Manipulator, locking and unlocking device, battery replacing robot and battery replacing facility

Abstract

The utility model relates to the technical field of battery replacement facilities, particularly provides a manipulator, a locking and unlocking device, a battery replacement robot and a battery replacement facility, and aims to solve the problem that a plurality of groups of manipulators with different functions occupy a large space. In order to achieve the purpose, the mechanical arm comprises a lifting assembly and a first rotating assembly, and the first rotating assembly is arranged at the output end of the lifting assembly and can drive a locking and unlocking head at the output end of the first rotating assembly to rotate along a first axis while lifting in the vertical direction under the action of the lifting assembly; the locking and unlocking head on the first rotating assembly can be adjusted in position in all directions on the horizontal plane and the vertical plane under the action of the lifting assembly and the first rotating assembly, and the accuracy and reliability of the locking and unlocking head in the locking and unlocking process are ensured. In addition, the mechanical arm integrates the lifting function and the rotating function, and the problem that multiple sets of mechanical arms with different functions occupy large space is solved.

Description

Technical Field

[0001] The utility model relates to the field of battery replacement facilities, and specifically provides a manipulator, a locking and unlocking device, a battery replacement robot and a battery replacement facility. Background Art

[0002] In recent years, the electric vehicle industry has developed rapidly, and its charging methods have become increasingly diversified. Among them, battery replacement at charging and swapping stations has been favored by users for its efficiency and convenience. At present, when electric vehicles use battery replacement facilities at charging and swapping stations to replace batteries, the locking and unlocking heads on the battery swapping robots usually unlock the fasteners in the battery holes, and then replace the new batteries for locking. However, since the locking and unlocking heads are fixed in position, and the battery holes of different models are not uniform, each charging and swapping station can only support battery replacement for vehicles of specific models.

[0003] In order to solve the above problems, the same battery swap robot usually includes multiple sets of manipulators with lifting functions and multiple sets of manipulators with translation functions. Each manipulator is equipped with a locking and unlocking head for locking or unlocking the battery, so that the battery swap robot can swap batteries for vehicles of different models, improving the versatility and practicality of the battery swap robot. However, this also brings a challenge: multiple sets of manipulators with lifting functions and multiple sets of manipulators with translation functions occupy a large space, while the space of the battery swap robot is limited. The limited space affects the movement range of the manipulator, which in turn affects the battery swap.

[0004] Therefore, this field needs a new technical solution to solve the above problems. Utility Model Content

[0005] In order to solve at least one problem in the prior art, that is, to solve the problem that multiple sets of manipulators with different functions occupy a large space, the present application provides a manipulator, the manipulator comprising:

[0006] Lifting components;

[0007] The first rotating component is arranged at the output end of the lifting component, so that the first rotating component can be lifted and lowered in the vertical direction; the first rotating component is configured to be able to be lifted and lowered in the vertical direction under the action of the lifting component, and can also drive the locking and unlocking head on its output end to rotate along the first axis, and the first axis is parallel to the vertical direction.

[0008] In the preferred technical solution of the above-mentioned manipulator, the first rotating assembly includes:

[0009] a first driving mechanism, the first driving mechanism being arranged at an output end of the lifting assembly;

[0010] A first rotating arm is arranged at an output end of the first driving mechanism.

[0011] In the preferred technical solution of the above-mentioned robot, at least one connecting hole is provided on the first rotating arm for installing the locking and unlocking head.

[0012] In the preferred technical solution of the above-mentioned manipulator, the manipulator further comprises:

[0013] A second rotating assembly, wherein the second rotating assembly is provided with an output end of the lifting assembly, and the output end of the second rotating assembly is provided with the first rotating assembly.

[0014] In the preferred technical solution of the above-mentioned manipulator, the second rotating assembly includes:

[0015] a second driving mechanism, the second driving mechanism being arranged at an output end of the lifting assembly;

[0016] A second rotating arm is arranged at the output end of the second driving mechanism and the first rotating assembly is arranged thereon.

[0017] In the preferred technical solution of the above-mentioned manipulator, the lifting assembly includes:

[0018] Lifting drive mechanism;

[0019] A lifting plate is arranged at the output end of the lifting drive mechanism, and the first rotating component is arranged on a side of the lifting plate away from the lifting drive mechanism.

[0020] In the preferred technical solution of the above-mentioned manipulator, the lifting assembly further includes:

[0021] A mounting seat, on which the lifting drive mechanism is arranged;

[0022] A column is arranged on the mounting seat, and the column is configured to enable the lifting plate to move along its length direction under the drive of the lifting drive mechanism.

[0023] In the preferred technical solution of the above-mentioned manipulator, the lifting plate is sleeved on the column; or

[0024] A track is arranged on the column, and a slider connected with the lifting plate is arranged on the track.

[0025] The present application also provides a locking and unlocking device, which includes at least one locking and unlocking head and the manipulator described in the above preferred technical solution, and the locking and unlocking head is arranged at the output end of the second rotating component.

[0026] The present application also provides a battery-swapping robot, which includes the locking and unlocking device described in the above-mentioned preferred technical solution.

[0027] The present application also provides a battery exchange facility, which includes the battery exchange robot described in the above-mentioned preferred technical solution.

[0028] Solution 1. A manipulator, characterized in that the manipulator comprises:

[0029] Lifting components;

[0030] The first rotating component is arranged at the output end of the lifting component, so that the first rotating component can be lifted and lowered in the vertical direction; the first rotating component is configured to be able to be lifted and lowered in the vertical direction under the action of the lifting component, and can also drive the locking and unlocking head on its output end to rotate along the first axis, and the first axis is parallel to the vertical direction.

[0031] Solution 2. The manipulator according to Solution 1, characterized in that the first rotating assembly comprises:

[0032] a first driving mechanism, the first driving mechanism being arranged at an output end of the lifting assembly;

[0033] A first rotating arm is arranged at an output end of the first driving mechanism.

[0034] Solution 3. The robot according to Solution 2 is characterized in that at least one connecting hole is provided on the first rotating arm for installing the locking lock head.

[0035] Solution 4. The manipulator according to Solution 1, characterized in that the manipulator further comprises:

[0036] A second rotating assembly, wherein the second rotating assembly is provided with an output end of the lifting assembly, and the output end of the second rotating assembly is provided with the first rotating assembly.

[0037] Solution 5. The manipulator according to Solution 4, characterized in that the second rotating assembly comprises:

[0038] a second driving mechanism, the second driving mechanism being arranged at an output end of the lifting assembly;

[0039] A second rotating arm is arranged at the output end of the second driving mechanism and the first rotating assembly is arranged thereon.

[0040] Solution 6. The manipulator according to Solution 1, characterized in that the lifting assembly comprises:

[0041] Lifting drive mechanism;

[0042] A lifting plate, wherein the lifting plate is arranged at the output end of the lifting drive mechanism, and the first rotating component is arranged on a side of the lifting plate away from the lifting drive mechanism.

[0043] Solution 7. The manipulator according to Solution 6, characterized in that the lifting assembly further comprises:

[0044] A mounting seat, on which the lifting drive mechanism is arranged;

[0045] A column is arranged on the mounting seat, and the column is configured to enable the lifting plate to move along its length direction under the drive of the lifting drive mechanism.

[0046] Solution 8. The manipulator according to Solution 7 is characterized in that the lifting plate is sleeved on the column; or

[0047] A track is arranged on the column, and a slider connected with the lifting plate is arranged on the track.

[0048] Solution 9. A locking and unlocking device, characterized in that the locking and unlocking device comprises at least one locking and unlocking head and the manipulator described in any one of Solutions 1-8, and the locking and unlocking head is arranged at the output end of the first rotating component.

[0049] Solution 10. A battery-swapping robot, characterized in that the battery-swapping robot includes the locking and unlocking device described in Solution 9.

[0050] Solution 11. A battery exchange facility, characterized in that the battery exchange facility includes the battery exchange robot described in Solution 10.

[0051] Those skilled in the art can understand that the manipulator of the present application sets the first rotating assembly at the output end of the lifting assembly, so that the locking and unlocking head on the first rotating assembly can adjust the position in all directions on the horizontal and vertical planes under the action of the lifting assembly and the first rotating assembly, thereby ensuring the accuracy and reliability of the locking and unlocking head during the locking and unlocking process. In addition, the manipulator of the present application integrates the lifting and rotating functions, avoiding the problem of multiple sets of manipulators with different functions occupying a large space.

[0052] Furthermore, by arranging the first rotating arm at the output end of the lifting assembly and arranging a locking and unlocking head on the first rotating arm, the locking and unlocking head on the first rotating assembly can rotate 360° under the action of the first rotating arm, thereby realizing the position adjustment of the locking and unlocking head on the horizontal and vertical planes, which is beneficial for the locking and unlocking head to lock or unlock the fasteners of the battery.

[0053] Furthermore, by providing a connecting hole on the second rotating arm, it is convenient to install and disassemble the locking and unlocking head.

[0054] Furthermore, by arranging a second rotating assembly between the lifting assembly and the first rotating assembly, the second rotating assembly can provide additional rotational freedom for the locking and unlocking head, so that the locking and unlocking head can be fine-tuned or precisely aligned, which is beneficial for the locking and unlocking head to lock or unlock the fastener of the battery.

[0055] Furthermore, by arranging the second driving mechanism at the output end of the lifting assembly and arranging the second rotating arm at the output end of the second driving mechanism, the second rotating assembly can provide an additional degree of rotational freedom for the locking and unlocking head.

[0056] Furthermore, by arranging the columns so that the lifting plate can move along its length direction under the drive of the lifting drive mechanism, the stability of the lifting plate during the lifting process can be improved, ensuring the accuracy and reliability of the locking and unlocking head during the locking and unlocking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

[0058] Figure 1 It is a structural diagram of the robot arm of the utility model.

[0059] List of reference numerals:

[0060] 1. Lifting assembly; 11. Lifting drive mechanism; 12. Lifting plate; 13. Mounting seat; 14. Column; 2. First rotating assembly; 21. First drive mechanism; 22. First rotating arm; 3. Second rotating assembly; 31. Second drive mechanism; 32. Second rotating arm; 4. Locking and unlocking head. DETAILED DESCRIPTION

[0061] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0062] It should be noted that, in the description of the present application, terms such as "upper", "lower", "inner", "bottom", "end" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

[0063] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "disposed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] First refer to Figure 1 , the manipulator of the present application is described. Among them, Figure 1 It is a structural diagram of the utility model robot.

[0065] like Figure 1 As shown, in order to solve the problem that the manipulator with different functions occupies a large space, the manipulator of the present application includes a lifting assembly 1 and a first rotating assembly 2. The first rotating assembly 2 is arranged at the output end of the lifting assembly 1, so that the first rotating assembly 2 can be lifted and lowered in the vertical direction; the first rotating assembly 2 is arranged to be able to lift and lower in the vertical direction under the action of the lifting assembly 1, and can also drive the locking and unlocking head 4 on its output end to rotate along the first axis, and the first axis is parallel to the vertical direction.

[0066] The present application sets the first rotating assembly 2 at the output end of the lifting assembly 1, so that the locking and unlocking head 4 on the first rotating assembly 2 can adjust the position in all directions on the horizontal and vertical planes under the action of the lifting assembly 1 and the first rotating assembly 2, ensuring the accuracy and reliability of the locking and unlocking head 4 during the locking and unlocking process. In addition, the manipulator of the present application integrates the lifting and rotating functions, avoiding the problem of multiple sets of manipulators with different functions occupying a large space.

[0067] See below for further reference Figure 1 , a preferred embodiment of the manipulator of the present application is introduced. Those skilled in the art will understand that the embodiments described below are only used to illustrate the principles of the present application and are not intended to limit the scope of protection of the present application. On the premise that the manipulator at least includes a lifting component 1 and a first rotating component 2, those skilled in the art can adjust the following settings so that the present application can be applied to more specific application scenarios.

[0068] Reference Figure 1The manipulator includes a lifting assembly 1, a first rotating assembly 2 and a second rotating assembly 3. The second rotating assembly 3 is provided at the output end of the lifting assembly 1, the first rotating assembly 2 is provided at the output end of the second rotating assembly 3, and the locking and unlocking head 4 is provided at the output end of the first rotating assembly 2, so that the locking and unlocking head 4 can adjust its position under the action of the lifting assembly 1, the first rotating assembly 2 and the second rotating assembly 3 to achieve locking or unlocking of the battery fastener.

[0069] It should be noted that, in other preferred embodiments, the second rotating assembly 3 is not necessarily provided, and those skilled in the art may select it according to the need for the provision. In the case where the second rotating assembly 3 is not provided, the first rotating assembly 2 is directly provided at the output end of the lifting assembly 1 .

[0070] Reference Figure 1 The lifting assembly 1 includes a lifting drive mechanism 11, a lifting plate 12, a mounting seat 13 and a column 14. The lifting drive mechanism 11 is arranged on the mounting seat 13, the fixed end of the lifting drive mechanism 11 is fixed on the mounting seat 13, and the output end of the lifting drive mechanism 11 is provided with a lifting plate 12. The mounting seat 13 is provided with four columns 14, and the columns 14 are longitudinally (such as Figure 1 The lifting plate 12 is provided with holes for the pillars 14 to penetrate, so that the lifting plate 12 can be driven by the lifting drive mechanism 11 along the length direction of the pillars 14 (such as Figure 1 Movement in the Y direction (shown).

[0071] Of course, the number of columns 14 provided in the present application is not fixed, and those skilled in the art can adjust it according to the setting needs. For example, the number of columns 14 can be 1, 2, 3 or other numbers. In other preferred embodiments, the setting of columns 14 is not necessary, and those skilled in the art can adjust it according to the needs.

[0072] In addition, the present application does not have a fixed method for the lifting plate 12 to move along the column 14, and those skilled in the art can adjust it according to the setting requirements. For example, a track can be provided on the column 14, and a slider connected to the lifting plate 12 can be provided on the track, so that the lifting plate 12 can also move along the column 14 under the drive of the lifting drive mechanism 11. In addition, in other preferred embodiments, the provision of the lifting plate 12 and / or the mounting seat 13 is not necessary, and those skilled in the art can adjust it according to the needs.

[0073] It should be noted that the column 14 can also be tilted on the mounting seat 13, as long as the lifting plate 12 can be driven by the lifting drive mechanism 11 in the vertical direction (such as Figure 1 The Y direction shown can be raised or lowered.

[0074] See also Figure 1 The second rotating assembly 3 includes a second driving mechanism 31 and a second rotating arm 32. The second driving mechanism 31 is arranged on the lifting plate 12, so that the second rotating assembly 3 can be lifted and lowered in the vertical direction under the drive of the lifting driving mechanism 11. The fixed end of the second driving mechanism 31 is fixed on the lifting plate 12, and the output end is provided with a second rotating arm 32. The second rotating arm 32 can be driven by the second driving mechanism 31 along the second axis (such as Figure 1 The second axis is parallel to the vertical direction, that is, the rotation plane of the second rotating arm 32 is perpendicular to the vertical direction, so that the second rotating arm 32 can rotate on the horizontal plane under the action of the second driving mechanism 31, thereby facilitating the adjustment of the position of the locking and unlocking head 4 on the first rotating assembly 2.

[0075] It should be noted that, in the case where the lifting plate 12 is not provided, the second driving mechanism 31 can also be directly provided at the output end of the lifting driving mechanism 11. In addition, the present application has no limitation on the second driving mechanism 31, as long as the second driving mechanism 31 can drive the second rotating arm 32 to rotate, such as the second driving mechanism 31 can be a driving motor.

[0076] It should also be noted that the present application has no restrictions on the rotation axis of the second rotating arm 32, i.e., the second axis, as long as the first rotating assembly 2 on the second rotating assembly 3 can achieve lifting and lowering while also being able to rotate along the second axis parallel to the vertical direction. For example, the second axis may not be parallel to the vertical direction, such as the angle between the second axis and the vertical direction may be 5°, 10°, etc.

[0077] See also Figure 1 The first rotating assembly 2 includes a first driving mechanism 21 and a first rotating arm 22. The first driving mechanism 21 is arranged on the second rotating arm 32. The fixed end of the first driving mechanism 21 is fixed on the second rotating arm 32, and the output end is provided with the first rotating arm 22. The first rotating arm 22 can be driven by the first driving mechanism 21 along the first axis (such as Figure 1 The first rotating arm 22 rotates with the first axis parallel to the vertical direction, that is, the rotating surface of the first rotating arm 22 is perpendicular to the first axis and the second axis. The first rotating arm 22 is provided with a connecting hole, which is used to install the locking and unlocking head 4.

[0078] Of course, the number of connection holes provided in the present application is not fixed, and those skilled in the art can adjust it according to specific application scenarios. For example, the number of connection holes can be 2, 3, or other numbers. When the number of connection holes is 2 or more, the shape and size of the connection holes can be different to adapt to different models of locking and unlocking heads 4.

[0079] It should be noted that the present application has no restrictions on the location of the fixed end of the first driving mechanism 21, as long as the first driving mechanism 21 can be set on the first rotating arm 22. For example, the fixed end of the first driving mechanism 21 can be set on the side of the first rotating arm 22 close to the first driving mechanism 21, or can be set on the side of the first rotating arm 22 away from the first driving mechanism 21, as long as the first driving mechanism 21 can rotate under the drive of the first rotating assembly 2 and can drive the first rotating arm 22 to rotate. In addition, the present application has no restrictions on the first driving mechanism 21, as long as the first driving mechanism 21 can drive the first rotating arm 22 to rotate, such as the first driving mechanism 21 can be a driving motor.

[0080] It should also be noted that the locking and unlocking head 4 is arranged on the side of the first rotating arm away from the first axis, so as to facilitate the adjustment of the position of the locking and unlocking head 4. In addition, the first driving mechanism 21 is arranged on the side of the second rotating arm away from the second axis, so as to facilitate the adjustment of the position of the locking and unlocking head 4.

[0081] In addition, the utility model further provides a locking and unlocking device, which includes at least one locking and unlocking head 4 and the manipulator in any of the above embodiments, and the locking and unlocking head 4 is arranged at the output end of the first rotating component 2.

[0082] It should be noted that the locking and unlocking head 4 can be installed in the connection hole on the first rotating arm 22. When the number of the locking and unlocking heads 4 is 2 or more, due to the different models of the locking and unlocking heads 4 and the different shapes and sizes of the parts where the locking and unlocking heads 4 are connected to the connection holes, a corresponding number of connection holes can be provided on the first rotating arm 22 to accommodate different models of the locking and unlocking heads 4. When the models of the locking and unlocking heads 4 are different and the shapes and sizes of the parts where the locking and unlocking heads 4 are connected to the connection holes are the same, only one connection hole can be provided on the first rotating arm 22.

[0083] In addition, the utility model also provides a battery-swapping robot, which includes the locking and unlocking device described in any of the above embodiments.

[0084] In addition, the utility model also provides a battery exchange facility, which includes a battery exchange robot described in any of the above-mentioned embodiments.

[0085] Those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims of the present application, any one of the claimed embodiments may be used in any combination.

[0086] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A robot, characterized in that: The manipulator comprises: Lifting components; The first rotating component is arranged at the output end of the lifting component, so that the first rotating component can be lifted and lowered in the vertical direction; the first rotating component is configured to be able to be lifted and lowered in the vertical direction under the action of the lifting component, and can also drive the locking and unlocking head on its output end to rotate along the first axis, and the first axis is parallel to the vertical direction.

2. The robot according to claim 1, characterized in that: The first rotating assembly comprises: a first driving mechanism, the first driving mechanism being arranged at an output end of the lifting assembly; A first rotating arm is arranged at an output end of the first driving mechanism.

3. The robot according to claim 2, characterized in that: At least one connecting hole is provided on the first rotating arm for installing the locking and unlocking head.

4. The robot according to claim 1, characterized in that: The manipulator also includes: A second rotating assembly, wherein the second rotating assembly is provided with an output end of the lifting assembly, and the output end of the second rotating assembly is provided with the first rotating assembly.

5. The robot according to claim 4, characterized in that: The second rotating assembly comprises: a second driving mechanism, the second driving mechanism being arranged at an output end of the lifting assembly; A second rotating arm is arranged at the output end of the second driving mechanism and the first rotating assembly is arranged thereon.

6. The robot according to claim 1, characterized in that: The lifting assembly comprises: Lifting drive mechanism; A lifting plate is arranged at the output end of the lifting drive mechanism, and the first rotating component is arranged on a side of the lifting plate away from the lifting drive mechanism.

7. The robot according to claim 6, characterized in that: The lifting assembly also includes: A mounting seat, on which the lifting drive mechanism is arranged; A column is arranged on the mounting seat, and the column is configured to enable the lifting plate to move along its length direction under the drive of the lifting drive mechanism.

8. The robot according to claim 7, characterized in that: The lifting plate is sleeved on the column; or A track is arranged on the column, and a slider connected with the lifting plate is arranged on the track.

9. A locking and unlocking device, characterized in that: The locking and unlocking device comprises at least one locking and unlocking head and the manipulator according to any one of claims 1 to 8, and the locking and unlocking head is arranged at the output end of the first rotating component.

10. A battery-swapping robot, characterized in that: The battery-swapping robot includes the locking and unlocking device described in claim 9.

11. A battery replacement facility, characterized in that: The battery replacement facility includes the battery replacement robot described in claim 10.

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