New energy mine truck fork crane rotary battery replacing system

Abstract

The invention relates to a new energy mine truck fork crane rotary battery replacing system which comprises a bracket arranged on a mine truck chassis and a battery replacing frame arranged on the bracket, and a battery is loaded in the battery replacing frame; the mechanical arm comprises a base, a slewing mechanism, a vertical arm, a first rotating mechanism, a cross arm, a second rotating mechanism and a cargo arm; the rotating mechanism is arranged on the upper portion of the base, the upper portion of the rotating mechanism is connected with the vertical arm, the vertical arm is connected with the cross arm through the first rotating mechanism, and the cross arm is connected with the cargo arm through the second rotating mechanism; an inner arm is arranged in the cargo arm in a sliding mode, and a cargo fork is arranged at the free end of the inner arm. The swing mechanism drives the vertical arm to rotate by 360 degrees with the vertical center line of the base as the axis, the first rotating mechanism drives the cross arm to rotate up and down relative to the vertical arm, and the second driving mechanism drives the cargo arm to rotate up and down relative to the cross arm.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining vehicles, and in particular relates to a new energy mining vehicle forklift rotary power exchange system. Background Art

[0002] New energy mining vehicles consume a lot of electricity. When the power is exhausted, they need to be replaced to meet the use needs. The battery replacement frame of the mining vehicle is located on the left and right sides of the chassis. Traditional battery replacement models need to establish a battery replacement station at a fixed location, and the vehicle drives to the battery replacement station for battery replacement. During this process, the vehicle energy loss is high, resulting in low effective battery utilization rate; and during the open-pit mining process, the route of the mining vehicle closely follows the mining progress of the mine area to change the operating route, resulting in frequent changes in the operating route of the mining vehicle, which is difficult to cooperate with the mine area route construction to change the location of the replacement station, and cannot meet the needs of new energy mining vehicles. Summary of the invention

[0003] The purpose of the present invention is to provide a new energy mining vehicle forklift rotary power exchange system to solve the technical problems raised in the background technology.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A new energy mining vehicle forklift rotary power exchange system, comprising a bracket arranged on the mining vehicle chassis and a power exchange frame arranged on the bracket, wherein the power exchange frame is loaded with a battery; it also comprises a mechanical arm, wherein the mechanical arm comprises a base, a slewing mechanism, a vertical arm, a first rotating mechanism, a horizontal arm, a second rotating mechanism and a cargo arm; the upper part of the base is provided with the slewing mechanism, the upper part of the slewing mechanism is connected to the vertical arm, the vertical arm is connected to the horizontal arm through the first rotating mechanism, and the horizontal arm is connected to the cargo arm through the second rotating mechanism; an inner arm is slidably provided inside the cargo arm, and a cargo fork is provided at the free end of the inner arm;

[0006] The slewing mechanism is used to drive the vertical arm to rotate 360° with the vertical center line of the base as the axis, the first rotating mechanism is used to drive the horizontal arm to rotate up and down relative to the vertical arm, and the second driving mechanism is used to drive the cargo arm to rotate up and down relative to the horizontal arm.

[0007] As a further improvement of the present invention, the slewing mechanism includes a slewing motor, which is mounted on the base, has an output shaft connected to the vertical arm in an axial direction, and a protective shell is provided on the outside of the slewing motor.

[0008] As a further improvement of the present invention, the first rotating mechanism comprises a cylinder 1, a connecting rod 1 and a connecting rod 2;

[0009] The fixed end of the cylinder one is connected to the lower part of the vertical arm through a pin, the upper part of the vertical arm is rotatably connected to the end of the horizontal arm and one end of the connecting rod one through a pin, and the horizontal arm is located above the connecting rod one; one end of the horizontal arm is rotatably connected to one end of the connecting rod two through a pin, and the other end of the connecting rod two is rotatably connected to the other end of the connecting rod one through a pin; the free end of the cylinder two is rotatably connected to the pin between the connecting rod one and the connecting rod two.

[0010] As a further improvement of the present invention, the second rotating mechanism comprises a second cylinder, a third connecting rod and a fourth connecting rod;

[0011] The fixed end of the cylinder two is connected to one end of the cross arm close to the vertical arm through a pin, and the other end of the cross arm is rotatably connected to one end of the cargo arm and one end of the connecting rod three through a pin; and one end of the cargo arm is rotatably connected to one end of the connecting rod four through a pin, and the other end of the connecting rod four is rotatably connected to the other end of the connecting rod three through a pin; the free end of the cylinder two is rotatably connected to the pin between the connecting rod three and the connecting rod four.

[0012] As a further improvement of the present invention, two forks are arranged in parallel.

[0013] As a further improvement of the present invention, the base is fixedly connected to the ground via anchor bolts.

[0014] As a further improvement of the present invention, a cylinder three is provided inside the cargo arm, a fixed end of the cylinder three is connected to an end of the cargo arm close to the cross arm, and a free end is connected to the end of the inner arm.

[0015] As a further improvement of the present invention, at least two brackets are provided, and a locking mechanism is provided on the upper portion of at least one of the brackets, and the locking mechanism is used to fix the relative position of the bracket and the battery exchange frame.

[0016] As a further improvement of the present invention, the locking mechanism includes a locking seat and a driving cylinder; the locking seat is arranged on the upper part of the bracket, and a locking groove is provided on the locking seat, and the driving cylinder is installed at one end away from the locking groove, and the output shaft of the driving cylinder is located in the locking groove;

[0017] A groove is provided on the side wall of the locking groove, and the central axis of the groove is perpendicular to the output shaft of the driving cylinder.

[0018] As a further improvement of the present invention, guide columns are provided on both sides of the left and right sides of the battery exchange frame, and the guide columns cooperate with the grooves; the driving cylinder is used to drive its output shaft to abut against the upper part of the guide column to limit the displacement of the guide column and fix the relative position of the bracket and the battery exchange frame.

[0019] The beneficial effects of adopting the above technical solution are:

[0020] The present invention is provided with a manipulator, and the mining vehicle does not need to go to the battery swap station for battery swapping, but can swap batteries on the spot by using the manipulator arm, thereby reducing energy loss in the process of going to and from the battery swap station, and eliminating the need to build numerous battery swap stations, thus saving costs, thereby solving the problem of difficulty in migrating the battery swap station caused by the change of the location of the battery swap station in coordination with the mine route at any time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the present invention when in use;

[0022] Figure 2 It is a structural schematic diagram of the mechanical arm of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of the mechanical arm of the present invention from another angle;

[0024] Figure 4 is a schematic diagram of a battery replacement frame of the present invention;

[0025] Figure 5 A schematic diagram of a bracket of the present invention;

[0026] Figure 6 It is a schematic diagram of the locking structure of the bracket of the present invention;

[0027] Figure 7 It is a schematic diagram of the connection structure between the bracket and the battery exchange frame of the present invention;

[0028] Markings in the figure: 1 base, 2 vertical arm, 3 horizontal arm, 4 cargo arm, 5 inner arm, 6 fork, 7 protective shell, 8 cylinder one, 9 connecting rod one, 10 connecting rod two, 11 cylinder two, 12 connecting rod three, 13 connecting rod four, 100 mechanical arm, 101 mining vehicle, 102 battery exchange frame, 1021 guide column, 1022 battery exchange connection upper seat, 103 bracket, 1031 locking seat, 1032 driving cylinder, 1033 locking groove, 1034 groove, 1035 battery exchange connection lower seat. DETAILED DESCRIPTION

[0029] In order to better understand the purpose, structure and function of the present invention, the present invention is clearly and completely described below in conjunction with the accompanying drawings.

[0030] like Figure 1-Figure 7 The new energy mining vehicle forklift rotary power exchange system shown includes a bracket 103 arranged on the chassis of the mining vehicle 101 and a power exchange frame 102 arranged on the bracket 103, and the power exchange frame 102 is loaded with batteries; it also includes a mechanical arm 100.

[0031] Among them, at least two brackets 103 are provided in an "L" shape, the upper part of the horizontal frame of the bracket 103 contacts the bottom of the battery swap frame 102 to support the bottom of the battery swap frame 102, and the side wall of the vertical frame of the bracket 103 contacts the side wall of the battery swap frame 102 to limit the battery swap frame 102. At least one of the brackets 103 is provided with a locking mechanism on the upper part, and the locking mechanism is used to fix the relative position of the bracket 103 and the battery swap frame 102. Figure 4-Figure 7 As shown, in this embodiment, three brackets 103 are provided, all located on the same side of the battery replacement frame 102 ( Figure 7 The vertical frame side walls of the three brackets 103 are in contact with the front side walls of the battery swap frame 102, one of the brackets 103 is located in the middle of the front side wall of the battery swap frame 102; the other two are close to the left and right sides of the battery swap frame 102, and a limit frame is provided on one side of the upper part of the two horizontal frames. The side walls of the limit frame are in contact with the left and right side walls of the battery swap frame 102 to limit the left and right displacement of the battery swap frame 102, and a locking mechanism is provided on the upper part of the limit frame. In addition, a battery swap connection lower seat 1035 is also provided on the upper part of the limit frame of the right bracket 103.

[0032] Further, the locking mechanism includes a locking seat 1031 and a driving cylinder 1032; the locking seat 1031 is arranged on the upper part of the bracket 103, and a locking groove 1033 is provided thereon, and the driving cylinder 1032 is installed at one end away from the locking groove 1033, and the output shaft of the driving cylinder 1032 is located in the locking groove 1033; a groove 1034 is provided on the side wall of the locking groove 1033, and the central axis of the groove 1034 is perpendicular to the output shaft of the driving cylinder 1032. Guide columns 1021 are provided on the left and right sides of the battery exchange frame 102, and the guide columns 1021 cooperate with the groove 1034; the driving cylinder 1032 is used to drive its output shaft to abut against the upper part of the guide column 1021 to limit the displacement of the guide column 1021 and fix the relative position of the bracket 103 and the battery exchange frame 102. In this embodiment, two locking mechanisms are provided on the upper part of the left bracket 103, and one locking mechanism is provided on the upper part of the right bracket 103. Correspondingly, two guide columns 1021 are provided on the left side of the power exchange frame 102, and one guide column 1021 is provided on the right side, and a power exchange connection upper seat 1022 is also provided on the right side. The power exchange connection upper seat 1022 is used to connect with the power exchange connection lower seat 1035 to provide the power of the power exchange frame 102 to the mining vehicle 101; when power is supplied, the guide column 1021 abuts against the lower part of the output shaft of the driving cylinder 1032 to limit the up and down displacement of the guide column 1021.

[0033] When the power of the mining vehicle 101 is exhausted or about to be exhausted, the driving cylinder 1032 works to drive its output shaft away from the guide column 1021, and the up and down displacement limit of the battery swap frame 102 is released; by driving the mechanical arm 100 to rotate, rotate and extend, the mechanical arm 100 is first extended to the bottom of the rear side of the battery swap frame 102 (the left and right sides of the mining vehicle 101), and then the battery swap frame 102 is lifted up and separated from the bracket 103, and then the battery swap frame 102 is transported to the storage area, and the battery swap frame 102 that needs to be replaced is removed; the mechanical arm 100 is still used to rotate, rotate and extend, and the new battery swap frame 102 is mounted on the bracket 103, and the driving cylinder 1032 is started to position the new battery swap frame 102, so as to lock the relative position relationship between the battery swap frame 102 and the bracket 103, and complete the function of replacing the battery swap frame 102. The mining vehicle 101 does not need to go to a battery swap station to swap batteries. Instead, the battery can be swapped on the spot using the robotic arm 100, which reduces energy loss in the process of traveling to and from the battery swap station. In addition, there is no need to build numerous battery swap stations, saving costs. This solves the difficulty of migrating the battery swap station due to changes in the mine route at any time.

[0034] like Figure 2 and Figure 3 As shown, the robotic arm 100 includes a base 1, a slewing mechanism, a vertical arm 2, a first rotating mechanism, a horizontal arm 3, a second rotating mechanism and a cargo arm 4.

[0035] The slewing mechanism is provided on the upper part of the base 1, and the upper part of the slewing mechanism is connected to the vertical arm 2. In order to increase the stability of the base 1, the base 1 is fixedly connected to the ground by anchor bolts; the slewing mechanism is used to drive the vertical arm 2 to rotate 360° with the vertical center line of the base 1 as the axis. Specifically, the slewing mechanism includes a slewing motor, which is installed on the base 1 through a motor seat, and its output shaft is connected to the vertical arm 2 upward, and a protective shell 7 is provided on the outside of the slewing motor to protect the slewing motor. The slewing motor drives its output shaft to rotate when it works, thereby driving the vertical arm 2 connected thereto to rotate 360° to complete the slewing action.

[0036] The vertical arm 2 is connected to the horizontal arm 3 through the first rotating mechanism, and the first rotating mechanism is used to drive the horizontal arm 3 to rotate up and down relative to the vertical arm 2. The first rotating mechanism includes a cylinder 1 8, a connecting rod 1 9 and a connecting rod 2 10, and two connecting rods 1 9 and 10 are provided, which are symmetrically arranged on both sides of the vertical arm 2; the fixed end of the cylinder 1 8 is connected to the lower part of the vertical arm 2 through a pin, and the upper part of the vertical arm 2 is rotatably connected to the end of the horizontal arm 3 and to one end of the connecting rod 1 9 through a pin, and the horizontal arm 3 is located above the connecting rod 1 9; one end of the horizontal arm 3 is rotatably connected to one end of the connecting rod 2 10 through a pin, and the other end of the connecting rod 2 10 is rotatably connected to the other end of the connecting rod 1 9 through a pin; the free end of the cylinder 2 11 is rotatably connected to the pin between the connecting rod 1 9 and the connecting rod 2 10. The operation of cylinder 1 8 drives its free end to extend and retract. Since its free end is connected to the pin shaft between connecting rod 1 9 and connecting rod 2 10, it can drive connecting rod 1 9 and connecting rod 2 10 to rotate around the pin shafts on the vertical arm 2 and the horizontal arm 3 respectively. Since the vertical arm 2 and the horizontal arm 3 are connected by a pin shaft and the bottom of the vertical arm 2 is fixed, it can drive the horizontal arm 3 to rotate up and down relative to the vertical arm 2.

[0037] The cross arm 3 is connected to the cargo arm 4 through the second rotating mechanism, and the second driving mechanism is used to drive the cargo arm 4 to rotate up and down relative to the cross arm 3. The second rotating mechanism includes a cylinder 2 11, a connecting rod 3 12 and a connecting rod 4 13, and two connecting rods 3 12 and 4 13 are provided, which are symmetrically arranged on both sides of the cross arm 3; the fixed end of the cylinder 2 11 is connected to the end of the cross arm 3 close to the vertical arm 2 through a pin, and the other end of the cross arm 3 is rotatably connected to one end of the cargo arm 4 and one end of the connecting rod 3 12 through a pin; and one end of the cargo arm 4 is rotatably connected to one end of the connecting rod 4 13 through a pin, and the other end of the connecting rod 4 13 is rotatably connected to the other end of the connecting rod 3 12 through a pin; the free end of the cylinder 2 11 is rotatably connected to the pin between the connecting rod 3 12 and the connecting rod 4 13. The operation of cylinder two 11 drives its free end to extend and retract. Since its free end is connected to the pin shaft between connecting rod three 12 and connecting rod four 13, it can drive connecting rod three 12 and connecting rod four 13 to rotate around the pin shafts on the cross arm 3 and the cargo arm 4 respectively. Since the cross arm 3 and the cargo arm 4 are connected by a pin shaft, the end of the cross arm 3 close to the vertical arm 2 is relatively fixed, so the cargo arm 4 can be driven to rotate up and down relative to the cross arm 3.

[0038] In order to facilitate the support and lifting of the battery exchange frame 102, an inner arm 5 is slidably provided inside the cargo arm 4, and a cargo fork 6 is provided at the free end of the inner arm 5, and two cargo forks 6 are arranged in parallel. Furthermore, a cylinder 3 is provided inside the cargo arm 4, and the fixed end of the cylinder 3 is connected to one end of the cargo arm 4 close to the cross arm 3, and the free end is connected to the end of the inner arm 5 to complete the telescopic function.

[0039] When the battery exchange frame 102 that needs to be replaced is removed from the mining vehicle 101, first start the rotary motor to make the fork 6 face the battery exchange frame 102 on the left or right side of the mining vehicle 101; then start cylinder 1 8 and cylinder 2 11 to adjust the height and angle of the cross arm 3 and the cargo arm 4 so that the cargo arm 4 is horizontal and the fork 6 at its front end is located at the lower part of the battery exchange frame 102, wherein cylinder 1 8 is mainly used to adjust the height of the fork 6, and cylinder 2 11 is mainly used to adjust the level of the fork 6; start cylinder three, the inner arm 5 extends to drive the fork 6 to insert into the bottom of the battery exchange frame 102; start cylinder 1 8 and cylinder 2 11 again to lift the battery exchange frame 102 and separate it from the bracket 103, cylinder three contracts to move the battery exchange frame 102 away from the mining vehicle 101, and the rotary motor works to bring the battery exchange frame 102 to the storage area and put it down. When the new battery-exchange frame 102 is mounted on the bracket 103, the rotary motor lowers the battery-exchange frame 102, and then the new battery-exchange frame 102 is placed on the fork 6 with the help of tools such as a trolley; repeat the above steps, adjust the height and angle of the fork 6, so that the upper part of the fork 6 is horizontal and higher than the upper part of the bracket 103, start cylinder three, extend the inner arm 5 to transport the battery-exchange frame 102 to the upper part of the bracket 103, adjust cylinder one 8 and cylinder two 11, so that the battery-exchange frame 102 slowly falls onto the bracket 103, and start the drive cylinder 1032 to lock the new battery-exchange frame 102, and cylinder one 8, cylinder two 11, cylinder three, and the rotary motor work to drive the fork 6 away from the mining vehicle 101.

[0040] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A new energy mining vehicle forklift rotary power exchange system, comprising a bracket (103) arranged on the chassis of a mining vehicle (101) and a power exchange frame (102) arranged on the bracket (103), wherein a battery is loaded in the power exchange frame (102); characterized in that: It also includes a mechanical arm (100), the mechanical arm (100) including a base (1), a slewing mechanism, a vertical arm (2), a first rotating mechanism, a horizontal arm (3), a second rotating mechanism and a cargo arm (4); the slewing mechanism is provided on the upper part of the base (1), the upper part of the slewing mechanism is connected to the vertical arm (2), the vertical arm (2) and the horizontal arm (3) are connected via the first slewing mechanism, and the horizontal arm (3) and the cargo arm (4) are connected via the second slewing mechanism; an inner arm (5) is slidably provided inside the cargo arm (4), and a cargo fork (6) is provided at the free end of the inner arm (5); The slewing mechanism is used to drive the vertical arm (2) to rotate 360 ​​degrees with the vertical center line of the base (1) as the axis, the first rotating mechanism is used to drive the horizontal arm (3) to rotate up and down relative to the vertical arm (2), and the second driving mechanism is used to drive the cargo arm (4) to rotate up and down relative to the horizontal arm (3).

2. According to claim 1, a new energy mining vehicle forklift rotary power exchange system is characterized in that: The rotary mechanism comprises a rotary motor, which is mounted on the base (1), has an output shaft connected to the vertical arm (2), and a protective shell (7) is provided outside the rotary motor.

3. According to claim 1, a new energy mining vehicle forklift rotary power exchange system is characterized in that: The first rotating mechanism comprises a cylinder 1 (8), a connecting rod 1 (9) and a connecting rod 2 (10); The fixed end of the cylinder one (8) is connected to the lower part of the vertical arm (2) through a pin shaft, and the upper part of the vertical arm (2) is rotatably connected to the end of the horizontal arm (3) and one end of the connecting rod one (9) through a pin shaft, and the horizontal arm (3) is located above the connecting rod one (9); one end of the horizontal arm (3) is rotatably connected to one end of the connecting rod two (10) through a pin shaft, and the other end of the connecting rod two (10) is rotatably connected to the other end of the connecting rod one (9) through a pin shaft; the free end of the cylinder two (11) is rotatably connected to the pin shaft between the connecting rod one (9) and the connecting rod two (10).

4. A new energy mining vehicle forklift rotary power exchange system according to claim 1, characterized in that: The second rotating mechanism comprises a second cylinder (11), a third connecting rod (12) and a fourth connecting rod (13); The fixed end of the cylinder two (11) is connected to one end of the horizontal arm (3) close to the vertical arm (2) through a pin shaft, and the other end of the horizontal arm (3) is rotatably connected to one end of the cargo arm (4) and one end of the connecting rod three (12) through a pin shaft; and one end of the cargo arm (4) is rotatably connected to one end of the connecting rod four (13) through a pin shaft, and the other end of the connecting rod four (13) is rotatably connected to the other end of the connecting rod three (12) through a pin shaft; the free end of the cylinder two (11) is rotatably connected to the pin shaft between the connecting rod three (12) and the connecting rod four (13).

5. The new energy mining vehicle forklift rotary power exchange system according to claim 1 is characterized by: Two cargo forks (6) are arranged in parallel.

6. The new energy mining vehicle forklift rotary power exchange system according to claim 1 is characterized by: The base (1) is fixedly connected to the ground via anchor bolts.

7. The new energy mining vehicle forklift rotary power exchange system according to claim 1 is characterized by: A cylinder three is provided inside the cargo arm (4), a fixed end of the cylinder three is connected to an end of the cargo arm (4) close to the cross arm (3), and a free end is connected to the end of the inner arm (5).

8. The new energy mining vehicle forklift rotary power exchange system according to claim 1 is characterized by: At least two brackets (103) are provided, and a locking mechanism is provided on the upper portion of at least one of the brackets (103), and the locking mechanism is used to fix the relative position of the bracket (103) and the battery exchange frame (102).

9. A new energy mining vehicle forklift rotary power exchange system according to claim 8, characterized in that: The locking mechanism comprises a locking seat (1031) and a driving cylinder (1032); the locking seat (1031) is arranged on the upper part of the bracket (103), and is provided with a locking groove (1033); the driving cylinder (1032) is installed at one end away from the locking groove (1033); and the output shaft of the driving cylinder (1032) is located in the locking groove (1033); A groove (1034) is provided on the side wall of the locking groove (1033), and the central axis of the groove (1034) is perpendicular to the output axis of the driving cylinder (1032).

10. A new energy mining vehicle forklift rotary power exchange system according to claim 9, characterized in that: Guide columns (1021) are provided on both the left and right sides of the battery exchange frame (102), and the guide columns (1021) cooperate with the grooves (1034); the driving cylinder (1032) is used to drive its output shaft to abut against the upper part of the guide column (1021) to limit the displacement of the guide column (1021) and fix the relative position of the bracket (103) and the battery exchange frame (102).

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