A fast-battery-changing battery-changing manipulator structure for a pure electric excavator

Abstract

The present invention relates to a battery replacement manipulator structure for a fast-battery-replacement pure electric excavator, comprising a transverse plate, four mounting frames, a battery pack and a placement frame, wherein an adjusting motor is installed inside the transverse plate, and five groups of horizontally placed clamping assemblies are evenly distributed on the lower side of the mounting frame, each group of clamping assemblies comprises three adjusting rollers with corotating shafts, partitions are provided at both ends of the adjusting rollers, and a slide plate is slidably connected between the outer edges of adjacent partitions; the present invention utilizes a lifting device to lift the battery pack to move on the placement frame between the excavator and the charging pile, utilizes the outwardly inclined portion of the upper edge of the placement frame to position the adjusting guide wheel, accurately places the adjusting guide wheel in the placement frame, utilizes the upper edge of the placement frame to push the slide plate to slide upward, the spring is compressed, and the adjusting roller is unlocked, and the battery pack is lifted and placed by rotating the adjusting roller to lift the battery pack, and after the adjusting guide wheel is separated from the placement frame, the adjusting roller is locked under the action of the spring elastic force to prevent the battery pack from falling.

Description

Technical Field

[0001] The present invention belongs to the technical field of excavator equipment, and in particular relates to a battery-changing manipulator structure for a fast-battery-changing pure electric excavator. Background Art

[0002] At present, the "new force" represented by pure electric vehicles is leading the transformation of the automobile industry with an unstoppable momentum. Against the backdrop of global energy conservation and emission reduction and the implementation of the "dual carbon" goals, new energy vehicles represented by pure electric vehicles have also achieved a breakthrough from "0" to "1" to "N", and are at the forefront of the automotive field. At the same time, in the "blue ocean" of new energy, off-road excavators with electrification as the core have also caused quite a stir. More and more companies have launched pure electric excavators, adding a touch of "brightness" to the mining operation segment under the wave of new energy development.

[0003] However, the charging process of a pure electric excavator takes a long time. Although the charging speed is getting faster and faster with the development of technology, it still cannot be compared with the refueling time of a traditional fuel engine. Replacing the battery pack that needs to be charged on the excavator with the battery pack that has been charged by the charging pile can get rid of the limitation of charging time and greatly improve the utilization efficiency of the pure electric excavator. Due to the heavy weight of the battery pack, it is difficult to replace it relying solely on manpower. Therefore, the process of replacing the battery pack requires the use of a battery replacement robot. During the process of replacing the battery pack, the battery replacement robot is prone to loose clamping, or the robot releases the battery pack in advance, causing the battery pack to deviate from the placement position or even fall off, affecting the efficiency of battery pack replacement. In view of the shortcomings of the existing technology, further improvements are needed. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a battery-changing manipulator structure for a pure electric excavator with fast battery-changing function to solve the above-mentioned problems.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a battery replacement manipulator structure for a pure electric excavator with fast battery replacement, including a horizontal plate, four mounting frames, a battery pack and a placement frame, two adjusting motors are installed inside the horizontal plate, both ends of the output shaft of the adjusting motor pass through the adjusting motor body, and the output shafts of the two adjusting motors are perpendicular to each other, two first transmission shafts are vertically arranged in the middle of the horizontal plate, and a second transmission shaft is arranged at the end of the first transmission shaft away from the adjusting motor, and the end of the second transmission shaft away from the first transmission shaft is rotatably connected to the horizontal plate through a rolling bearing, one end of the first transmission shaft is transmission-connected to the rear end of the output shaft of the adjusting motor through a gear, and the other end of the first transmission shaft is transmission-connected to the second transmission shaft through a gear, the four mounting frames are respectively arranged on the four sides of the horizontal plate, a threaded rod is threadedly connected to the middle of the mounting frame, and a first sliding rod is slidably connected to both ends of the mounting frame, and one end of the first sliding rod is fixedly connected to the horizontal plate, the front ends of the output shafts of the two adjusting motors are respectively fixedly connected to the two threaded rods at the corresponding positions, and the ends of the two second transmission shafts away from the adjusting motor are respectively fixedly connected to the two threaded rods at the corresponding positions.

[0006] Five groups of horizontally placed clamping assemblies are evenly distributed on the lower side of the mounting frame, each group of clamping assemblies includes three adjusting rollers with co-rotating axes, partitions are arranged at both ends of the adjusting rollers, upper ends of the partitions are fixedly connected to the corresponding mounting frames, a slide plate is slidably connected between the outer edges of adjacent partitions, and a slider is fixed on the back side of the slide plate, a second slide bar is slidably connected to the slider, the upper end of the second slide bar is fixedly connected to the mounting frame, and a spring is sleeved on the second slide bar, the upper end of the spring is fixedly connected to the mounting frame, and the lower end of the spring is fixedly connected to the slider, the lower end of the slide plate is rotatably connected to an adjusting guide wheel, and the height of the adjusting guide wheel is higher than that of the lowest adjusting roller.

[0007] Limiting rings are fixed on both flat sides of the adjusting drum, and limiting grooves are evenly distributed on the arc-shaped sides of the limiting rings. A transmission wheel is fixed on the side of the limiting ring away from the adjusting drum, and the transmission wheels located in the same vertical plane are connected through a transmission belt. A limiting rod is arranged above each limiting ring, one end of the limiting rod is fixedly connected to the slide plate, and a spherical protrusion is arranged on the lower side of the other end of the limiting rod for limiting the limiting ring.

[0008] There are multiple placement racks and they are respectively installed on the excavator and the charging pile. The upper edge of the placement rack is inclined outward to facilitate the adjustment roller to roll along the inclined surface of the placement rack to position the battery pack and ensure that the battery pack is accurately placed in the placement rack. The height of the battery pack is higher than the placement rack, and when the adjustment guide wheel is separated from the placement rack, the adjustment roller is separated from the battery pack in the placement rack.

[0009] A lifting motor is arranged under each mounting frame. The lifting motor is fixedly connected to the partition plate, and the output shaft of the lifting motor is fixedly connected to the rotating shaft of the uppermost clamping assembly adjusting roller. The lifting motor is used to drive the adjusting roller to rotate.

[0010] Preferably, a counterweight is fixed on the transverse plate, and the counterweight is used to balance and adjust the gravity of the motor so that the center of the transverse plate is distributed in the central position to maintain the balance of the transverse plate.

[0011] Preferably, an arc-shaped suspension frame is provided on the upper side of the horizontal plate, and the left and right ends of the suspension frame are respectively fixedly connected to the left and right edges of the horizontal plate, and a lifting ring is fixed in the middle of the suspension frame to facilitate lifting and replacement of the battery pack.

[0012] Preferably, an anti-slip sleeve is sleeved on the adjusting roller to increase the friction between the adjusting roller and the battery pack.

[0013] Preferably, the cross-sectional diameter of the lower end of the second slide bar is smaller than the cross-sectional diameter of the middle portion of the second slide bar, limiting the position of the slider so that the slider slides at the lower end of the second slide bar.

[0014] The beneficial effects of the present invention are as follows: the present invention utilizes a lifting device to lift the battery pack and move it to a placement rack between the excavator and the charging pile. When the device moves to the top of the placement rack, the adjusting roller at the bottom contacts the outwardly inclined portion of the upper edge of the placement rack, and the adjusting guide wheel is positioned by utilizing the outwardly inclined portion of the upper edge of the placement rack to accurately place the adjusting guide wheel in the placement rack. At the same time, the upper edge of the placement rack pushes the slide plate to slide upward through the adjusting guide wheel, the spring is compressed, and the slide plate drives the limit rod to slide upward, so that the limit rod is separated from the limit ring, and the adjusting roller is unlocked, so that it is convenient to take and place the battery pack by rotating the adjusting roller to lift and lower the battery pack. After the adjusting guide wheel is separated from the placement rack, the slide plate slides downward under the action of the spring elastic force, and the slide plate drives the limit rod to move downward until the spherical protrusion of the limit rod is inserted into the limit groove of the limit ring, thereby locking the adjusting roller and preventing the battery pack from falling off. In addition, the placement rack is used to unlock the adjusting roller to ensure that the battery pack is accurately placed in the rack. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view structural diagram of the present invention;

[0016] Figure 2 It is a top view of the structure of the present invention;

[0017] Figure 3 For the present invention Figure 1 A partial enlarged view of the middle part;

[0018] Figure 4 This is a structural diagram of the battery pack of the present invention when it is placed in a placement rack;

[0019] Figure 5 For the present invention Figure 4 A partial enlarged view of part B in the middle;

[0020] Figure 6 For the present invention Figure 4 A partial enlarged view of area C in the middle.

[0021] Numbers in the figure: 1 horizontal plate; 101 suspension frame; 102 lifting ring; 2 mounting frame; 3 adjusting motor; 4 counterweight; 5 first transmission shaft; 6 second transmission shaft; 7 threaded rod; 8 first slide bar; 9 battery pack; 10 adjusting roller; 1001 limiting ring; 11 partition; 12 slide plate; 1201 slider; 13 second slide bar; 14 spring; 15 adjusting guide wheel; 16 transmission wheel; 17 transmission belt; 18 limiting rod; 19 lifting motor; 20 placement frame. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0023] like Figure 1-6 As shown, a battery-changing manipulator structure for a pure electric excavator with fast battery-changing performance includes a horizontal plate 1, four mounting frames 2, a battery pack 9 and a placement frame 20. Two adjusting motors 3 are installed inside the horizontal plate 1. Both ends of the output shaft of the adjusting motor 3 pass through the adjusting motor 3 body, and the output shafts of the two adjusting motors 3 are perpendicular to each other. Two first transmission shafts 5 are vertically arranged in the middle of the horizontal plate 1, and a second transmission shaft 6 is arranged at one end of the first transmission shaft 5 away from the adjusting motor 3. The end of the second transmission shaft 6 away from the first transmission shaft 5 is rotatably connected to the horizontal plate 1 through a rolling bearing. One end of the shaft 5 is connected to the rear end of the output shaft of the adjusting motor 3 through a gear, and the other end of the first transmission shaft 5 is connected to the second transmission shaft 6 through a gear. The four mounting frames 2 are respectively arranged on the four sides of the cross plate 1. A threaded rod 7 is threadedly connected to the middle part of the mounting frame 2, and sliding rods 8 are slidably connected to both ends of the mounting frame 2, and one end of the sliding rod 8 is fixedly connected to the cross plate 1. The front ends of the output shafts of the two adjusting motors 3 are respectively fixedly connected to the two threaded rods 7 at the corresponding positions, and the ends of the two second transmission shafts 6 away from the adjusting motor 3 are respectively fixedly connected to the two threaded rods 7 at the corresponding positions.

[0024] In this embodiment, five groups of horizontally placed clamping components are evenly distributed on the lower side of the mounting frame 2, and each group of clamping components includes three adjusting rollers 10 with co-rotating axes. Partitions 11 are provided at both ends of the adjusting roller 10, and the upper ends of the partitions 11 are fixedly connected to the corresponding mounting frames 2. A slide plate 12 is slidably connected between the outer edges of adjacent partitions 11, and a slider 1201 is fixed on the back side of the slide plate 12. A slide bar 13 is slidably connected to the slider 1201, and the upper end of the slide bar 13 is fixedly connected to the mounting frame 2, and a spring 12 is sleeved on the slide bar 13, the upper end of the spring 14 is fixedly connected to the mounting frame 2, and the lower end of the spring 14 is fixedly connected to the slider 1201, and the lower end of the slide plate 12 is rotatably connected to an adjusting guide wheel 15, and the height of the adjusting guide wheel 15 is higher than the adjusting roller 10 at the lowest end.

[0025] In this embodiment, limiting rings 1001 are fixed on both flat sides of the adjusting roller 10, and limiting grooves are evenly distributed on the arc-shaped sides of the limiting rings 1001. A transmission wheel 16 is fixed on the side of the limiting ring 1001 away from the adjusting roller 10. The transmission wheels 16 located in the same vertical plane are connected through a transmission belt 17. A limiting rod 18 is arranged above each limiting ring 1001, and one end of the limiting rod 18 is fixedly connected to the slide plate 12, and a spherical protrusion is provided on the lower side of the other end of the limiting rod 18 for limiting the limiting ring 1001.

[0026] In this embodiment, there are multiple placement racks 20 and they are respectively installed on the excavator and the charging pile. The upper edge of the placement rack 20 is inclined outward to facilitate the adjustment roller 10 to roll along the inclined surface of the placement rack 20 to position the battery pack 9 and ensure that the battery pack 9 is accurately placed in the placement rack 20. The height of the battery pack 9 is higher than the placement rack 20, and when the adjustment guide wheel 15 is separated from the placement rack 20, the adjustment roller 10 is separated from the battery pack 9 in the placement rack 20.

[0027] In this embodiment, a lifting motor 19 is provided under each mounting frame 2, the lifting motor 19 is fixedly connected to the partition 11, and the output shaft of the lifting motor 19 is fixedly connected to the rotating shaft of the uppermost clamping assembly adjusting roller 10, and the lifting motor 19 is used to drive the adjusting roller 10 to rotate.

[0028] In this embodiment, a counterweight 4 is fixed on the transverse plate 1 , and the counterweight 1 is used to balance and adjust the gravity of the motor 3 so that the center of the transverse plate 1 is distributed in the central part to keep the balance of the transverse plate 1 .

[0029] In this embodiment, an arc-shaped suspension frame 101 is provided on the upper side of the horizontal plate 1, and the left and right ends of the suspension frame 101 are fixedly connected to the left and right edges of the horizontal plate 1 respectively, and a lifting ring 102 is fixed in the middle of the suspension frame 101 to facilitate lifting and replacing the battery pack 9.

[0030] In this embodiment, an anti-slip sleeve is sleeved on the adjusting drum 10 to increase the friction between the adjusting drum 10 and the battery pack 9 .

[0031] In this embodiment, the cross-sectional diameter of the lower end of the slide rod 13 is smaller than the cross-sectional diameter of the middle portion of the slide rod 13 , which limits the position of the slider 12 and enables the slider 12 to slide at the lower end of the slide rod 13 .

[0032] Working principle of the present invention: When the present invention is in use, the threaded rod 7 is driven to rotate by the adjusting motor 3. Under the driving action of the threaded rod 7, the position of the partition 11 is adjusted until the adjusting rollers 10 on the four sides are in contact with the side of the battery pack 9. Then, the lifting ring 102 is fixed to the lifting device, and the battery pack 9 is lifted by the lifting device and moved to the placement rack 20 between the excavator and the charging pile. When the present device moves to the top of the placement rack 20, as shown in FIG. Figure 4As shown, the adjusting roller 10 at the bottom contacts the outwardly inclined portion of the upper edge of the placement rack 20. Under the limiting effect of the placement rack 20, the adjusting roller 10 at the bottom is placed between the battery pack 9 and the outwardly inclined portion of the upper edge of the placement rack 20. At the same time, the upper edge of the placement rack 20 pushes the slide plate 12 to slide upward through the adjusting guide wheel 15. The spring 14 is compressed, and the slide plate 12 drives the limit rod 18 to slide upward, so that the limit rod 18 is separated from the limit ring 1001. After that, the four lifting motors 19 are turned on at the same time, and the lifting motors 19 are used to drive the adjusting roller 10 to rotate, and the adjusting roller 10 and the battery pack 9 are used to adjust the adjustment roller 10. The friction between the packs 9 drives the battery pack 9 to move upward until the battery pack 9 is completely moved to the top of the placement rack 20, so as to separate the battery pack 9 from the placement rack 20, turn off the lifting motor 19, and then use the lifting device to transfer the battery pack 9. When the adjusting guide wheel 15 is separated from the placement rack 20, the slide plate 12 slides downward under the action of the elastic force of the spring 14, and the slide plate 12 drives the limit rod 18 to move downward until the spherical protrusion of the limit rod 18 is inserted into the limit groove of the limit ring 1001, so as to ensure that the adjustment roller 10 is always locked during the process of the lifting device driving the battery pack 9 to move, so as to prevent the battery pack 9 from falling.

[0033] When the device clamps the battery pack 9 and moves it to the top of the placement rack 20, the adjustment roller 10 at the bottom contacts the outwardly inclined portion of the upper edge of the placement rack 20. Under the limiting effect of the placement rack 20, the adjustment roller 10 at the bottom is placed between the battery pack 9 and the outwardly inclined portion of the upper edge of the placement rack 20. At the same time, the upper edge of the placement rack 20 pushes the slide plate 12 to slide upward through the adjustment guide wheel 15, the spring 14 is compressed, and the slide plate 12 drives the limit rod 18 to slide upward. The limit rod 18 and the limit ring 1001 Separation, the spherical protrusion of the limit rod 18 is separated from the limit groove of the limit ring 1001, the adjusting roller 10 is unlocked, and under the action of the gravity of the battery pack 9 itself, the battery pack 9 moves downward, driving the adjusting roller 10 to rotate until the battery pack 9 is completely placed in the placement rack 20, and then the lifting device drives the cross plate 1 to move upward until the spring 14 pushes the slide plate 12 to slide downward, and the spherical protrusion of the limit rod 18 is inserted into the limit groove of the limit ring 1001, locking the adjusting roller 10, and at the same time, the adjusting roller 10 is separated from the battery pack 9.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A battery replacement manipulator structure for a pure electric excavator with fast battery replacement, comprising a horizontal plate, four mounting frames, a battery pack and a placement frame, characterized in that: Two adjusting motors are installed inside the cross plate, and both ends of the output shaft of the adjusting motor pass through the adjusting motor body, and the output shafts of the two adjusting motors are perpendicular to each other, two first transmission shafts are vertically arranged in the middle of the cross plate, and a second transmission shaft is arranged at an end of the first transmission shaft away from the adjusting motor, and an end of the second transmission shaft away from the first transmission shaft is rotatably connected to the cross plate through a rolling bearing, one end of the first transmission shaft is transmission-connected to the rear end of the output shaft of the adjusting motor through a gear, and the other end of the first transmission shaft is transmission-connected to the second transmission shaft through a gear, the four mounting frames are respectively arranged on the four sides of the cross plate, a threaded rod is threadedly connected to the middle of the mounting frame, and first sliding rods are slidably connected to both ends of the mounting frame, and one end of the first sliding rod is fixedly connected to the cross plate, and the front ends of the output shafts of the two adjusting motors are respectively The two threaded rods at the corresponding positions are fixedly connected, and the ends of the two second transmission shafts away from the adjusting motors are respectively fixedly connected to the two threaded rods at the corresponding positions. Five groups of horizontally placed clamping assemblies are evenly distributed on the lower side of the mounting frame, and each group of clamping assemblies includes three adjusting rollers with co-rotating axes, and partitions are arranged at both ends of the adjusting roller. The upper ends of the partitions are fixedly connected to the corresponding mounting frames, and a slide plate is slidably connected between the outer edges of adjacent partitions, and a slide block is fixed on the back side of the slide plate, a second slide bar is slidably connected to the slide block, the upper end of the second slide bar is fixedly connected to the mounting frame, and a spring is sleeved on the second slide bar, the upper end of the spring is fixedly connected to the mounting frame, and the lower end of the spring is fixedly connected to the slide block, and the lower end of the slide block is rotatably connected to an adjusting guide wheel, and the height of the adjusting guide wheel is higher than that of the adjusting roller at the lowest end.

2. The battery-swapping manipulator structure for a fast-swapping pure electric excavator according to claim 1 is characterized in that: There are multiple placement racks and they are installed on the excavator and the charging pile respectively. The upper edge of the placement rack is inclined outward to facilitate the adjustment of the roller to roll along the inclined surface of the placement rack to position the battery pack and ensure that the battery pack is accurately placed in the placement rack. The height of the battery pack is higher than the placement rack.

3. The battery-swapping manipulator structure for a fast-swapping pure electric excavator according to claim 1 is characterized in that: A lifting motor is arranged under each mounting frame. The lifting motor is fixedly connected to the partition plate, and the output shaft of the lifting motor is fixedly connected to the rotating shaft of the uppermost clamping assembly adjusting roller. The lifting motor is used to drive the adjusting roller to rotate.

4. The battery-swapping manipulator structure for a fast-swapping pure electric excavator according to claim 1 is characterized in that: A counterweight is fixed on the transverse plate.

5. The battery-swapping manipulator structure for a fast-swapping pure electric excavator according to claim 1 is characterized in that: An arc-shaped suspension frame is arranged on the upper side of the horizontal plate, and the left and right ends of the suspension frame are respectively fixedly connected to the left and right edges of the horizontal plate, and a hanging ring is fixed in the middle of the suspension frame.

6. The battery-swapping manipulator structure for a fast-swapping pure electric excavator according to claim 1 is characterized in that: The cross-sectional diameter of the lower end of the second slide bar is smaller than the cross-sectional diameter of the middle portion of the second slide bar, which limits the position of the slider and enables the slider to slide at the lower end of the second slide bar.

7. The battery-swapping manipulator structure for a fast-swapping pure electric excavator according to claim 1 is characterized in that: Limiting rings are fixed on both flat sides of the adjusting drum, and limiting grooves are evenly distributed on the arc-shaped sides of the limiting rings. A transmission wheel is fixed on the side of the limiting ring away from the adjusting drum, and the transmission wheels located in the same vertical plane are connected through a transmission belt. A limiting rod is arranged above each limiting ring, one end of the limiting rod is fixedly connected to the slide plate, and a spherical protrusion is arranged on the lower side of the other end of the limiting rod.

8. The battery-swapping manipulator structure for a fast-swapping pure electric excavator according to claim 1 is characterized in that: The adjusting roller is sleeved with an anti-slip sleeve.

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