Tail end structure of marine battery pack replacement mechanical arm

Abstract

The utility model belongs to the technical field of marine battery swapping stations, and relates to a tail end structure of a marine battery swapping battery pack mechanical arm. The upper part of the tail end body (1) is connected with a rotating part (2), the front part and the rear part of the tail end body (1) are respectively provided with a tail end telescopic leg (3), the lower part of each tail end telescopic leg (3) is respectively provided with a claw (4) which is bent towards the inner side direction, and the lower part of the tail end body (1) is provided with a distance sensor (5). The tail end structure of the marine battery pack replacing mechanical arm is simple in structure and reliable in step-out, the battery pack can be rapidly and accurately grabbed and moved, and the precision and efficiency of battery pack transferring in the battery replacing process are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of ship battery replacement stations, and more specifically, relates to an end structure of a ship battery replacement battery pack mechanical arm. Background Art

[0002] In the process of automated handling and assembly, especially in the context of ship battery pack replacement, accurate grasping and positioning of the battery pack is particularly important. Considering the particularity and complexity of the ship's working environment, traditional mechanical positioning methods often cannot meet the needs of high precision and high adaptability. As a core component of the ship's power system, the battery pack's replacement process needs to be fast, accurate and safe. Traditional grasping and positioning methods may cause deviations in the installation position of the battery pack due to insufficient accuracy, which in turn affects the stability and safety of the ship's power system. In addition, since the size, shape and weight of the ship's battery pack may vary depending on different ship types and power requirements, traditional mechanical positioning methods may not be able to adapt to this diversity.

[0003] There is a technology in the prior art named "A Heavy Truck Battery Replacement Station" and publication number "CN115476824A", which provides a heavy truck battery replacement station, and relates to the technical field of heavy truck mobile battery replacement stations. The heavy truck battery replacement station includes: a battery replacement compartment, the battery replacement compartment includes: a battery compartment and a charging compartment, the battery compartment is used to accommodate fully charged batteries, and the charging compartment is used to accommodate on-board batteries removed from vehicles to be replaced; a transfer platform, the transfer platform includes: a rotating structure, a mechanical arm assembly and a battery access device; the mechanical arm assembly is rotatably connected to the rotating structure, and the battery access device is connected to the execution end of the mechanical arm assembly; a controller, the controller is connected to the transfer platform, and is used to control the movement of the transfer platform. The technical solution of the present invention saves battery replacement time and the floor space of the battery replacement station.

[0004] However, this technology does not involve the technical problems and technical solutions of the present application. Utility Model Content

[0005] The technical problem to be solved by the utility model is: in view of the deficiencies in the prior art, to provide an end structure of a marine battery pack replacement robotic arm which has a simple structure, is reliable in stepping on air, can quickly and accurately grasp and move battery packs, and improves the accuracy and efficiency of battery pack transportation during battery replacement.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the utility model is:

[0007] The utility model is a terminal structure of a battery pack replacement robot for ships, wherein the upper part of the terminal body is connected to a rotating component, the front and rear parts of the terminal body are respectively provided with terminal telescopic legs, the lower part of each terminal telescopic leg is respectively provided with a hook claw bent inwardly, and the lower part of the terminal body is provided with a distance sensor.

[0008] The end structure of the marine battery pack replacement robotic arm also includes a battery placement base, and the battery placement base includes a plurality of supporting bases, and adjacent supporting bases are arranged in a gap-arranged structure.

[0009] The bearing base of the base is arranged on the ground.

[0010] A plurality of terminal telescopic legs are arranged at intervals at the front of the terminal body, and terminal telescopic legs corresponding in number and position are arranged at the rear of the terminal body.

[0011] Each of the terminal telescopic legs at the front of the terminal body is located directly above the gap between two adjacent bearing bases, and each of the terminal telescopic legs at the rear of the terminal body is located directly above the gap between two adjacent bearing bases.

[0012] A plurality of transverse telescopic components are arranged at the front of the terminal body, each of which is connected to a vertical telescopic component, each of which is connected to a terminal telescopic leg; a plurality of transverse telescopic components are arranged at the rear of the terminal body, each of which is connected to a vertical telescopic component, each of which is connected to a terminal telescopic leg.

[0013] The distance sensor is connected to the control component.

[0014] The transverse telescopic component and the vertical telescopic component are connected to the control component.

[0015] The rotating component is connected to the mechanical arm.

[0016] The technical solution of the utility model is adopted, and the working principle and beneficial effects are as follows:

[0017] The terminal structure of the marine battery replacement battery pack mechanical arm described in the utility model is that the terminal body is the basis for clamping the battery pack, the rotating component connected to the upper part of the terminal body can drive the terminal body to rotate 360° relative to the rotating component, the rotating component is connected to the mechanical arm, and the movement of the mechanical arm in different directions drives the terminal body to move, so as to realize the transportation of the battery pack, the front and rear parts of the terminal body are respectively provided with terminal telescopic legs, and the lower part of each terminal telescopic leg is respectively provided with a hook claw bent inwardly, when clamping the battery pack, the hook claws at the lower part of each terminal telescopic leg at the front of the terminal body hook the lower part of the battery from the bottom, and the terminal telescopic leg fits the battery pack from the front to limit the position, and the hook claws at the lower part of each terminal telescopic leg at the rear of the terminal body hook the lower part of the battery from the bottom, and the terminal telescopic leg fits the battery pack from the back to limit the position, in this way, the front, rear and bottom limitation of the battery pack is realized, the battery pack has its own weight, clamping is realized, and the battery pack can be moved reliably. A distance sensor is set at the lower part of the end body. When the end body approaches the battery pack, the control component controls the robotic arm to automatically slow down according to the model received from the distance sensor feedback to prevent the battery pack from being crushed or damaged due to excessive speed, thereby effectively protecting the battery pack. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following is a brief description of the contents and symbols in the drawings of this specification:

[0019] Figure 1 This is a schematic diagram of the structure of the terminal end structure of the marine battery pack replacement mechanical arm described in the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the terminal end structure of the marine battery pack replacement mechanical arm described in the utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the terminal end structure of the marine battery pack replacement mechanical arm described in the utility model;

[0022] Marked in the attached drawing: 1. terminal body; 2. rotating part; 3. terminal telescopic leg; 4. hook; 5. distance sensor; 6. base; 7. supporting base; 8. battery pack. DETAILED DESCRIPTION

[0023] The following is a detailed description of the embodiments of the present invention, such as the shapes, structures, positions and connection relationships of the components involved, the functions and working principles of the components, etc., by referring to the accompanying drawings:

[0024] As attached Figure 1 -Attached Figure 3As shown, the utility model is a terminal structure of a battery pack replacement manipulator for a ship, wherein the upper part of the terminal body 1 is connected to a rotating component 2, the front and rear parts of the terminal body 1 are respectively provided with terminal telescopic legs 3, the lower part of each terminal telescopic leg 3 is respectively provided with a hook 4 bent inward, and the lower part of the terminal body 1 is provided with a distance sensor 5. The above structure proposes an improved technical solution to address the deficiencies in the prior art. When setting up the structure, an end body is set, and the end body is the basis for clamping the battery pack, and the upper part of the end body 1 is connected to the rotating part 2, and the rotating part 2 can drive the end body to rotate 360° relative to the rotating part. The rotating part 2 is connected to the mechanical arm, and the movement of the mechanical arm in different directions drives the end body to move, so as to realize the transportation of the battery pack. The front and rear parts of the end body 1 are respectively provided with end telescopic legs 3, and the lower part of each end telescopic leg 3 is respectively provided with a hook claw 4 bent inwardly. When clamping the battery pack, the hook claws 4 at the lower part of each of the multiple end telescopic legs 3 at the front of the end body hook the lower part of the battery from the bottom, and the end telescopic leg fits the battery pack from the front to limit the position, and the hook claws 4 at the lower part of each of the multiple end telescopic legs 3 at the rear of the end body hook the lower part of the battery from the bottom, and the end telescopic leg fits the battery pack from the back to limit the position. In this way, the front, rear and bottom limitation of the battery pack is realized, the battery pack has its own weight, and the clamping is reliably realized, and the battery pack is reliably moved. A distance sensor 5 is arranged at the lower part of the terminal body 1. When the terminal body approaches the battery pack, the control component controls the mechanical arm to automatically decelerate according to the model received from the distance sensor feedback, so as to prevent the battery pack from being crushed or damaged due to excessive speed, and effectively protect the battery pack. The terminal structure of the battery pack mechanical arm for ship battery replacement described in the utility model has a simple structure, reliable stepping, and can quickly and accurately grasp and move the battery pack, thereby improving the accuracy and efficiency of battery pack transportation during battery replacement.

[0025] The terminal structure of the marine battery pack replacement manipulator also includes a battery placement base 6, and the battery placement base 6 includes a plurality of supporting bases 7, and the adjacent supporting bases 7 are arranged in a structure arranged according to the gap. Each terminal telescopic leg 3 at the front of the terminal body 1 is located directly above the gap between two adjacent supporting bases 7, and each terminal telescopic leg 3 at the rear of the terminal body 1 is located directly above the gap between two adjacent supporting bases 7. In the above structure, when the battery pack is placed, it is placed on the base, and when the battery pack needs to be grabbed, the manipulator controls the movement and descent of the terminal body, constantly approaching the battery pack, and the terminal telescopic leg 3 at the front of the terminal body 1 moves downward from the front of the battery pack, and the terminal telescopic leg 3 at the rear of the terminal body 1 moves downward from the rear of the battery pack, until the hook 4 at the bottom of the terminal telescopic leg 3 is hooked on the battery pack, and then the manipulator controls the terminal body 1 to rise and move, and reliably realizes the clamping and movement of the battery pack.

[0026] The supporting base 7 of the base 6 is arranged on the ground. In the above structure, the supporting base 7 of the base 6 is arranged on the ground of the battery swap station, which not only realizes the placement of the battery pack, but also facilitates clamping.

[0027] The front part of the terminal body 1 is provided with a plurality of terminal telescopic legs 3 according to the gap, and the rear part of the terminal body 1 is provided with terminal telescopic legs 3 of corresponding number and position. In the above structure, the number and the interval of the terminal telescopic legs 3 are set as required to meet the clamping and movement of different battery packs.

[0028] The front part of the terminal body 1 is provided with a plurality of transverse telescopic parts, each of which is connected to a vertical telescopic part, each of which is connected to a terminal telescopic leg 3. The rear part of the terminal body 1 is provided with a plurality of transverse telescopic parts, each of which is connected to a vertical telescopic part, each of which is connected to a terminal telescopic leg 3. In the above structure, the transverse telescopic parts and the vertical telescopic parts can be extended and retracted respectively, so that each terminal telescopic leg 3 can be changed in a certain range in the transverse and vertical positions. Before clamping the battery pack, the transverse telescopic parts and the vertical telescopic parts are extended to facilitate approaching the battery without colliding with the battery. After the terminal body moves into place, the transverse telescopic parts and the vertical telescopic parts are retracted to contact the battery pack from the side and the bottom to achieve reliable clamping. The rotating part controls the rotation of the terminal body, and the mechanical arm controls the movement of the battery clamped by the terminal body. A recess can be provided at the lower part of the side of the battery pack to facilitate the hook to get stuck and prevent the battery pack from falling off.

[0029] The distance sensor 5 is connected to the control component. In the above structure, the distance sensor 5 feeds back the distance signal to the control component, and the control component controls the movement speed of the robot arm according to the signal.

[0030] The horizontal telescopic component and the vertical telescopic component are connected to the control component. In the above structure, the horizontal telescopic component and the vertical telescopic component are reliably controlled to be telescopic by the control component. According to different models and sizes of battery packs, the control component can control the telescopic conditions of the horizontal telescopic component and the vertical telescopic component, thereby meeting the clamping requirements of different battery packs.

[0031] The rotating part 2 is connected to the mechanical arm. In the above structure, the mechanical arm is connected to the rotating part to drive the rotating part to move, and the rotating part is connected to the end body to realize the movement of the end body.

[0032] The terminal structure of the marine battery replacement battery pack mechanical arm described in the utility model is that the terminal body 1 is the basis for clamping the battery pack, and the upper part of the terminal body 1 is connected to the rotating part 2, the rotating part 2 can drive the terminal body to rotate 360° relative to the rotating part, and the rotating part 2 is connected to the mechanical arm, and the movement of the mechanical arm in different directions drives the terminal body to move, so as to realize the transportation of the battery pack. The front and rear parts of the terminal body 1 are respectively provided with terminal telescopic legs 3, and the lower part of each terminal telescopic leg 3 is respectively provided with a hook claw 4 bent inwardly. When clamping the battery pack, the hook claw 4 at the lower part of each of the multiple terminal telescopic legs 3 at the front of the terminal body 1 hooks the lower part of the battery pack (battery) from the lower part, and the terminal telescopic leg fits the battery pack from the front to limit the position, and the hook claw 4 at the lower part of each of the multiple terminal telescopic legs 3 at the rear of the terminal body hooks the lower part of the battery pack from the lower part, and the terminal telescopic leg fits the battery pack from the rear to limit the position. In this way, the front, rear and bottom limiting of the battery pack is realized, the battery pack has its own weight, and the clamping is reliably realized, and the battery pack is reliably moved. A distance sensor 5 is arranged at the lower part of the end body 1. When the end body approaches the battery pack, the control component controls the robot arm to automatically decelerate according to the model feedback received from the distance sensor 5 to prevent the battery pack from being crushed or damaged due to excessive speed, thereby effectively protecting the battery pack.

[0033] The utility model is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the utility model is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the utility model, or the concept and technical solution of the utility model are directly applied to other occasions without improvement, they are all within the protection scope of the utility model.

Claims

1. A terminal structure of a marine battery pack replacement mechanical arm, characterized in that: The upper part of the terminal body (1) is connected to the rotating component (2), the front and rear parts of the terminal body (1) are respectively provided with terminal telescopic legs (3), the lower part of each terminal telescopic leg (3) is respectively provided with a hook claw (4) bent inwardly, and the lower part of the terminal body (1) is provided with a distance sensor (5).

2. The terminal structure of the marine battery pack replacement mechanical arm according to claim 1 is characterized by: It also comprises a battery placement base (6), the battery placement base (6) comprises a plurality of supporting bases (7), and adjacent supporting bases (7) are arranged in a gap-arranged structure.

3. The terminal structure of the marine battery pack replacement mechanical arm according to claim 2 is characterized by: The supporting base (7) of the base (6) is arranged on the ground.

4. The terminal structure of the marine battery pack replacement manipulator according to claim 1 or 2 is characterized in that: A plurality of terminal telescopic legs (3) are arranged at intervals at the front of the terminal body (1), and terminal telescopic legs (3) of corresponding number and position are arranged at the rear of the terminal body (1).

5. The terminal structure of the marine battery pack replacement mechanical arm according to claim 4 is characterized in that: Each terminal telescopic leg (3) at the front of the terminal body (1) is located directly above the gap between two adjacent supporting bases (7), and each terminal telescopic leg (3) at the rear of the terminal body (1) is located directly above the gap between two adjacent supporting bases (7).

6. The terminal structure of the marine battery pack replacement mechanical arm according to claim 4 is characterized by: The front part of the terminal body (1) is provided with a plurality of transverse telescopic components, each of which is connected to a vertical telescopic component, each of which is connected to a terminal telescopic leg (3); the rear part of the terminal body (1) is provided with a plurality of transverse telescopic components, each of which is connected to a vertical telescopic component, each of which is connected to a terminal telescopic leg (3).

7. The terminal structure of the marine battery pack replacement mechanical arm according to claim 1 or 2, characterized in that: The distance sensor (5) is connected to the control component.

8. The terminal structure of the marine battery pack replacement mechanical arm according to claim 6 is characterized by: The transverse telescopic component and the vertical telescopic component are connected to the control component.

9. The terminal structure of the marine battery pack replacement mechanical arm according to claim 1 or 2, characterized in that: The rotating component (2) is connected to the mechanical arm.

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