱动所述机架沿竖直方向移动。
  10. 根据权利要求9所述的转运装置，还包括至少一个到位感应组件，所述到位感应组件包括位置传感器和活动件，所述位置传感器设置于所述基座上并与所述夹具组件信号连接，所述活动件沿所述竖直方向贯穿所述基座设置，所述活动件能够沿所述竖直方向移动以进入或远离所述位置传感器的感应区域，所述位置传感器被配置为检测所述活动件是否进入所述感应区域并将检测信号发送给所述夹具组件；所述夹具组件被配置为根据所述检测信号抓取或释放所述待转运电池。
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