Battery pack grabbing system for ship battery replacement

Abstract

The utility model discloses a battery pack grabbing system for ship battery replacement, the system is provided with a claw clamp executing mechanism for grabbing a battery pack and a control device for controlling the claw clamp executing mechanism to work, the claw clamp executing mechanism is provided with a support, and electric claw clamps for clamping the battery pack are arranged on the periphery of the support. The support is of a horizontally-arranged plate-shaped structure, the bottom face of the support is provided with at least three distance sensors perpendicular to the bottom face of the support of the plate-shaped structure, the four corners of the support are provided with cameras for collecting image information downwards, and the distance sensors and the cameras are connected with a control device and output collected signals to the control device.

Description

Technical Field

[0001] The utility model relates to the field of ships, in particular to the grasping technology of battery packs on electric ships. Background Art

[0002] In the process of automated handling and assembly, especially in the context of ship battery pack replacement, the precise grasping and positioning of battery packs are particularly important. Considering the particularity and complexity of the ship working environment, traditional mechanical positioning methods often struggle to meet the requirements of high precision and high adaptability.

[0003] As a core component of the ship power system, the replacement process of ship battery packs needs to be fast, accurate and safe. Currently, there are also many types of battery grasping devices. For example, the patent document with the publication number CN219751136U, publication date September 26, 2023, and patent name "A Battery Pack Grasping Device" discloses a battery pack grasping device, which includes a placement table fixed on a reliable bottom surface, a multi-axis robotic arm fixed on one side of the placement table, the active range of the active end of the multi-axis robotic arm covering the placement table, and a grasping mechanism. The grasping mechanism includes a carrier plate and at least a pair of clamping components. The carrier plate is connected to the active end of the multi-axis robotic arm, and the clamping components are fixed on the carrier plate and have a pair of oppositely arranged and adjustable clamping surfaces.

[0004] Traditional grasping and positioning methods may lead to deviations in the installation position of the battery pack due to insufficient accuracy, thereby affecting the stability and safety of the ship power system. In addition, since the size, shape and weight of ship battery packs may vary depending on different ship types and power requirements, traditional mechanical positioning methods may not be able to adapt to this diversity. Summary of the Invention

[0005] The technical problem to be solved by the utility model is to realize a battery pack grasping system for ship battery replacement with strong versatility and accurate positioning.

[0006] To achieve the above object, the technical solution adopted by the utility model is: a battery pack grasping system for ship battery replacement, the system is provided with a claw gripper actuator for grasping the battery pack, and a control device for controlling the operation of the claw gripper actuator. The claw gripper actuator is provided with a bracket, and electric claw grippers for clamping the battery pack are arranged around the bracket. The bracket is a horizontally arranged plate-like structure, at least three distance sensors perpendicular to the bottom surface of the plate-like structure bracket are arranged on the bottom surface of the bracket, cameras for collecting image information downward are arranged at the four corners of the bracket, and the distance sensors and cameras are both connected and output the collected signals to the control device.

[0007] Four distance sensors are provided on the bottom surface of the bracket. The four distance sensors are fixed at the same height position on the bottom surface of the bracket and are fixed at the four corners of the central area of the bracket.

[0008] The distance sensors are used to obtain the spacing from the battery pack, and the control device controls the relative level of the bracket and the battery pack using the distance signal.

[0009] The bracket is a rectangular plate-like structure. Four groups of electric claw clamps are provided, which are respectively located on the four sides of the bracket. A pressure sensor is provided on the contact surface between the electric claw clamp and the battery pack, and the pressure sensor is connected to and outputs an induction signal to the control device.

[0010] There are at least three suspension points above the bracket. An independent cable is provided between each suspension point and the lifting tool, and each cable is provided with an independent length adjustment mechanism. The control device is connected to and outputs a control signal to the lifting tool and the length adjustment mechanism.

[0011] The control device is provided with an operating mechanism and a display device, and the display device includes a display unit for displaying the fused image of the camera.

[0012] A force-receiving groove that cooperates with the position of some electric claw clamps is provided on the edge of the battery pack.

[0013] The advantages of the present utility model are that through the configuration of multiple sensing devices, the battery pack grasping system for ship battery replacement is made more accurate and efficient. It can not only apply automated grasping control, but also facilitate manual operation using the obtained parameters. It has strong adaptability and can meet different grasping work tasks. Brief Description of the Drawings

[0014] The following briefly describes the content expressed in each drawing in the specification of the present utility model and the marks in the drawings:

[0015] Figure 1 It is a schematic diagram of the execution structure of the battery pack grasping system for ship battery replacement;

[0016] The marks in the above drawings are all: 1. Bracket; 2. Electric claw clamp; 3. Battery pack; 4. Distance sensor; 5. Camera. Detailed Description of the Preferred Embodiment

[0017] The following further describes in detail the specific embodiments of the present utility model, such as the shapes, structures, mutual positions and connection relationships of the various components involved, the functions and working principles of each part, the manufacturing process, and the operation and use methods, with reference to the drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present utility model.

[0018] The battery pack 3 grasping system for ship battery swapping is an improvement over the existing traditional system. The existing mechanical positioning method is modified to enable the system to adapt to battery packs 3 of different sizes and shapes. The overall structure of the battery pack 3 is a cube. Therefore, the claw gripper actuator is provided with a plate-shaped bracket 1 as the fixing part of the electric claw gripper 2. The electric claw gripper 2 adopts an existing clamping mechanism that can move laterally. The monomer is L-shaped, and the bend at the bottom faces the central area of the bracket 1. The top of the electric claw gripper 2 is generally embedded in the edge of the bracket 1. The bracket 1 is provided with a chute for the electric claw gripper 2 to translate, and a power mechanism such as a cylinder is provided on the side of the chute to push the corresponding electric claw gripper 2 to slide along the chute to achieve the grasping of the battery pack 3. The above-mentioned electric claw gripper 2 is only an example, and there are no other existing structures that can grasp the battery pack 3.

[0019] The battery pack 3 grasping system for ship battery swapping is provided with a control device for overall control. The control device is connected to the electric claw gripper 2 and outputs a control signal to it. The above structure is the existing system. The improvement in this time is to design the bracket 1 into a rectangular plate-shaped structure. Four groups of electric claw grippers 2 are provided on the bracket 1, which are located on the four sides of the bracket 1 respectively. In this way, some electric claw grippers 2 can be used in combination to clamp battery packs 3 of different sizes. Even some electric claw grippers 2 can be removed when needed to meet the grasping operation of extra-large battery packs 3, enhancing the versatility of the system. In addition, force-receiving grooves are provided on the edge of the battery pack 3 to cooperate with the positions of some electric claw grippers 2. The positions of the force-receiving grooves of the battery pack 3 need to be pre-designed, and their positions need to correspond to at least the positions of two pairs of electric claw grippers 2 on both sides.

[0020] To improve the accuracy of grasping, at least three distance sensors 4 perpendicular to the bottom surface of the plate-shaped bracket 1 are provided on the bottom surface of the bracket 1. The distance sensors 4 are used to obtain the distance from the battery pack 3. Generally, four are set. The four distance sensors 4 are fixed at the same height position on the bottom surface of the bracket 1 and are fixed at the four corners of the central area of the bracket 1. The four distance sensors 4 are all connected to the control device and output distance signals to it. Then the control device can know whether the bracket 1 and the battery pack 3 are relatively parallel.

[0021] Cameras 5 for collecting image information downward are provided at the four corners of the bracket 1. The cameras 5 are connected to the control device and output the collected signals to it. The control device can use the cameras 5 to obtain the image information around the battery pack 3. Especially when putting down the battery pack 3, it is convenient for precise positioning. Pressure sensors are provided on the contact surface between the electric claw gripper 2 and the battery pack 3. The pressure sensors are connected to the control device and output induction signals to it. In this way, it can be monitored whether the grasping of each working state of the electric claw gripper 2 is reliable, avoiding the situation of incomplete grasping and reducing the probability of accidents.

[0022] Since the horizontal relationship between the battery pack 3 and the bracket 1 can be understood in real time, there are at least three lifting points above the bracket 1. An independent cable is provided between each lifting point and the lifting tool, and each cable is provided with an independent length adjustment mechanism. For example, independent winch equipment can be used. The control equipment is connected and outputs control signals to the lifting tool and the length adjustment mechanism, so that the horizontal position relationship of the bracket 1 can be adjusted when the battery pack 3 is placed unevenly, which is convenient for operation. In addition, the control equipment is provided with an operating mechanism and a display device. The display device includes a display unit for displaying the fused image of the display camera 5, and a display unit for displaying signals such as clamping force and distance parameters can also be provided, which is convenient for the staff to perform manual operations by observing.

[0023] This system has broad application prospects in the field of battery swapping for ship battery packs 3. By utilizing advanced visual recognition and distance control technologies, this system can achieve precise recognition and positioning of the battery Pack. According to the real-time position information provided by the vision system, the fixture can not only facilitate the accurate grasping and placement of the battery pack 3 by humans, but also be applied to intelligent automation equipment, with high adaptability, and can adapt to ship battery packs 3 of different sizes, shapes, and weights. By adjusting the parameters of the visual recognition system and the design of the fixture, various ship types and power requirements can be easily handled, thus greatly improving the accuracy and efficiency of the battery swapping process.

[0024] The present invention has been described exemplarily in conjunction with the accompanying drawings. Obviously, the specific implementation of the present utility model is not limited by the above-mentioned manner. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present utility model.

Claims

1. A battery pack grasping system for ship battery replacement. The system is provided with a claw gripper actuator for grasping the battery pack and a control device for controlling the operation of the claw gripper actuator. The claw gripper actuator is provided with a bracket, and electric claw grippers for clamping the battery pack are arranged around the bracket. It is characterized in that: The bracket is a horizontally arranged plate-like structure. At least three distance sensors perpendicular to the bottom surface of the plate-like structure bracket are provided on the bottom surface of the bracket. Cameras for collecting image information downward are provided at the four corners of the bracket. The distance sensors and the cameras are both connected and output the collected signals to the control device.

2. The battery pack grasping system for ship battery replacement according to claim 1, characterized in that: Four distance sensors are provided on the bottom surface of the bracket. The four distance sensors are fixed at the same height position on the bottom surface of the bracket and are fixed at the four corners of the central area of the bracket.

3. The battery pack grasping system for ship battery replacement according to claim 2, wherein: The distance sensors are used to obtain the distance from the battery pack, and the control device controls the relative horizontality of the bracket and the battery pack by using the distance signal.

4. The battery pack grasping system for ship battery replacement according to claim 1, 2 or 3, characterized in that: The bracket is a rectangular plate-like structure. Four groups of electric claw clamps are provided, which are respectively located on the four sides of the bracket. Pressure sensors are provided on the contact surfaces of the electric claw clamps and the battery pack. The pressure sensors are connected and output induction signals to the control device.

5. The battery pack grasping system for ship battery replacement according to claim 4, wherein: At least three suspension points are provided above the bracket. An independent cable is provided between each suspension point and the lifting tool, and an independent length adjustment mechanism is provided for each cable. The control device is connected and outputs control signals to the lifting tool and the length adjustment mechanism.

6. The battery pack grasping system for ship battery replacement according to claim 5, characterized in that: The control device is provided with an operating mechanism and a display device. The display device includes a display unit for displaying the fused image of the camera.

7. The battery pack grasping system for ship battery replacement according to claim 1 or 6, characterized in that: Force-receiving grooves are provided at the edge of the battery pack to cooperate with the positions of some of the electric claw clamps.

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