Battery replacement mechanical arm for new energy ship and control method of battery replacement mechanical arm

Abstract

The invention provides a new energy ship battery replacement mechanical arm and a control method thereof, and relates to the technical field of new energy ship battery replacement, the new energy ship battery replacement mechanical arm comprises a base, the upper side of the base is rotationally provided with a first rotary connecting part, and the side, away from the base, of the first rotary connecting part is sequentially provided with at least two arms rotationally connected through a rotary shaft; the first rotary connecting part is connected with the arm adjacent to the first rotary connecting part through a driving mechanism, the adjacent arms are connected through a driving mechanism, each driving mechanism comprises a servo telescopic electric cylinder and drives the arm to rotate, and the tail end, away from the first rotary connecting part, of the arm is used for being connected with a battery grabbing part; the problem that in the prior art, a mechanical arm which is large in load, fast in response, high in automation degree and low in cost and suitable for new energy ship battery replacement is lacked is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of battery replacement for new energy ships, and more specifically, relates to a battery replacement robotic arm for new energy ships and a control method thereof. Background Art

[0002] New energy ships have good development prospects due to their reduced dependence on traditional fuels, reduced pollution, reduced operating costs, and safety and reliability. At present, new energy ships are mainly electric ships, which use batteries as energy storage and power supply components to provide endurance for new energy ships. During the application of electric ships, battery replacement is involved, and the feeding battery needs to be replaced with a fully charged battery, that is, battery replacement. Based on the characteristics of the current ship battery replacement scenario, a battery replacement system with large load, large arm span, high response, high speed, and high automation is required. Against this background, there is an urgent need to provide a battery replacement device that can well adapt to the disclosure.

[0003] Current ship battery swapping equipment primarily consists of port cranes. These devices have slow response times, low speeds, and low efficiency, relying on manual control. Automated battery swapping is not possible, and they place high demands on port infrastructure. Most inland ports require large cranes, and these cranes are not suitable for integration on ships or vehicles. Furthermore, current industrial robotic arms primarily serve industrial production lines. Each brand's maximum load capacity is approximately 1 ton, and their maximum arm span is approximately 4 meters, making them difficult to adapt to ship battery swapping conditions. Furthermore, traditional industrial robotic arms primarily utilize a motor + RV reducer directly connected to the joint drive. If applied to ship battery swapping conditions, the high load torque at the joint acts directly on the reducer's output. This results in larger motors and RV reducers, resulting in larger sizes and weights, and higher power consumption. Summary of the Invention

[0004] The purpose of the present invention is to provide a new energy ship battery replacement robotic arm and its control method to address the deficiencies in the existing technology, so as to solve the problem in the existing technology of lack of a large-load, fast-response, highly automated, and low-cost robotic arm suitable for new energy ship battery replacement.

[0005] In order to achieve the above objectives, the present invention provides a new energy ship battery exchange manipulator arm, comprising:

[0006] A base, wherein a first rotating connecting component is rotatably provided on the upper side of the base, and at least two arms rotatably connected by a rotating shaft are sequentially provided on the side of the first rotating connecting component away from the base, and the first rotating connecting component and the adjacent arms and the adjacent arms are connected by a driving mechanism, each of the driving mechanisms includes a servo telescopic electric cylinder and drives the arm to rotate, and the end of the arm away from the first rotating connecting component is used to connect the battery grasping component.

[0007] Optionally, the side of the first rotating connection component away from the base is rotatably connected to the first arm, the second arm, the third arm, the fourth arm and the second rotating connection component in sequence through the rotating shaft. The first rotating connection component is rotatably connected to the base through a one-axis driving mechanism and can rotate in a horizontal plane. The first rotating connection component is rotatably connected to the first arm through a two-axis driving mechanism, the first arm is rotatably connected to the second arm through a three-axis driving mechanism, the second arm is rotatably connected to the third arm through a four-axis driving mechanism, and the third arm is rotatably connected to the fourth arm through a five-axis driving mechanism. The two-axis driving mechanism, the three-axis driving mechanism and the four-axis driving mechanism can respectively drive the first arm, the second arm and the third arm to rotate in a first vertical plane, the five-axis driving mechanism can drive the fourth arm to rotate in a second vertical plane perpendicular to the first vertical plane, the fourth arm is rotatably connected to the second rotating connection component through a six-axis driving mechanism, and can drive the second rotating connection component to rotate in a plane perpendicular to the extension direction of the fourth arm, and the second rotating connection component is used to connect the battery grasping component.

[0008] Optionally, the first rotating connecting component includes a turntable and two vertical plates arranged on the upper side of the turntable, the turntable is rotatably connected to the base, the one-axis driving mechanism includes a first gear and a second gear, the first gear is fixedly connected to the base, the second gear is engaged with the first gear, a first servo motor is provided on one side of the turntable, and the output shaft of the first servo motor is connected to the second gear.

[0009] Optionally, one end of the first arm is rotatably connected to the vertical plate via a first rotating shaft, and the two-axis drive mechanism includes a first servo telescopic electric cylinder, the first shell end of the first servo telescopic electric cylinder is hinged to the vertical plate, and the first telescopic end of the first servo telescopic electric cylinder is hinged to the first arm.

[0010] Optionally, one end of the second arm is rotatably connected to the other end of the first arm through a second rotating shaft, and the three-axis drive mechanism includes a second servo telescopic electric cylinder, a swing arm and an auxiliary arm. The second shell end of the second servo telescopic electric cylinder is hinged to the vertical plate, and the swing arm includes a first hinge point, a second hinge point and a third hinge point distributed at the three vertices of a triangle. The first hinge point is hinged to the first rotating shaft, the second telescopic end of the second servo telescopic electric cylinder is hinged to the second intersection point, one end of the auxiliary arm is hinged to the third hinge point, and the other end of the auxiliary arm is hinged to the second arm.

[0011] Optionally, the middle part of the third arm is rotatably connected to the other end of the second arm through a third rotating shaft, and the four-axis drive mechanism includes a third servo telescopic electric cylinder, the third shell end of the third servo telescopic electric cylinder is hinged to the second arm, and the third telescopic end of the third servo telescopic electric cylinder is hinged to one end of the third arm.

[0012] Optionally, one end of the fourth arm is rotatably connected to the other end of the third arm through a fourth axis, and the five-axis drive mechanism includes a fourth servo telescopic electric cylinder, the fourth shell end of the fourth servo telescopic electric cylinder is hinged to the third arm, and the fourth telescopic end of the fourth servo telescopic electric cylinder is hinged to the fourth arm.

[0013] Optionally, the second rotating component includes a connecting disk and a flange rotatably connected to the connecting disk, the connecting disk is connected to the other end of the fourth arm, the six-axis drive mechanism includes a third gear and a fourth gear, the third gear is fixed on the side of the flange close to the connecting disk, the fourth gear is engaged with the third gear, a second servo motor is provided on one side of the connecting disk, the output shaft of the second servo motor is connected to the fourth gear, and the side of the flange away from the connecting disk is used to connect the battery grabbing component.

[0014] The present invention also provides a method for controlling a new energy ship battery-swap manipulator arm, based on the above-mentioned new energy ship battery-swap manipulator arm, comprising:

[0015] Set up a 3D lidar on the shore;

[0016] A battery grabbing component is installed at the end of the battery swapping manipulator for new energy ships, and 3D cameras are installed on the outside of the opposite ends of the battery grabbing component;

[0017] Targets that match the 3D camera are respectively set at both ends of the battery cache position of the new energy ship and the battery storage position on the shore;

[0018] The 3D laser radar is used to roughly locate the relative position relationship between the battery cache position, the new energy marine battery replacement mechanical arm and the battery storage position;

[0019] The 3D camera and the target are used to precisely locate the relative position relationship between the battery grabbing component and the battery buffer position and the battery storage position, and the battery is grabbed, transported and placed down.

[0020] Optionally, when the first rotating connection component is rotatably connected to the first arm, the second arm, the third arm, the fourth arm, and the second rotating connection component in sequence via the rotating shaft on a side away from the base, the battery grabbing and placing further comprises:

[0021] Using a 3D camera and the target to obtain the tilt and swing conditions of the battery cache position and the battery storage position in real time;

[0022] When grabbing and placing the battery, the third arm and the fourth arm are controlled to rotate in the first vertical plane and the second vertical plane perpendicular to each other according to the corresponding tilting conditions, and the operation of the third arm, the fourth arm and the second rotating connecting part are controlled according to the corresponding swinging conditions, so that the movement direction of the battery when grabbing and placing the battery is perpendicular to the bearing surfaces of the battery cache position and the battery storage position.

[0023] The present invention provides a new energy ship battery-exchange mechanical arm and a control method thereof, the beneficial effects of which are: the new energy ship battery-exchange mechanical arm is provided with a first rotating connection component and at least two arms on the upper side of the base, and the first rotating connection component drives the arm and the battery grabbing component connected to the arm to rotate and shift, and the driving mechanism drives the rotation of each arm relative to its front end component to realize the grabbing, transporting and putting down of the battery grabbing part and the battery. The driving mechanism adopts a servo telescopic electric cylinder as an actuating component. Compared with the actuator of hydraulic or other control methods, the electric control method has a higher response speed and is easier to realize automatic and precise control, which can improve the control efficiency and accuracy. The servo telescopic electric cylinder The cylinder uses its telescopic movement to generate torque at the end joint of the arm. Compared with the traditional industrial robot arm that is driven by a motor + RV reducer that directly drives the joint, the new energy ship battery-swap robot arm uses the lever principle to convert the large load at the joint through the lever and then act on the telescopic end of the servo telescopic cylinder. The force-saving principle of the lever can effectively reduce the torque overcome by the servo telescopic cylinder, thereby reducing the driving force of the servo telescopic cylinder, so that the selection of the servo telescopic cylinder can be smaller, and the volume, weight and power consumption can be reduced. Finally, with excellent speed, accuracy and response parameters, the design of large load and large arm span is achieved, filling and optimizing the important link in the ship battery-swap ecology.

[0024] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0026] Figure 1 A schematic diagram of the three-dimensional structure of a new energy ship battery exchange robotic arm according to an embodiment of the present invention is shown.

[0027] Figure 2A schematic structural diagram of a two-axis drive mechanism and a three-axis drive mechanism of a new energy ship battery exchange robotic arm according to an embodiment of the present invention is shown.

[0028] Figure 3 A schematic structural diagram of a four-axis drive mechanism, a five-axis drive mechanism, and a six-axis drive mechanism of a new energy ship battery exchange robotic arm according to an embodiment of the present invention is shown.

[0029] Figure 4 A flow chart of a method for controlling a new energy ship battery-exchanging robotic arm according to an embodiment of the present invention is shown.

[0030] Description of reference numerals:

[0031] 1. Base; 2. First rotating connecting part; 3. First arm; 4. Second arm; 5. Third arm; 6. Fourth arm; 7. Second rotating connecting part; 8. Turntable; 9. Vertical plate; 10. First servo motor; 11. First servo telescopic electric cylinder; 12. Second servo telescopic electric cylinder; 13. Swing arm; 14. Auxiliary arm; 15. Third servo telescopic electric cylinder; 16. Fourth servo telescopic electric cylinder; 17. Connecting plate; 18. Flange; 19. Third gear; 20. Fourth gear; 21. Second servo motor. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Instead, these embodiments are provided to make the present invention more thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0033] like Figure 1 As shown, the present invention provides a new energy ship battery exchange mechanical arm, comprising:

[0034] The base 1 has a first rotating connecting component 2 rotatably provided on the upper side of the base 1. The first rotating connecting component 2 is sequentially provided with at least two arms rotatably connected by a rotating shaft on the side away from the base 1. The first rotating connecting component 2 and the adjacent arms are connected by a driving mechanism. Each driving mechanism includes a servo telescopic electric cylinder and drives the arm to rotate. The end of the arm away from the first rotating connecting component 2 is used to connect the battery grabbing component.

[0035] Specifically, in order to solve the problem in the prior art of lack of large-load, fast-response, highly automated, low-cost robotic arms suitable for battery replacement on new energy ships; the new energy ship battery replacement robotic arm provided by the present invention is provided with a first rotating connection component 2 and at least two arms on the upper side of the base 1, and the arm and the battery grabbing component connected to the arm are driven to rotate and shift through the first rotating connection component 2, and the driving mechanism drives the rotation of each arm relative to its front end component to realize the grabbing, transporting and putting down of the battery grabbing part and the battery. The driving mechanism adopts a servo telescopic electric cylinder as the actuating component. Compared with the actuator of hydraulic or other control methods, the electric control method has a higher response speed and is easier to realize automated and precise control, which can improve In terms of control efficiency and precision, the servo telescopic cylinder uses its telescopic motion to generate torque at the end joint of the arm. Compared with the traditional industrial robot arm that is driven by a motor + RV reducer that directly drives the joint, the new energy ship battery-swap robot arm uses the lever principle to convert the large load at the joint through the lever and then act on the telescopic end of the servo telescopic cylinder. The force-saving principle of the lever can effectively reduce the torque overcome by the servo telescopic cylinder, thereby reducing the driving force of the servo telescopic cylinder, so that the selection of the servo telescopic cylinder can be smaller, and the size, weight and power consumption can be reduced. Finally, with excellent speed, precision and response parameters, the design of large load and large arm span is realized, filling and optimizing the important link in the ship battery-swap ecology.

[0036] In this embodiment, the servo telescopic electric cylinder includes a shell, one side of the shell is provided with a servo motor, a reducer and a first synchronous wheel connected in sequence, and the other side of the shell is provided with a telescopic tube, a screw rod and a second synchronous wheel connected in sequence. The first synchronous wheel is connected to the second synchronous wheel through a synchronous belt, which can drive the screw rod to rotate. The screw rod is threaded with the telescopic tube, and a guide structure can be set between the telescopic tube and the shell, so that the telescopic tube can telescope without rotating.

[0037] Optionally, the first rotating connection component 2 is rotatably connected to the first arm 3, the second arm 4, the third arm 5, the fourth arm 6 and the second rotating connection component 7 on the side away from the base 1 in sequence through a rotating shaft. The first rotating connection component 2 is rotatably connected to the base 1 through a one-axis drive mechanism and can rotate in a horizontal plane. The first rotating connection component 2 is rotatably connected to the first arm 3 through a two-axis drive mechanism. The first arm 3 is rotatably connected to the second arm 4 through a three-axis drive mechanism. The second arm 4 is rotatably connected to the third arm 5 through a four-axis drive mechanism. The third arm 5 is rotatably connected to the fourth arm 6 through a five-axis drive mechanism. The two-axis drive mechanism, the three-axis drive mechanism and the four-axis drive mechanism can respectively drive the first arm 3, the second arm 4 and the third arm 5 to rotate in a first vertical plane. The five-axis drive mechanism can drive the fourth arm 6 to rotate in a second vertical plane perpendicular to the first vertical plane. The fourth arm 6 is rotatably connected to the second rotating connection component 7 through a six-axis drive mechanism, and can drive the second rotating connection component 7 to rotate in a plane perpendicular to the extension direction of the fourth arm 6. The second rotating connection component 7 is used to connect the battery grasping component.

[0038] Specifically, compared with the traditional three-axis or four-axis manipulator arm, the new energy ship battery exchange manipulator arm has six axes, which are driven by one-axis to six-axis drive mechanisms to rotate each joint. The one-axis drive mechanism drives the first arm 3 to the fourth arm 6 and the second rotating connection component 7 to rotate as a whole, which is suitable for a large range of horizontal displacement of the battery grasping component and the battery. The two-axis drive mechanism and the three-axis drive mechanism drive the first arm 3 and the second arm 4 to rotate in the first vertical plane, which is suitable for a large range of lifting and lowering of the battery grasping component and the battery and movement in the distance direction from the base 1. The third arm 5 and the fourth arm 6 can be driven by the four-axis drive mechanism and the five-axis drive mechanism in the first vertical plane and the second vertical plane perpendicular to each other respectively. The rotation is suitable for making small-scale precise fine-tuning of the tilt of the battery when grabbing and putting down the battery. It is adapted to the tilt of the battery cache position due to the tilt of the hull, and the tilt of the battery storage position due to the tilt of the battery transfer vehicle body, so that the movement direction of the battery when grabbing and putting down the battery can be perpendicular to the bearing surface of the battery cache position and the battery storage position, making the battery replacement more precise and stable; on this basis, combined with the rotation drive of the second rotating connecting component 7 by the six-axis drive mechanism, the coordinated operation of the four-axis drive mechanism, the five-axis drive mechanism and the six-axis drive mechanism can adapt to the swaying of the battery cache position caused by the swaying of the hull, that is, the tilt of the hull plus the small-scale rotation or movement of the hull in the horizontal direction on the water.

[0039] Optionally, the first rotating connecting component 2 includes a turntable 8 and two vertical plates 9 arranged on the upper side of the turntable 8, the turntable 8 is rotatably connected to the base 1, and the one-axis driving mechanism includes a first gear and a second gear, the first gear is fixedly connected to the base 1, and the second gear is engaged with the first gear. A first servo motor 10 is provided on one side of the turntable 8, and the output shaft of the first servo motor 10 is connected to the second gear.

[0040] Specifically, the first servo motor 10 can drive the second gear to rotate. Through the engagement of the second gear with the first gear, since the first gear is fixedly connected to the base 1 and the turntable 8 is rotationally connected to the base 1, it can drive the turntable 8 and the vertical plate 9 fixed on the upper side of the turntable 8 to rotate.

[0041] Optionally, one end of the first arm 3 is rotatably connected to the vertical plate 9 through a first rotating shaft, and the two-axis drive mechanism includes a first servo telescopic electric cylinder 11, the first shell end of the first servo telescopic electric cylinder 11 is hinged to the vertical plate 9, and the first telescopic end of the first servo telescopic electric cylinder 11 is hinged to the first arm 3.

[0042] Specifically, part of the first arm 3 is located between the two vertical plates 9 and is rotatably connected to the vertical plates 9 via a first rotating shaft. Figure 2 The two-axis driving mechanism connects the vertical plate 9 to the middle part of the first arm 3 through the first servo telescopic cylinder 11. When the first servo telescopic cylinder 11 is extended or retracted, the first arm 3 rotates around the first rotation axis relative to the vertical plate 9.

[0043] Optionally, one end of the second arm 4 is rotatably connected to the other end of the first arm 3 through a second rotating shaft, and the three-axis drive mechanism includes a second servo telescopic electric cylinder 12, a swing arm 13 and an auxiliary arm 14. The second shell end of the second servo telescopic electric cylinder 12 is hinged to the vertical plate 9, and the swing arm 13 includes a first hinge point, a second hinge point and a third hinge point distributed at the three vertices of the triangle. The first hinge point is hinged to the first rotating shaft, the second telescopic end of the second servo telescopic electric cylinder 12 is hinged to the second intersection point, one end of the auxiliary arm 14 is hinged to the third hinge point, and the other end of the auxiliary arm 14 is hinged to the second arm 4.

[0044] Specifically, the rotation of the second arm 4 relative to the first arm 3 is driven by a three-axis drive mechanism. The second servo telescopic electric cylinder 12 of the three-axis drive mechanism is connected between the second hinge point of the swing arm 13 and the vertical plate 9. When the second servo telescopic electric cylinder 12 is extended or retracted, it can drive the swing arm 13 to rotate around the first hinge point connected to the vertical plate 9, and then the swing arm 13 swings. The swing arm 13 is connected to the auxiliary arm 14 through the third hinge point, and is hinged to the middle part of the second arm 4 through the auxiliary arm 14. The connecting line between the first hinge point and the third hinge point of the swing arm 13, the auxiliary arm 14, part of the second arm 4 and the first arm 3 form a quadrilateral structure. When the swing arm 13 swings, the second arm 4 rotates relative to the first arm 3 around the second axis of rotation.

[0045] In this embodiment, the first telescopic end of the first servo telescopic electric cylinder 11 is hinged to the first arm 3 at a position between the first rotating shaft and the second rotating shaft on the first arm 3 .

[0046] Optionally, the middle part of the third arm 5 is rotatably connected to the other end of the second arm 4 through a third rotating shaft, and the four-axis drive mechanism includes a third servo telescopic electric cylinder 15, the third shell end of the third servo telescopic electric cylinder 15 is hinged to the second arm 4, and the third telescopic end of the third servo telescopic electric cylinder 15 is hinged to one end of the third arm 5.

[0047] Specifically, such as Figure 3 The third servo telescopic electric cylinder 15 of the four-axis drive mechanism can be set on the outside of the second arm 4 along the length direction of the second arm 4. When the third servo telescopic electric cylinder 15 is extended or retracted, its telescopic end pushes and pulls the upper end of the third arm 5, causing the third arm 5 to rotate around the third rotating axis and causing the lower end of the third arm 5 to swing.

[0048] In this embodiment, the other end of the auxiliary arm 14 is hinged to the second arm 4 at a position between the second rotation axis and the third rotation axis on the second arm 4 .

[0049] Optionally, one end of the fourth arm 6 is rotatably connected to the other end of the third arm 5 through a fourth axis, and the five-axis drive mechanism includes a fourth servo telescopic electric cylinder 16, the fourth shell end of the fourth servo telescopic electric cylinder 16 is hinged to the third arm 5, and the fourth telescopic end of the fourth servo telescopic electric cylinder 16 is hinged to the fourth arm 6.

[0050] Specifically, the axial directions of the first axis, the second axis, and the third axis are parallel, the axial direction of the fourth axis is perpendicular to the axial direction of the third axis, and the fourth servo telescopic electric cylinder 16 of the five-axis drive mechanism can be arranged on the outside of the third arm 5 along the length direction of the third arm 5. The outside of the fourth arm 6 is provided with a hinged ear hinged to the telescopic end of the fourth servo telescopic electric cylinder 16. When the fourth servo telescopic electric cylinder 16 is extended or retracted, its telescopic end pushes and pulls the hinged ear, driving the fourth arm 6 to rotate, and the rotation direction of the fourth arm 6 is orthogonal to the rotation direction of the third arm 5.

[0051] Optionally, the second rotating component includes a connecting disk 17 and a flange 18 rotatably connected to the connecting disk 17, the connecting disk 17 is connected to the other end of the fourth arm 6, the six-axis drive mechanism includes a third gear 19 and a fourth gear 20, the third gear 19 is fixed on the side of the flange 18 close to the connecting disk 17, the fourth gear 20 is engaged with the third gear 19, a second servo motor 21 is provided on one side of the connecting disk 17, the output shaft of the second servo motor 21 is connected to the fourth gear 20, and the side of the flange 18 away from the connecting disk 17 is used to connect the battery grasping component.

[0052] Specifically, the six-axis drive mechanism drives the flange 18 to drive the battery grabbing component below the flange 18 to rotate. The rotation plane is perpendicular to the axial direction of the fourth arm 6. The second servo motor 21 is arranged on one side of the connecting disk 17, which can drive the fourth gear 20 to rotate. Through the engagement of the fourth gear 20 with the third gear 19, the third gear 19 and the flange 18 fixedly connected thereto are driven to rotate, thereby realizing the rotation adjustment of the battery grabbing component.

[0053] like Figure 4 As shown, the present invention also provides a method for controlling a new energy ship battery-swap manipulator arm, based on the above-mentioned new energy ship battery-swap manipulator arm, comprising:

[0054] Set up a 3D lidar on the shore;

[0055] A battery grabbing component is installed at the end of the battery swapping manipulator for new energy ships, and 3D cameras are installed on the outside of the opposite ends of the battery grabbing component;

[0056] Targets that match 3D cameras are set at both ends of the battery cache position of the new energy ship and the battery storage position on the shore;

[0057] Use 3D laser radar to roughly locate the relative position between the battery cache, the new energy ship battery replacement robot arm, and the battery storage location;

[0058] The 3D camera and the target are used to precisely locate the relative position between the battery grabbing component and the battery cache and storage positions, and the batteries are grabbed, transported and placed.

[0059] Specifically, taking shore battery swapping as an example, the 3D laser radar installed on the shore performs range monitoring, monitoring the relative position relationship between the position of the battery storage position for storing fully charged batteries on the shore, the position of the new energy ship and its battery cache position, and the position of the above-mentioned new energy ship battery swapping robotic arm placed on the shore through the base 1 and the battery grabbing component connected thereto, so that the control unit of the above-mentioned new energy ship battery swapping robotic arm controls the above-mentioned new energy ship battery swapping robotic arm equipped with the battery grabbing component to perform coarse positioning between the battery grabbing component and the feeding battery or the fully charged battery position according to the monitoring results of the 3D laser radar; after coarse positioning, the above-mentioned new energy ship battery swapping robotic arm drives the battery grabbing component to the vicinity of the battery, and then uses the cooperation between the 3D camera and the targets at both ends of the battery cache position or the battery storage position to perform fine positioning between the battery grabbing component and the battery in the battery cache position or the battery in the battery storage position, and controls the above-mentioned new energy ship battery swapping robotic arm equipped with the battery grabbing component to drive the battery grabbing component to grab the battery, then transport the battery, and then place the battery in the designated battery position according to the monitoring results of the 3D camera.

[0060] In this embodiment, the control unit performs upper-level control of the above-mentioned new energy ship battery exchange robotic arm equipped with a battery grasping component. The control method can be sampling pulse control or analog control. The control object is each servo motor. The above-mentioned new energy ship battery exchange robotic arm equipped with a battery grasping component realizes six-axis rotation through the respective transmission under the servo operation of each servo motor. At the same time, the control unit can also integrate the control module of the battery grasping component to grasp and put down the battery during clamping and releasing.

[0061] In this embodiment, the control logic of the above-mentioned new energy ship battery exchange robotic arm is to confirm the target position, the control unit calculates the kinematic inverse of the target position, and then calculates the variables of each joint, and the control unit converts the calculation results into control instructions and sends them to the servo motors of each joint, so that each servo motor can run servo, each joint can rotate directly or rotate under the action of the servo telescopic cylinder, and the encoder on the servo motor can be combined to realize closed-loop motion control.

[0062] In this embodiment, target points arranged in a horizontal and vertical matrix are provided on the target.

[0063] Optionally, when the first rotating connecting component 2 is rotatably connected to the first arm 3, the second arm 4, the third arm 5, the fourth arm 6 and the second rotating connecting component 7 in sequence via a rotating shaft on a side away from the base 1, the battery grabbing and placing further includes:

[0064] Use the 3D camera and target to obtain the tilt and swing conditions of the battery cache and battery storage positions in real time;

[0065] When grabbing and placing the battery, the third arm 5 and the fourth arm 6 are controlled to rotate in the first vertical plane and the second vertical plane perpendicular to each other according to the corresponding tilt conditions, and the operation of the third arm 5, the fourth arm 6 and the second rotating connecting part 7 is controlled according to the corresponding swing conditions, so that the movement direction of the battery when grabbing and placing the battery is perpendicular to the bearing surface of the battery cache position and the battery storage position.

[0066] Specifically, considering that the new energy ship floats on the water surface near the shore, there is a tilt and sway, or the battery storage position on the shore is also tilted or slightly swayed due to the previous battery picking and placing, etc.; when the battery is grabbed and put down, the tilt and sway of the battery cache position and the battery storage position are obtained in real time through the cooperation of the 3D camera and the target. According to the monitoring results of the 3D camera, when there is a tilt, the four-axis drive mechanism and the five-axis drive mechanism are controlled to operate, and the third arm 5 and the fourth arm 6 are controlled to rotate in real time. When there is a sway, the four-axis drive mechanism, the five-axis drive mechanism and the six-axis drive mechanism are controlled to operate, and the third arm 5, the fourth arm 6 and the flange 18 of the second rotating connecting component 7 are controlled to rotate in real time to ensure that the moving direction of the battery when the battery is grabbed and put down is perpendicular to the bearing surface of the corresponding battery cache position and the corresponding battery storage position, so that the grabbing and putting down of the battery is smoother and more stable, avoiding collisions.

[0067] In summary, the battery-exchanging robot arm for new energy ships provided by the present invention is used for battery replacement. Take a shore-side battery replacement operation as an example: a fully charged battery is transported to the shore by a battery transfer vehicle equipped with a battery storage position. A battery compartment battery-exchanging robot system and a battery cache position are provided on the new energy ship. The battery compartment battery-exchanging robot system moves a feed battery to a battery cache position; the berthing requirements of the new energy ship are that the distance from the ship's side to the shore in the Y direction of the ship's width is 300 to 1300 mm, and the error from the ship's length in the X direction to the parking reference is -1000 to +1000 mm; after the ship is parked, the 3D laser radar is used to detect the new energy ship. The battery grabbing parts of the battery transfer vehicle and the battery storage locations are scanned, and then the battery grabbing parts of the battery transfer vehicle and the battery storage locations are moved to a battery storage location with a fully charged battery according to the scanning results. The battery storage locations and fully charged battery locations are scanned through the cooperation of the 3D camera and the target. The battery grabbing parts of the battery transfer vehicle and the battery storage locations are driven by the battery swapping robot arm according to the scanning results to grab a fully charged battery and transfer it to another battery buffer. Above the storage position, this process still uses the 3D laser radar for rough positioning first, and then uses the 3D camera and the target to perform fine positioning to achieve the placement of the fully charged battery; in the process of grabbing and placing the battery, according to the inclination and swing conditions of the battery cache position and the battery storage position obtained in real time, when there is a tilt, the four-axis drive mechanism and the five-axis drive mechanism are controlled to operate, and the third arm 5 and the fourth arm 6 are controlled to rotate in real time; when there is a swing, the four-axis drive mechanism, the five-axis drive mechanism and the six-axis drive mechanism are controlled to operate, and the third arm 5, the fourth arm 6 and The flange 18 of the second rotating connecting part 7 rotates to ensure that the moving direction of the battery when the battery is grabbed and placed is perpendicular to the bearing surface of the corresponding battery cache position and the corresponding battery storage position, so that the grabbing and placing of the battery is smoother and more stable, avoiding collisions and achieving flexible picking and placing; then the battery compartment battery replacement robot system loads the fully charged battery placed on the battery cache position into the battery compartment, and the new energy ship battery replacement robot arm transfers the feed battery placed on the battery cache position to the empty battery storage position on the battery transfer vehicle; this operation is repeated until 6 batteries are replaced.

[0068] While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A new energy ship battery replacement robot arm, characterized in that: include: A base, wherein a first rotating connecting component is rotatably provided on the upper side of the base, and at least two arms rotatably connected by a rotating shaft are sequentially provided on the side of the first rotating connecting component away from the base, and the first rotating connecting component and the adjacent arms and the adjacent arms are connected by a driving mechanism, each of the driving mechanisms includes a servo telescopic electric cylinder and drives the arm to rotate, and the end of the arm away from the first rotating connecting component is used to connect the battery grasping component.

2. The new energy ship battery exchange mechanical arm according to claim 1 is characterized in that: The side of the first rotating connection component away from the base is rotatably connected to the first arm, the second arm, the third arm, the fourth arm and the second rotating connection component in sequence through the rotating shaft. The first rotating connection component is rotatably connected to the base through a one-axis driving mechanism and can rotate in a horizontal plane. The first rotating connection component is rotatably connected to the first arm through a two-axis driving mechanism, the first arm is rotatably connected to the second arm through a three-axis driving mechanism, the second arm is rotatably connected to the third arm through a four-axis driving mechanism, and the third arm is rotatably connected to the fourth arm through a five-axis driving mechanism. The two-axis driving mechanism, the three-axis driving mechanism and the four-axis driving mechanism can respectively drive the first arm, the second arm and the third arm to rotate in a first vertical plane, the five-axis driving mechanism can drive the fourth arm to rotate in a second vertical plane perpendicular to the first vertical plane, the fourth arm is rotatably connected to the second rotating connection component through a six-axis driving mechanism, and can drive the second rotating connection component to rotate in a plane perpendicular to the extension direction of the fourth arm, and the second rotating connection component is used to connect the battery grasping component.

3. The new energy ship battery-exchange manipulator according to claim 2 is characterized in that: The first rotating connecting component includes a turntable and two vertical plates arranged on the upper side of the turntable. The turntable is rotatably connected to the base. The one-axis driving mechanism includes a first gear and a second gear. The first gear is fixedly connected to the base, and the second gear is engaged with the first gear. A first servo motor is provided on one side of the turntable, and the output shaft of the first servo motor is connected to the second gear.

4. The new energy ship battery-exchange manipulator according to claim 3 is characterized in that: One end of the first arm is rotatably connected to the vertical plate through a first rotating shaft, and the two-axis drive mechanism includes a first servo telescopic electric cylinder, the first shell end of the first servo telescopic electric cylinder is hinged to the vertical plate, and the first telescopic end of the first servo telescopic electric cylinder is hinged to the first arm.

5. The new energy ship battery-exchange manipulator according to claim 4 is characterized in that: One end of the second arm is rotatably connected to the other end of the first arm through a second rotating shaft. The three-axis drive mechanism includes a second servo telescopic electric cylinder, a swing arm and an auxiliary arm. The second shell end of the second servo telescopic electric cylinder is hinged to the vertical plate. The swing arm includes a first hinge point, a second hinge point and a third hinge point distributed at the three vertices of a triangle. The first hinge point is hinged to the first rotating shaft. The second telescopic end of the second servo telescopic electric cylinder is hinged to the second intersection point. One end of the auxiliary arm is hinged to the third hinge point, and the other end of the auxiliary arm is hinged to the second arm.

6. The new energy ship battery exchange mechanical arm according to claim 5 is characterized in that: The middle part of the third arm is rotatably connected to the other end of the second arm through a third rotating shaft. The four-axis drive mechanism includes a third servo telescopic electric cylinder. The third shell end of the third servo telescopic electric cylinder is hinged to the second arm, and the third telescopic end of the third servo telescopic electric cylinder is hinged to one end of the third arm.

7. The new energy ship battery-exchanging manipulator according to claim 6 is characterized in that: One end of the fourth arm is rotatably connected to the other end of the third arm through a fourth axis. The five-axis drive mechanism includes a fourth servo telescopic electric cylinder, a fourth shell end of the fourth servo telescopic electric cylinder is hinged to the third arm, and a fourth telescopic end of the fourth servo telescopic electric cylinder is hinged to the fourth arm.

8. The new energy ship battery-exchanging manipulator according to claim 7 is characterized in that: The second rotating component includes a connecting disk and a flange rotatably connected to the connecting disk, the connecting disk is connected to the other end of the fourth arm, the six-axis drive mechanism includes a third gear and a fourth gear, the third gear is fixed to the side of the flange close to the connecting disk, the fourth gear is engaged with the third gear, a second servo motor is provided on one side of the connecting disk, the output shaft of the second servo motor is connected to the fourth gear, and the side of the flange away from the connecting disk is used to connect the battery grabbing component.

9. A method for controlling a new energy ship battery-swap manipulator arm, based on the new energy ship battery-swap manipulator arm according to any one of claims 1 to 8, characterized in that: include: Set up a 3D lidar on the shore; A battery grabbing component is installed at the end of the battery swapping manipulator for new energy ships, and 3D cameras are installed on the outside of the opposite ends of the battery grabbing component; Targets that match the 3D camera are respectively set at both ends of the battery cache position of the new energy ship and the battery storage position on the shore; The 3D laser radar is used to roughly locate the relative position relationship between the battery cache position, the new energy marine battery swapping mechanical arm and the battery storage position; The 3D camera and the target are used to precisely locate the relative position relationship between the battery grabbing component and the battery buffer position and the battery storage position, and the battery is grabbed, transported and placed down.

10. The control method of the new energy ship battery-exchanging manipulator according to claim 9 is characterized in that: When the first rotating connecting component is rotatably connected to the first arm, the second arm, the third arm, the fourth arm and the second rotating connecting component in sequence through the rotating shaft on a side away from the base, the battery grabbing and placing further includes: Using a 3D camera and the target to obtain the tilt and swing conditions of the battery cache position and the battery storage position in real time; When grabbing and placing the battery, the third arm and the fourth arm are controlled to rotate in the first vertical plane and the second vertical plane perpendicular to each other according to the corresponding tilting conditions, and the operation of the third arm, the fourth arm and the second rotating connecting part are controlled according to the corresponding swinging conditions, so that the movement direction of the battery when grabbing and placing the battery is perpendicular to the bearing surfaces of the battery cache position and the battery storage position.

Images