Manipulator for grabbing battery box

Abstract

The utility model discloses a manipulator for grabbing a battery box, which relates to the technical field of battery replacement and comprises a box main body, the box main body is provided with an XY-direction floating disc mechanism, the floating disc mechanism is provided with an unlocking component and a driving component of a Z-direction floating device, and the unlocking component is connected with the driving component; buffer fixing assemblies are arranged on the two sides of the unlocking assembly. The floating disc mechanism comprises a floating mounting disc and a sliding block mounting plate; the floating installation disc is provided with a Y-direction guide rail sliding block, the sliding block installation plate is provided with an X-direction guide rail sliding block and a Y-direction guide rail, and the box body is provided with an X-direction guide rail. The Y-direction guide rail sliding block is connected to the Y-direction guide rail in a sliding mode. The mechanical arm structure has the advantages that the mechanical arm structure is provided with the buffer fixing assembly and the floating structures in the X direction, the Y direction and the Z direction, the mechanical arm structure can complete all unlocking actions in an omnibearing floating mode under a single extremely simple structure, and the unlocking process has extremely high stability and reliability.

Description

Technical Field

[0001] The utility model relates to the technical field of battery swapping, in particular to a manipulator for grasping a battery box. Background Art

[0002] Due to its energy-saving and environmental protection characteristics, new energy electric vehicles are being vigorously promoted. The rapid replenishment of battery energy has become the main concern of vehicle manufacturers and users. Currently, the commonly used electric energy replenishment methods are charging piles, mobile charging vehicles, and battery swapping platforms. Restricted by the charging time limit, charging piles cannot meet the users' demand for rapid energy replenishment. Mobile charging vehicles need to replenish energy themselves and have a long charging time, so they have not been widely promoted. As a method of rapid energy replenishment, the battery swapping platform allows users to replace fully charged batteries with very little waiting time and is favored by users.

[0003] Currently, during the battery swapping process of an electric vehicle on a battery swapping platform, the old battery needs to be disassembled and then a new battery needs to be installed. With the continuous innovation and replacement of locking devices, corresponding manipulator structures emerge in an endless stream.

[0004] The technical solution disclosed in the Chinese patent document (application number 202121321638.7, patent name: unlocking device and battery swapping platform for battery swapping platform) includes: the unlocking part includes a manipulator and an unlocking head arranged at the end of the manipulator. The lock hole positioning part is arranged to be able to position the lock hole. The manipulator is arranged to be able to obtain the position of the lock hole and send the unlocking head into it. The unlocking head is arranged to be able to lock and unlock the lock hole.

[0005] The defects of the technical solution disclosed in the above patent document are that the manipulator either adopts direct feeding contact without a floating device or only has floating in the feeding direction. Such a manipulator can achieve the unlocking purpose, but large rigid impacts will inevitably occur during the unlocking process, resulting in a short service life of the device, and even being unable to unlock due to manufacturing errors and assembly errors; and there is also no corresponding lock body fixing device, which is extremely easy to shake during the unlocking process, resulting in unsuccessful unlocking. Content of the Utility Model

[0006] In view of the above, the utility model provides a manipulator for grasping a battery box, equipped with a buffer fixing component and floating structures in three directions of X, Y, and Z, enabling the manipulator structure to achieve all-round floating to complete all unlocking actions under a single minimalist structure, and making the unlocking process have extremely high stability and reliability.

[0007] In order to solve the above technical problems, the utility model is realized through the following technical solutions:

[0008] A manipulator for grasping a battery box, including a box body main body, the box body main body is provided with an XY-direction floating disc mechanism, an unlocking component and a driving component of a Z-direction floating device are arranged on the floating disc mechanism, and the unlocking component is connected with the driving component; buffer fixing components are arranged on both sides of the unlocking component.

[0009] Furthermore, the floating disc mechanism includes a floating mounting disc and a slider mounting plate; the floating mounting disc is provided with a Y-direction guide rail slider, the slider mounting plate is provided with an X-direction guide rail slider and a Y-direction guide rail, and the box body main body is provided with an X-direction guide rail; the Y-direction guide rail slider is slidably connected to the Y-direction guide rail; the X-direction guide rail slider is slidably connected to the X-direction guide rail.

[0010] Furthermore, the driving component is connected to the floating mounting disc; an opening is arranged in the middle of the slider mounting plate, and the unlocking component of the Z-direction floating device is located in the opening and protrudes out of the box body main body.

[0011] Furthermore, it further includes a floating spring, one end of the floating spring is connected with the floating mounting disc, and one end of the floating spring is connected with the box body main body.

[0012] Furthermore, the buffer fixing component includes a buffer sleeve, and the buffer sleeve is fixedly connected to the box body main body; a buffer push rod is slidably arranged in the buffer sleeve, a first buffer spring is sleeved on the buffer push rod, one end of the first buffer spring abuts against the buffer push rod, and the other end of the first buffer spring abuts against the inner wall of the buffer sleeve.

[0013] Furthermore, a buffer rubber block is arranged at the end of the buffer push rod.

[0014] Furthermore, the unlocking component of the Z-direction floating device includes an unlocking rotating chassis and a lock head, the unlocking rotating chassis includes a convex column, and the lock head is longitudinally slidably arranged on the convex column; a second buffer spring is sleeved on the lock head, and a buffer pad is arranged in the unlocking rotating chassis; one end of the second buffer spring abuts against the lock head, and the other end of the second buffer spring abuts against the buffer pad.

[0015] Furthermore, a retaining pin is transversely arranged on the convex column, a guide groove is arranged on the lock head, and the retaining pin is longitudinally slidably assembled in the guide groove; a third buffer spring is arranged in the convex column, the upper end of the third buffer spring is connected with a ball, and the ball is connected with the retaining pin.

[0016] Furthermore, the lock head is provided with an inclined chamfer for guiding when docking with the battery pack lock port, and a frustum for pushing the battery.

[0017] Furthermore, the main body of the box has a moving force component arranged in the Z direction. The moving force component includes a motor, and the motor is connected to a transverse gear; the main body of the box includes a detachably arranged upper cover plate.

[0018] The beneficial effects of the present utility model are as follows:

[0019] The manipulator structure of the present utility model is provided with a buffer fixing structure, which can fix the battery pack when the unlocking component of the Z-direction floating device pushes and pulls the battery pack, so that it does not shake, ensuring accurate and stable unlocking and ensuring the stability of the unlocking and pushing / pulling processes; in addition, a floating disc mechanism and the unlocking component of the Z-direction floating device are provided, enabling the manipulator structure to have floating in the X, Y, and Z directions, being able to adapt to unlocking, avoiding rigid impacts, and ensuring the accuracy of positioning and unlocking. Description of the Drawings

[0020] In order to more clearly illustrate the specific implementation manners, the drawings required for use in the description of the implementation manners will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0021] Figure 1 is the front view of the manipulator structure;

[0022] Figure 2 is the rear view of the manipulator structure;

[0023] Figure 3 is the three-dimensional view of the manipulator structure;

[0024] Figure 4 is the three-dimensional view of the manipulator structure with the upper cover plate in the open state;

[0025] Figure 5 is the schematic diagram of the internal structure of the main body of the box;

[0026] Figure 6 is the exploded view of the buffer fixing component;

[0027] Figure 7 is the three-dimensional view of the unlocking component of the Z-direction floating device;

[0028] Figure 8 is the cross-sectional view of the unlocking component of the Z-direction floating device;

[0029] Figure 9 is the exploded view of the unlocking component of the Z-direction floating device.

[0030] Description of the Main Component Symbols

[0031]

[0032]

[0033] The following specific embodiments will further illustrate the present disclosure in conjunction with the above-mentioned drawings. Specific Embodiments

[0034] In order to more clearly understand the above-mentioned objects, features and advantages of the present disclosure, the present disclosure will be described in detail below in conjunction with the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other. In the following description, many specific details are set forth in order to fully understand the present disclosure. The described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this disclosure belongs. The terms used herein in the specification are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0036] In each embodiment, for the convenience of description rather than to limit the present disclosure, the term "connection" used in the specification and claims of the present patent application for the present disclosure is not limited to physical or mechanical connection, but may include electrical connection, whether direct or indirect. "Upper", "lower", "below", "left", "right", etc. are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0037] As Figures 1 to 9 shown, a manipulator for grasping a battery box includes a box body main body 1. A Z-direction floating disk mechanism 2 is arranged on the box body main body 1. An unlocking assembly 3 and a driving assembly 4 are arranged on the floating disk mechanism 2. The unlocking assembly 3 is connected to the driving assembly 4, and the driving assembly 4 is used to control the rotation of the unlocking assembly 3.

[0038] Specifically, the unlocking assembly 3 includes an unlocking rotating chassis 301 and a lock head 302. The driving assembly 4 is connected to the unlocking rotating chassis 301 to control the rotation of the unlocking rotating chassis 301. The driving assembly 4 includes a motor and a speed reducer. The motor is connected to the input end of the speed reducer, and the output end of the speed reducer is connected to the unlocking rotating chassis 301. The unlocking rotating chassis 301 realizes rotation through the drive of the motor and obtains corresponding speed and torque via the speed reducer.

[0039] The unlocking rotating chassis 301 includes a convex post 3011, and the lock head 302 is slidably arranged in the Z direction on the convex post 3011; a second buffer spring 303 is sleeved on the lock head 302, and a buffer pad 304 is arranged in the unlocking rotating chassis 301; one end of the second buffer spring 303 abuts against the lock head 302, and the other end of the second buffer spring 303 abuts against the buffer pad 304; thus enabling the lock head 302 to have the displacement of the Z-direction floating device; in addition, a retaining pin 305 is transversely arranged on the convex post 3011, and a guide groove 3021 is arranged on the lock head 302, and the retaining pin 305 is longitudinally slidably assembled in the guide groove 3021, that is, the lock head 302 can move relative to the convex post 3011 with a limited displacement amount, and the rotation of the unlocking rotating chassis 301 will also drive the rotation of the lock head 302; a third buffer spring 306 is arranged in the convex post 3011, the upper end of the third buffer spring 306 is connected to a ball 307, and the ball 307 is connected to the retaining pin 305; the third buffer spring 306 has a tightening effect on the retaining pin 305 through the ball 307, from Figure 9 it can be seen that a groove is formed at the position of the retaining pin 305 corresponding to the ball 307, and this assembly enables the retaining pin 305 to freely rotate corresponding to the ball 307, improving the degree of freedom of the structure.

[0040] The lock head 302 is provided with an inclined chamfer 3022 for guiding when docking with the battery pack lock port, and a frustum 3023 for pushing the battery. Specifically, the lock head has a "T" - shaped structure. When the inclined chamfer 3022 docks with the battery pack lock port, it can adapt to a certain deviation and has a guiding effect. In application, the lock head 302 of the unlocking assembly 3 of the Z - direction floating device pushes open the lock pin and enters the lock body to unlock, and the battery pack is pushed and pulled through the frustum 3023, realizing the full unlocking function with a single stable structure.

[0041] Another improvement of this technical solution lies in that buffer fixing components 5 are arranged on both sides of the unlocking component 3 of the Z-direction floating device. The buffer fixing component 5 includes a buffer sleeve 501 which is fixedly connected to the box body main body 1; a buffer push rod 502 is slidably arranged in the buffer sleeve 501, and a first buffer spring 503 is sleeved on the buffer push rod 502. One end of the first buffer spring 503 abuts against the buffer push rod 502, and the other end of the first buffer spring 503 abuts against the inner wall of the buffer sleeve 501; when the buffer push rod 502 is stressed, it will move towards the buffer sleeve 501, and at this time, the first buffer spring 503 will be compressed to achieve the buffering effect; the side of the box body main body 1 where the unlocking component 3 of the Z-direction floating device and the buffer fixing component 5 are arranged is connected to the battery pack. When this manipulator structure approaches the battery pack for battery swapping, the front end of the buffer push rod 502 will contact the battery pack. A buffer rubber block 504 is arranged at the front end of the buffer push rod 502, and the buffer rubber block 504 will first have a certain buffering effect. Then, when the buffer push rod 502 is stressed, it will move towards the buffer sleeve 501, and the first buffer spring 503 will buffer and reset the buffer push rod 502; the number of buffer fixing components 5 is two groups, which are respectively arranged on the left and right sides of the unlocking component 3 of the Z-direction floating device, with one group each. When the unlocking component 3 of the Z-direction floating device pushes and pulls the battery pack, it also plays a role in fixing the battery pack, making it not shake and ensuring accurate and stable unlocking.

[0042] The floating disk mechanism 2 includes a floating mounting disk 201 and a slider mounting plate 202; the floating mounting disk 201 is provided with a Y-direction guide rail slider 203, the slider mounting plate 202 is provided with an X-direction guide rail slider 204 and a Y-direction guide rail 205, and the box body main body 1 is provided with an X-direction guide rail 206; the Y-direction guide rail slider 203 is slidably connected to the Y-direction guide rail 205; the X-direction guide rail slider 204 is slidably connected to the X-direction guide rail 206; the driving component 4 is connected to the floating mounting disk 201; an opening 2021 is arranged in the middle of the slider mounting plate 202, and the unlocking component 3 of the Z-direction floating device is located in the opening 2021 and protrudes out of the box body main body 1, facilitating the unlocking component 3 of the Z-direction floating device to unlock the battery pack throughout the process; and from the above structure, it can be seen that the slider mounting plate 202 can slide in the X direction relative to the box body main body 1 through the X-direction guide rail 206 and the X-direction guide rail slider 204, and the floating mounting disk 201 is provided with a Y-direction guide rail slider 203 and a Y-direction guide rail 205 to slide in the Y direction relative to the slider mounting plate 202, that is, the unlocking component 3 of the Z-direction floating device and the driving component 4 can slide in the Y direction and the Y direction relative to the box body main body 1. Coupled with the fact that the unlocking component 3 of the Z-direction floating device itself has a movement in the Z direction, the unlocking component 3 of the Z-direction floating device has floating in the X, Y, and Z directions relative to the box body main body 1, with a clever structure.

[0043] It further includes a floating spring 6. One end of the floating spring 6 is connected to the floating mounting plate 201, and the other end of the floating spring 6 is connected to the box body main body 1. The floating spring 6 is arranged in the X direction and the Y direction. The floating spring 6 enables the floating mounting plate 201 to have an elastic reset effect, so that after the floating mounting plate 201 moves in the X direction and the Y direction, it can be reset under the elastic force of the floating spring 6.

[0044] The box body main body 1 is provided with a moving force component arranged in the Z direction. The moving force component arranged in the Z direction includes a motor 7. The motor 7 is connected to a transverse gear 8. The motor 7 drives the transverse gear 8 to rotate. When the transverse gear 8 meshes with the rack fixed on the manipulator structure frame, the transverse movement of the manipulator can be realized.

[0045] The box body main body 1 includes a detachably arranged upper cover plate 101. The upper cover plate 101 is fixed to the outer shell of the box body main body 1 by screw connection, which is convenient for opening the upper cover plate 101 to maintain the internal structure of the box body main body 1 and conduct wiring.

[0046] In several specific embodiments provided by the present disclosure, for those skilled in the art, it is obvious that the present disclosure is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present disclosure, the present disclosure can be implemented in other specific forms. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present disclosure is defined by the appended claims rather than the above description. Therefore, it is intended to cover all changes falling within the meaning and scope of the equivalent elements of the claims in the present disclosure. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. The words such as "first" and "second" are used to represent names and do not indicate any specific order.

[0047] The above embodiments are only used to illustrate the technical solutions of the present disclosure and not to limit them. Although the present disclosure has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present disclosure can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present disclosure.

Claims

1. A manipulator for grasping a battery box, characterized in that, It includes a box body. An XY-direction floating disk mechanism is arranged on the box body. An unlocking component and a driving component of a Z-direction floating device are arranged on the floating disk mechanism. The unlocking component is connected to the driving component. Buffer fixing components are arranged on both sides of the unlocking component.

2. The manipulator for grasping a battery box according to claim 1, wherein, The floating disk mechanism includes a floating mounting disk and a slider mounting plate. The floating mounting disk is provided with a Y-direction guide rail slider. The slider mounting plate is provided with an X-direction guide rail slider and a Y-direction guide rail. The box body is provided with an X-direction guide rail. The Y-direction guide rail slider is slidably connected to the Y-direction guide rail. The X-direction guide rail slider is slidably connected to the X-direction guide rail.

3. The manipulator for grasping a battery box according to claim 2, characterized in that, The driving component is connected to the floating mounting disk. An opening is arranged in the middle of the slider mounting plate. The unlocking component of the Z-direction floating device is located in the opening and protrudes out of the box body.

4. The manipulator for grasping a battery box according to claim 3, characterized in that, It further includes a floating spring. One end of the floating spring is connected to the floating mounting disk, and one end of the floating spring is connected to the box body.

5. A manipulator for grasping a battery box according to any one of claims 1 to 4, characterized in that, The buffer fixing component includes a buffer sleeve. The buffer sleeve is fixedly connected to the box body. A buffer push rod is slidably arranged in the buffer sleeve. A first buffer spring is sleeved on the buffer push rod. One end of the first buffer spring abuts against the buffer push rod, and the other end of the first buffer spring abuts against the inner wall of the buffer sleeve.

6. The manipulator for grasping a battery box according to claim 5, wherein, A buffer rubber block is arranged at the end of the buffer push rod.

7. A manipulator for grasping a battery box according to any one of claims 1 to 4, characterized in that, The unlocking component of the Z-direction floating device includes an unlocking rotating chassis and a lock head. The unlocking rotating chassis includes a convex column. The lock head is longitudinally slidably arranged on the convex column. A second buffer spring is sleeved on the lock head. A buffer pad is arranged in the unlocking rotating chassis. One end of the second buffer spring abuts against the lock head, and the other end of the second buffer spring abuts against the buffer pad.

8. The manipulator for grasping a battery box according to claim 7, characterized in that, A retaining pin is transversely arranged on the convex column. A guide groove is arranged on the lock head. The retaining pin is longitudinally slidably assembled in the guide groove. A third buffer spring is arranged in the convex column. The upper end of the third buffer spring is connected to a ball, and the ball is connected to the retaining pin.

9. The manipulator for grasping a battery box according to claim 8, wherein, The lock head is provided with an inclined chamfer for guiding when docking with the battery pack lock port and a frustum for pushing the battery.

10. A manipulator for grasping a battery box according to any one of claims 1 to 4, 6, 8, and 9, characterized in that, The box body is provided with a moving force component arranged in the Z-direction. The moving force component arranged in the Z-direction includes a motor. The motor is connected to a transverse gear. The box body includes a detachably arranged upper cover plate.

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