Tracked heavy truck battery replacing robot

Abstract

The utility model relates to the technical field of machinery. A rail heavy truck battery replacing robot comprises a rail and a battery replacing support arranged on the rail, the battery replacing support comprises a rotating support and a chassis which are arranged up and down, and the chassis is in sliding connection with the rail; the chassis is rotationally connected with the rotating bracket through the slewing bearing; a rotary driving mechanism for driving the rotary bracket to rotate is mounted on the rotary bracket; a lifting driving mechanism is installed on the rotating support, and a telescopic pallet fork is installed on a lifting platform of the lifting driving mechanism. The number of the rails is two, a rack is installed between the two rails, and the length direction of the rack is parallel to the length directions of the two rails. An advancing driving mechanism used for driving the battery replacing support to move in the guiding direction of the track is installed on the chassis, and the power output end of the advancing driving mechanism is connected with an advancing gear meshed with the rack. According to the utility model, the telescopic pallet fork is driven to rotate by 360 degrees, so that battery replacement in different directions is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of machinery, and particularly relates to a heavy truck battery swapping robot. Background Art

[0002] At present, electric heavy trucks have also developed greatly, and there are more application scenarios such as logistics and short-distance transportation. However, the battery swapping of heavy trucks also needs to be improved and updated accordingly. In order to better realize the electrification and battery swapping convenience of heavy trucks, it is necessary to design a simpler battery swapping platform with higher battery swapping speed and better application effect, etc., so as to adapt to more usage occasions.

[0003] The patent with the publication number CN114228555A discloses a high-reliability heavy truck side-lifting battery swapping robot. In this patent, a rotating cover plate is provided at one end of the upper part of the side-lifting battery swapping bracket; one end of the Y-axis telescopic fork mechanism is movably connected to the rotating cover plate through a rotating shaft. The rotation range of the Y-axis telescopic fork mechanism is limited, and only small-angle fine adjustment can be achieved, and 360° rotation cannot be realized, which is not conducive to multi-dimensional adjustment of the grasping direction of the Y-axis telescopic fork mechanism. Summary of the Utility Model

[0004] Aiming at the problems existing in the prior art, the utility model provides a rail-mounted heavy truck battery swapping robot to solve at least one of the above technical problems.

[0005] The technical solution of the utility model is: a rail-mounted heavy truck battery swapping robot, including a track and a battery swapping bracket arranged on the track, characterized in that the battery swapping bracket includes a rotating bracket and a chassis arranged up and down, and the chassis is slidably connected to the track;

[0006] The chassis is rotationally connected to the rotating bracket through a slewing bearing, the outer ring of the slewing bearing is connected to the chassis, and the inner ring of the slewing bearing is connected to the rotating bracket;

[0007] A rotation driving mechanism for driving the rotation of the rotating bracket is installed on the rotating bracket, and the rotation driving mechanism is provided with a rotation driving gear meshing with the outer ring of the slewing bearing;

[0008] A lifting driving mechanism is installed on the rotating bracket, and a telescopic fork is installed on the lifting platform of the lifting driving mechanism;

[0009] Two tracks are provided, and a rack is installed between the two tracks, and the length direction of the rack is parallel to the length direction of the two tracks;

[0010] A travel drive mechanism for driving the battery exchange bracket to move along the guiding direction of the track is installed on the chassis, and a power output end of the travel drive mechanism is connected to a travel gear meshing with the rack.

[0011] The utility model optimizes the structure of the battery-swapping robot and drives the telescopic fork to rotate 360 ​​degrees through the rotary drive mechanism to achieve battery swapping in different directions. The rotation center is close to the bottom to ensure rotation stability. The travel drive mechanism is located between the two tracks to facilitate protection of the travel drive mechanism and avoid interference.

[0012] Further preferably, a fixing seat is detachably mounted in the area between the two rails, and the rack is detachably connected to the fixing seat;

[0013] The chassis is detachably connected to a mounting seat, the mounting seat is detachably connected to the travel drive mechanism, the travel drive mechanism comprises a first drive motor and a first reducer in transmission connection, and the power output end of the first reducer is connected to the travel gear;

[0014] The bottom of the mounting seat is detachably connected with a follower roller bearing;

[0015] The traveling gear and the follower roller bearing are respectively located on both sides of the rack.

[0016] Further preferably, both ends of the track in the length direction can be detachably connected with limit plates;

[0017] Both ends of the chassis are connected with sliding frames for sliding along the track;

[0018] The two ends of the sliding frame in the length direction are connected to roller frames, and two limiting rollers rolling along the track are installed on the roller frames, and the track is sandwiched between the two limiting rollers;

[0019] The end of the roller frame away from the sliding frame is detachably connected with an anti-collision device and an anti-derailing baffle plate arranged up and down.

[0020] Further preferably, the anti-derail baffle comprises a first baffle and a second baffle, and the first baffle and the second baffle are detachably connected to the roller frame;

[0021] The first baffle plate and the second baffle plate form a guide hole which is slidably connected to the track.

[0022] Further preferably, the travel drive mechanism is located in the area between the roller frames at both ends of the chassis;

[0023] The two ends of the roller frame in the length direction of the track extend out of the two ends of the chassis in the length direction of the track.

[0024] Further preferably, at least three anti-overturning devices arranged along the length direction of the track are detachably connected to the remote sides of the sliding frames at both ends of the chassis;

[0025] A track wheel for rolling on the upper side of the track is installed at the bottom of the sliding frame.

[0026] Further preferably, the rotating frame includes an upper frame and a lower frame arranged up and down;

[0027] The lifting drive mechanism is installed on the upper frame.

[0028] Further preferably, the lifting drive mechanism includes a vertically arranged linear guide rail which is slidably connected to the lifting platform;

[0029] The lifting drive mechanism further includes a third drive motor, the power output shaft of the third drive motor is connected to the power input end of a third speed reducer, the power output end of the third speed reducer is in transmission connection with a ball screw, and the upper and lower ends of the ball screw are respectively rotationally connected to the rotating frame through an upper bearing seat and a lower bearing seat;

[0030] A lead screw nut in transmission connection with the ball screw is installed on the lifting platform.

[0031] Further preferably, a guide wheel is installed at the top of the rotating frame;

[0032] The lifting platform is connected to a steel wire rope, and the steel wire rope passes through the guide wheel and is connected to a counterweight;

[0033] The counterweight is longitudinally slidably connected to the rotating frame;

[0034] The counterweight and the lifting platform are located on opposite sides of the rotating frame.

[0035] It is convenient to improve the smoothness of lifting.

[0036] Compared with the prior art, the beneficial effects of the present utility model are:

[0037] The present utility model can realize battery swapping for heavy trucks in different directions, greatly improving the battery swapping efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a top view in the battery swapping state of Specific Embodiment 1 of the present utility model;

[0039] Figure 2 It is a structural schematic diagram of Specific Embodiment 1 of the present utility model;

[0040] Figure 3 A front view of Specific Embodiment 1 of the present utility model;

[0041] Figure 4 A side view of Specific Embodiment 1 of the present utility model.

[0042] In the figure, 1 is a battery pack charging base, 2 is a rail-mounted heavy truck battery swapping robot, 3 is an electric truck, and 4 is an electric truck battery pack;

[0043] 201 is a limit plate, 202 is a track, 203 is a fixed seat, 204 is a rack, 205 is a derailment prevention baffle, 206 is a bumper, 207 is a traveling gear, 208 is a traveling drive mechanism, 209 is a follower roller bearing, 210 is a limit roller, 211 is a rotation drive gear, 212 is a rotation drive mechanism, 213 is a slewing bearing, 214 is a chassis, 215 is an anti-overturning device, 216 is a lower frame, 217 is an upper frame, 218 is a counterweight, 219 is a steel wire rope, 220 is a guide wheel, 221 is a third drive motor, 222 is a third speed reducer, 223 is a telescopic fork, 224 is a linear guide rail, 225 is an upper bearing seat, 226 is a ball screw, 227 is a lead screw nut, 228 is a lifting platform, 229 is a lower bearing seat, and 230 is a track wheel. Specific Embodiments

[0044] See Figures 1 to 4, Specific Embodiment 1, A rail-mounted heavy truck battery swapping robot, which includes a track 202 fixed on the ground and a battery swapping bracket arranged on the track 202. The battery swapping bracket includes a rotating bracket and a chassis 214 arranged up and down. The chassis 214 is slidably connected to the track 202; the chassis 214 is rotatably connected to the rotating bracket through a slewing bearing 213. The outer ring of the slewing bearing 213 is connected to the chassis 214, and the inner ring of the slewing bearing 213 is connected to the rotating bracket; a rotating drive mechanism 212 for driving the rotation of the rotating bracket is installed on the rotating bracket. The rotating drive mechanism 212 is provided with a rotating drive gear 211 meshing with the outer ring of the slewing bearing 213; a lifting drive mechanism is installed on the rotating bracket, and a telescopic fork 223 is installed on the lifting platform 228 of the lifting drive mechanism; There are two tracks 202, and a rack 204 is installed between the two tracks 202. The length direction of the rack 204 is parallel to the length direction of the two tracks 202; a traveling drive mechanism 208 for driving the battery swapping bracket to move along the guiding direction of the track is installed on the chassis 214. The power output end of the traveling drive mechanism 208 is connected to a traveling gear 207 meshing with the rack 204. The present utility model optimizes the structure of the battery swapping robot. The telescopic fork 223 is driven by the rotating drive mechanism 212 to rotate 360°, realizing battery swapping in different directions. By having the rotation center adjacent to the bottom, the rotation stability is ensured. By locating the traveling drive mechanism 208 between the two tracks 202, it is convenient to protect the traveling drive mechanism 208 and avoid interference.

[0045] A fixing seat 203 is detachably installed in the area between the two tracks 202, and the rack 204 is detachably connected to the fixing seat 203; an installation seat is detachably connected to the chassis 214, and a traveling drive mechanism 208 is detachably connected to the installation seat. The traveling drive mechanism 208 includes a first drive motor and a first reduction gearbox connected in transmission. The power output end of the first reduction gearbox is connected to the traveling gear 207; a follower roller bearing 209 is detachably connected to the bottom of the installation seat; the traveling gear 207 and the follower roller bearing 209 are respectively located on both sides of the rack 204.

[0046] Both ends of the track 202 in the length direction are detachably connected with limit plates 201; both ends of the chassis 214 are connected with sliding frames for sliding along the track 202; both ends in the length direction of the sliding frame are connected with roller frames, and two limit rollers 210 for rolling along the track 202 are installed on the roller frames. The track 202 is clamped between the two limit rollers 210. The end of the roller frame away from the sliding frame is detachably connected with an anti-collision device 206 and a derailment prevention baffle 205 arranged up and down. The derailment prevention baffle 205 includes a first baffle and a second baffle, and the first baffle and the second baffle are detachably connected with the roller frame; the first baffle and the second baffle enclose a guiding hole for sliding connection with the track. The traveling driving mechanism 208 is located in the area between the roller frames at both ends of the chassis 214; both ends of the roller frame in the track length direction extend out of both ends of the chassis 214 in the track 202 length direction. When the length direction of the track is front and back, the two ends of the chassis 214 are connected with sliding frames for sliding along the track 202, which means that the left and right ends of the chassis 214 are connected with sliding frames for sliding along the track 202.

[0047] At least three anti-overturning devices 215 arranged along the length direction of the track 202 are detachably connected to the far sides of the sliding frames at both ends of the chassis 214; track wheels 230 for rolling on the upper side of the track are installed at the bottom of the sliding frame.

[0048] The rotating frame includes an upper frame 217 and a lower frame 216 arranged up and down; a lifting driving mechanism is installed on the upper frame 217.

[0049] The lifting driving mechanism includes a vertically arranged linear guide rail 224, and the linear guide rail 224 is slidably connected with a lifting platform 228; the lifting driving mechanism further includes a third driving motor 221, the power output shaft of the third driving motor 221 is connected with the power input end of a third speed reducer 222, the power output end of the third speed reducer 222 is in transmission connection with a ball screw 226, and the upper and lower ends of the ball screw 226 are respectively rotatably connected with the rotating frame through an upper bearing seat 225 and a lower bearing seat 229; a lead screw nut 227 in transmission connection with the ball screw 226 is installed on the lifting platform 228. A guide wheel 220 is installed at the top of the rotating frame; the lifting platform 228 is connected with a steel wire rope 219, and the steel wire rope 219 passes through the guide wheel 220 and is connected with a counterweight 218; the counterweight 218 is longitudinally slidably connected with the rotating frame; the counterweight 218 and the lifting platform 228 are located on opposite sides of the rotating frame. This is convenient for improving the smoothness of lifting.

[0050] Brief description of the battery swapping process: Refer to Figure 1 When the electric truck 3 travels to as Figure 1When in the shown position, the rail-mounted heavy truck battery swapping robot 2 removes the electric truck battery pack 4 from the vehicle and places it on the battery pack charging base 1; the rail-mounted heavy truck battery swapping robot 2 removes the fully charged electric truck battery pack 4 from the battery pack charging base 1 and places it on the electric truck 3.

[0051] The detailed battery swapping process is as follows:

[0052] See Figures 2 to 4, the rail-mounted heavy-duty truck battery swapping robot is supported by rail wheels 230 and rolls on the rail 202; it is driven by the traveling drive mechanism 208 to move the traveling gear 207 along the rack 204 to the parking position of the electric truck 3. If the electric truck 3 is not perpendicular to the telescopic fork 223, the rotation drive mechanism 212 drives the rotation drive gear 211 to rotate on the outer ring gear of the slewing bearing 213 in a plane to make the telescopic fork 223 perpendicular to the electric truck 3; the third motor 221 and the third speed reducer 222 drive the ball screw 226 to rotate, driving the screw nut 227 and the lifting platform 228 to rise to the specified height, and the telescopic fork 223 extends to directly above the battery pack of the electric truck 3; the telescopic fork 223 hooks the cross beam on the upper part of the battery pack by first descending and then extending forward; the third motor 221 and the third speed reducer 222 drive the ball screw 226 to rotate, driving the screw nut 227 and the lifting platform 228 to rise to the specified height to separate the electric truck battery pack 4 from the electric truck 3; the telescopic fork 223 retracts and moves above the battery pack charging base 1; the third motor 221 and the third speed reducer 222 drive the ball screw 226 to rotate, driving the screw nut 227 and the lifting platform 228 to descend to the corresponding height so that the electric truck battery 4 contacts the battery pack charging base 1 and then descends a small distance, and the telescopic fork 223 moves backward a small distance to disengage the fork hook from the battery pack; the third motor 221 and the third speed reducer 222 drive the ball screw 226 to rotate, driving the screw nut 227 and the lifting platform 228 to rise; the traveling drive mechanism 208 drives the traveling gear 207 to move along the rack 204 to move the telescopic fork 223 above the battery pack charging base 1 with a fully charged battery pack; the third motor 221 and the third speed reducer 222 drive the ball screw 226 to rotate, driving the screw nut 227 and the lifting platform 228 to descend, so that the hook of the telescopic fork 223 hooks the electric truck battery pack 4; after the third motor 221 and the third speed reducer 222 drive the ball screw 226 to rotate, driving the screw nut 227 and the lifting platform 228 to rise to the corresponding height, the telescopic fork 223 retracts to the middle position, and the traveling drive mechanism 208 drives the traveling gear 207 to move along the rack 204 to the corresponding parking position of the electric truck 3; the rotation drive mechanism 212 drives the rotation drive gear 211 to rotate on the outer ring gear of the slewing bearing 213 in a plane to make the telescopic fork 223 perpendicular to the electric truck 3; the telescopic fork 223 extends to directly above the electric truck 3, the third motor 221 and the third speed reducer 222 drive the ball screw 226 to rotate, driving the screw nut 227 and the lifting platform 228 to descend, so that the electric truck battery 4 contacts the electric truck 3 and then descends a small distance, the telescopic fork 223 moves backward a small distance, the third motor 221 and the third speed reducer 222 drive the ball screw 226 to rotate, driving the screw nut 227 and the lifting platform 228 to rise, and the telescopic fork 223 also rises accordingly. After reaching the corresponding height, the telescopic fork 223 retracts to the middle position, and the battery swapping process is completed.

[0053] The above are only the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present utility model, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims

1. A battery-swapping robot for heavy trucks on a track, comprising a track and a battery-swapping bracket arranged on the track, characterized in that: The battery exchange bracket includes a rotating bracket and a chassis arranged up and down, and the chassis is slidably connected to the track; The chassis is rotatably connected to the rotating bracket via a slewing bearing, the outer ring of the slewing bearing is connected to the chassis, and the inner ring of the slewing bearing is connected to the rotating bracket; A rotation drive mechanism for driving the rotation support to rotate is installed on the rotation support, and the rotation drive mechanism is provided with a rotation drive gear meshing with the outer ring of the slewing bearing; A lifting drive mechanism is installed on the rotating bracket, and a telescopic fork is installed on the lifting platform of the lifting drive mechanism; There are two tracks, a rack is installed between the two tracks, and the length direction of the rack is parallel to the length directions of the two tracks; A travel drive mechanism for driving the battery-changing bracket to move along the guide direction of the track is installed on the chassis, and a travel gear meshing with the rack is connected to the power output end of the travel drive mechanism; A fixing seat is detachably mounted in the area between the two rails, and the rack is detachably connected to the fixing seat; The chassis is detachably connected to a mounting seat, the mounting seat is detachably connected to the travel drive mechanism, the travel drive mechanism comprises a first drive motor and a first reducer in transmission connection, and the power output end of the first reducer is connected to the travel gear; The bottom of the mounting seat is detachably connected with a follower roller bearing; The traveling gear and the follower roller bearing are respectively located on both sides of the rack; Both ends of the track in the length direction can be detachably connected to limit plates; Both ends of the chassis are connected with sliding frames for sliding along the track; The two ends of the sliding frame in the length direction are connected to roller frames, and two limiting rollers rolling along the track are installed on the roller frames, and the track is sandwiched between the two limiting rollers; The end of the roller frame away from the sliding frame is detachably connected with an anti-collision device and an anti-derailing baffle plate arranged up and down.

2. A rail-mounted heavy truck battery-changing robot according to claim 1, characterized in that: The anti-derail baffle comprises a first baffle and a second baffle, and the first baffle and the second baffle are detachably connected to the roller frame; The first baffle plate and the second baffle plate form a guide hole which is slidably connected to the track.

3. The battery-changing robot for rail-mounted heavy trucks according to claim 1, characterized in that: The travel drive mechanism is located in the area between the roller frames at both ends of the chassis; The two ends of the roller frame in the length direction of the track extend out of the two ends of the chassis in the length direction of the track.

4. The battery-changing robot for rail-mounted heavy trucks according to claim 1, characterized in that: At least three anti-overturning devices arranged along the length direction of the track are detachably connected to the away sides of the sliding frames at both ends of the chassis; The bottom of the sliding frame is provided with track wheels for rolling on the track.

5. The battery-changing robot for rail-mounted heavy trucks according to claim 1, characterized in that: The rotating frame includes an upper frame and a lower frame arranged up and down; The lifting drive mechanism is installed on the upper frame.

6. The battery-changing robot for rail-mounted heavy trucks according to claim 1, characterized in that: The lifting drive mechanism comprises a vertically arranged linear guide rail, and the linear guide rail is slidably connected to the lifting platform; The lifting drive mechanism also includes a third drive motor, a power output shaft of the third drive motor is connected to a power input end of a third reducer, the power output end of the third reducer is transmission-connected to a ball screw, and the upper and lower ends of the ball screw are rotationally connected to the rotating frame through an upper bearing seat and a lower bearing seat respectively; A screw nut which is transmission-connected to the ball screw is installed on the lifting platform.

7. The battery-changing robot for rail-mounted heavy trucks according to claim 1, characterized in that: A guide wheel is installed on the top of the rotating frame; The lifting platform is connected to a steel wire rope, and the steel wire rope is connected to the counterweight block via the guide wheel; The counterweight block is longitudinally slidably connected to the rotating frame; The counterweight block and the lifting platform are located on opposite sides of the rotating frame.

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