Truss robot

Abstract

The utility model discloses a truss robot, which belongs to the technical field of battery replacement equipment, comprises an X-axis operation module, a Y-axis operation module and a Z-axis operation module, and is characterized in that the Z-axis operation module is arranged in the Y-axis operation module, and the Y-axis operation module is arranged in the X-axis operation module; a first walking wheel is arranged on the outer side edge of the X-axis operation module, a friction wheel is arranged below the X-axis operation module, the first walking wheel is in transmission connection with an X-axis driving motor, and the friction wheel is arranged above the X-axis operation rail. The truss robot is installed in the mode that the X-axis operation module, the Y-axis operation module and the Z-axis operation module are nested with one another, the truss robot is of a horizontal tiled structure in the initial state, the occupied space is small, and the truss robot is quite suitable for application scenes of small battery replacement stations.

Description

Technical Field

[0001] This utility model relates to the field of battery swapping equipment technology, specifically to a gantry robot. Background Technology

[0002] In the field of intelligent battery swapping for new energy electric vehicles, gantry robots that transport battery packs are important mechanical equipment. Especially for electric vehicles used for cargo transport, the battery packs are large in size and weight, which places higher demands on the structural strength and flexibility of the gantry robots.

[0003] In order to move battery packs, the gantry robots in smart battery swapping stations are usually large in size and occupy a large area, making them unsuitable for applications with small spaces and few vehicles. In addition, the investment cost is high and the promotion is difficult. Utility Model Content

[0004] The purpose of this invention is to provide a gantry robot to solve the technical problems mentioned in the background section.

[0005] To achieve the above objectives, this utility model discloses a gantry robot, including an X-axis running module, a Y-axis running module, and a Z-axis running module, wherein the Z-axis running module is disposed within the Y-axis running module, and the Y-axis running module is disposed within the X-axis running module;

[0006] The outer edge of the X-axis running module is provided with a first traveling wheel, and a friction wheel is provided below the X-axis running module. The first traveling wheel is connected to the X-axis drive motor, and the friction wheel is located above the X-axis running track.

[0007] Furthermore, the X-axis running module includes an X-axis traveling frame, an X-axis drive motor fixedly mounted on the X-axis traveling frame, a first traveling wheel located on the outer edge of the X-axis traveling frame, a friction wheel located below the X-axis traveling frame, and the X-axis drive motor and the first traveling wheel being connected via a transmission shaft.

[0008] Furthermore, a running rack is installed on the X-axis traveling frame along the Y-axis direction, and a helical gear and a Y-axis drive motor are installed on the Y-axis running module. The Y-axis drive motor, the helical gear, and the running rack are sequentially connected for transmission. A C-shaped groove is provided on the inner edge of the X-axis traveling frame along the Y-axis direction, and a second traveling wheel is provided on the outer edge of the Y-axis running module. The second traveling wheel is located in the C-shaped groove.

[0009] Furthermore, the Y-axis running module includes a Y-axis traveling trolley, the second traveling wheel is located on the outer edge of the Y-axis traveling trolley, and the Y-axis drive motor and helical gear are both fixedly installed inside the Y-axis traveling trolley.

[0010] Furthermore, the Z-axis running module includes a steel cable drive guide mechanism and a lifting device. The steel cable drive guide mechanism is located inside the Y-axis traveling trolley, and the lifting device is suspended below the Y-axis traveling trolley by a steel cable.

[0011] Furthermore, the steel rope drive guide mechanism includes a Z-axis drive motor, a steel rope winding wheel, and a steel rope guide wheel; the Z-axis drive motor is connected to the steel rope winding wheel, a steel rope is wound on the steel rope winding wheel, and the steel rope passes through the steel rope guide wheel and is fixedly connected to the lifting device.

[0012] Furthermore, a lifting guide post is provided above the lifting device, and a guide hole is provided at the bottom of the Y-axis traveling trolley, with the lifting guide post and the guide hole being positioned correspondingly.

[0013] Furthermore, a battery pack clamping mechanism is provided on the lifting device. The battery pack clamping mechanism includes an electric push rod, a connecting rod, a first rotating hook, and a second rotating hook. The two ends of the connecting rod are respectively rotatably connected to the first rotating hook and the second rotating hook. The electric push rod is rotatably connected to the other side of the first rotating hook. The claws of the first rotating hook and the second rotating hook penetrate the lifting device and are located below the lifting device.

[0014] Furthermore, a hook rotation positioning detection mechanism and a battery pack presence detection mechanism are provided above the lifting device.

[0015] Furthermore, a battery pack guide block is provided below the lifting device.

[0016] Compared with the prior art, the gantry robot of this utility model has the following advantages:

[0017] (1) The gantry robot of this utility model is installed by nesting the X-axis running module, the Y-axis running module and the Z-axis running module. In the initial state, it is a horizontal flat structure, which occupies little space and is very suitable for the application scenario of small battery swapping stations.

[0018] (2) The gantry robot of this utility model uses a horizontal winding method to hoist the steel rope. It uses steel rope winding wheel and steel rope guide wheel to realize the release and reeling of the steel rope. The hoisting structure adopts an integrated disc structure, which saves more space.

[0019] (3) The gantry robot of this utility model has a simple structure, is easy to operate, has low investment cost, and is easy to promote and apply. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the gantry robot of this utility model.

[0021] Figure 2This is a top view of the gantry robot of this utility model.

[0022] Figure 3 This is a side view of the gantry robot of this utility model.

[0023] Figure 4 This is a three-dimensional structural diagram of the X-axis running module of this utility model.

[0024] Figure 5 This is a three-dimensional structural diagram of the Y-axis running module and the Z-axis running module of this utility model.

[0025] Figure 6 This is a three-dimensional structural diagram of the Y-axis running module of this utility model.

[0026] Figure 7 This is a three-dimensional structural diagram of the lifting device of this utility model.

[0027] Figure 8 This is a bottom view of the lifting device of this utility model.

[0028] Figure 9 This is a three-dimensional structural diagram of the battery pack clamping mechanism of this utility model.

[0029] The attached diagram is labeled as follows: 1. X-axis running module; 2. Y-axis running module; 3. Lifting device; 4. Displacement buffer block;

[0030] 101. X-axis running track; 102. First traveling wheel; 103. X-axis drive motor; 104. X-axis traveling frame; 105. Drive shaft; 106. Distance sensor; 107. Electrical control cabinet; 108. Running rack; 109. C-groove;

[0031] 201. Y-axis traveling trolley; 202. Helical gear; 203. Y-axis drive motor; 204. Second traveling wheel;

[0032] 301. Z-axis drive motor; 302. Steel rope winding wheel; 303. Steel rope guide wheel; 304. Steel rope; 305. Lifting device guide column; 306. Guide hole; 307. Hook rotation positioning detection mechanism; 308. Battery pack presence / absence detection mechanism; 309. Electric push rod; 310. First rotating hook; 311. Second rotating hook; 312. Connecting rod; 313. Battery pack guide block. Detailed Implementation

[0033] The technical solution of this utility model will be described in detail below through specific embodiments.

[0034] A gantry robot includes an X-axis running module 1, a Y-axis running module 2, and a Z-axis running module. The Z-axis running module is located inside the Y-axis running module 2, and the Y-axis running module 2 is located inside the X-axis running module 1. A first traveling wheel 102 is provided on the outer edge of the X-axis running module 1, and a friction wheel is provided below the X-axis running module 1. The first traveling wheel 102 is connected to an X-axis drive motor 103, and the friction wheel is located above the X-axis running track 101.

[0035] The rotation of the X-axis drive motor 103 drives the first traveling wheel 102 to rotate and travel on the overhead rail in the battery swapping station, thereby driving the friction wheel and the entire X-axis running module 1 to reciprocate along the X-axis running track 101 in the X-axis direction.

[0036] The X-axis running module 1 includes an X-axis traveling frame 104, an X-axis drive motor 103 fixedly mounted on the X-axis traveling frame 104, a first traveling wheel 102 located on the outer edge of the X-axis traveling frame 104, a friction wheel located below the X-axis traveling frame 104, and the X-axis drive motor 103 and the first traveling wheel 102 connected by a transmission shaft 105.

[0037] On the X-axis walking frame 104, there is also a distance sensor 106 and an electrical control cabinet 107. The distance sensor 106 is used to measure the walking position of the gantry robot, and the electrical control cabinet 107 is used to install electronic components and control the movement of the gantry robot.

[0038] A running rack 108 is mounted on the X-axis traveling frame 104 along the Y-axis direction. A helical gear 202 and a Y-axis drive motor 203 are mounted on the Y-axis running module 2. The Y-axis drive motor 203, the helical gear 202 and the running rack 108 are sequentially connected for transmission. A C-shaped groove 109 is provided on the inner edge of the X-axis traveling frame 104 along the Y-axis direction. A second traveling wheel 204 is provided on the outer edge of the Y-axis running module 2. The second traveling wheel 204 is located in the C-shaped groove 109.

[0039] Specifically, the Y-axis running module 2 includes a Y-axis traveling trolley 201, a second traveling wheel 204 located on the outer edge of the Y-axis traveling trolley 201, and a Y-axis drive motor 203 and a helical gear 202 both fixedly installed inside the Y-axis traveling trolley 201.

[0040] Displacement buffer blocks 4 are provided on both the X-axis traveling frame 104 and the Y-axis traveling trolley 201 to buffer the operation of each mechanism and prevent damage to the mechanical structure during the movement process.

[0041] The Z-axis running module includes a steel cable drive guide mechanism and a lifting device 3. The steel cable drive guide mechanism is located inside the Y-axis traveling trolley 201, and the lifting device 3 is suspended below the Y-axis traveling trolley 201 by a steel cable 304.

[0042] Specifically, the steel rope drive guide mechanism includes a Z-axis drive motor 301, a steel rope winding wheel 302, and a steel rope guide wheel 303; the Z-axis drive motor 301 is connected to the steel rope winding wheel 302, a steel rope 304 is wound on the steel rope winding wheel 302, and the steel rope 304 passes through the steel rope guide wheel 303 and is fixedly connected to the lifting device 3.

[0043] Meanwhile, a lifting guide column 305 is provided above the lifting device 3, and a guide hole 306 is provided at the bottom of the Y-axis traveling trolley 201. The positions of the lifting guide column 305 and the guide hole 306 correspond.

[0044] A battery pack clamping mechanism is provided on the lifting device 3. The battery pack clamping mechanism includes an electric push rod 309, a connecting rod 312, a first rotating hook 310 and a second rotating hook 311. The two ends of the connecting rod 312 are rotatably connected to the first rotating hook 310 and the second rotating hook 311, respectively. The electric push rod 309 is rotatably connected to the other side of the first rotating hook 310. The claws of the first rotating hook 310 and the second rotating hook 311 pass through the lifting device 3 and are located below the lifting device 3.

[0045] When the battery pack clamping mechanism needs to clamp the battery pack, the electric push rod 309 is activated and extended, thereby pushing the first rotating pawl 310 to rotate, which in turn drives the connecting rod 312 and the second rotating pawl 311 to rotate. The first rotating pawl 310 and the second rotating pawl 311 clamp into the locking hole of the battery pack, completing the clamping action. Conversely, when the electric push rod 309 is activated and retracted, it pulls the first rotating pawl 310 to rotate in the opposite direction, which in turn drives the connecting rod 312 and the second rotating pawl 311 to rotate. The first rotating pawl 310 and the second rotating pawl 311 move out of the locking hole of the battery pack, completing the unlocking action.

[0046] In addition, a hook rotation positioning detection mechanism 307 and a battery pack presence detection mechanism 308 are provided above the lifting device 3. Both the hook rotation positioning detection mechanism 307 and the battery pack presence detection mechanism 308 are proximity switches, which can be used to detect whether the rotation angle of the rotating hook meets the requirements and whether the battery pack is clamped by the battery pack clamping mechanism, respectively.

[0047] A battery pack guide block 313 is provided below the lifting device 3, which can guide the clamping position of the battery pack when the battery pack clamping mechanism clamps the battery pack, ensuring that the clamping position of the battery pack is accurate.

[0048] The working process of the gantry robot of this utility model is as follows:

[0049] X-axis drive motor 103 drives X-axis running module 1 (which also drives Y-axis running module 2 and Z-axis running module) to reciprocate along the X-axis direction on X-axis running track 101; Y-axis drive motor 203 drives Y-axis running module 2 (which also drives Z-axis running module) to reciprocate along the Y-axis direction within X-axis running module 1 by means of the movement of helical gear 202 on running rack 108; Z-axis drive motor 301 drives steel rope winding wheel 302 to rotate, causing steel rope 304 to shorten during winding or lengthen during unwinding, thereby realizing the lifting and lowering of the lifting device 3 in the Z-axis direction. The above three actions can occur simultaneously or separately, ultimately transporting the lifting device 3 to a preset position for battery pack transport.

[0050] The above description is only a preferred embodiment of the present utility model and is not intended to limit the utility model. Any modifications, equivalent substitutions, improvements, etc., made within the design concept of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gantry robot, comprising an X-axis running module, a Y-axis running module, and a Z-axis running module, characterized in that: The Z-axis running module is located within the Y-axis running module, and the Y-axis running module is located within the X-axis running module; The outer edge of the X-axis running module is provided with a first traveling wheel, and a friction wheel is provided below the X-axis running module. The first traveling wheel is connected to the X-axis drive motor, and the friction wheel is located above the X-axis running track.

2. The gantry robot as described in claim 1, characterized in that: The X-axis running module includes an X-axis traveling frame, an X-axis drive motor fixedly mounted on the X-axis traveling frame, a first traveling wheel located on the outer edge of the X-axis traveling frame, a friction wheel located below the X-axis traveling frame, and the X-axis drive motor and the first traveling wheel connected by a transmission shaft.

3. The gantry robot as described in claim 2, characterized in that: A running rack is installed on the X-axis traveling frame along the Y-axis direction. A helical gear and a Y-axis drive motor are installed on the Y-axis running module. The Y-axis drive motor, helical gear, and running rack are sequentially connected for transmission. A C-shaped groove is provided on the inner edge of the X-axis traveling frame along the Y-axis direction. A second traveling wheel is provided on the outer edge of the Y-axis running module. The second traveling wheel is located in the C-shaped groove.

4. The gantry robot as described in claim 3, characterized in that: The Y-axis running module includes a Y-axis traveling trolley, the second traveling wheel is located on the outer edge of the Y-axis traveling trolley, and the Y-axis drive motor and helical gear are both fixedly installed inside the Y-axis traveling trolley.

5. The gantry robot as described in claim 4, characterized in that: The Z-axis running module includes a steel cable drive guide mechanism and a lifting device. The steel cable drive guide mechanism is located inside the Y-axis traveling trolley, and the lifting device is suspended below the Y-axis traveling trolley by a steel cable.

6. The gantry robot as described in claim 5, characterized in that: The steel rope drive and guide mechanism includes a Z-axis drive motor, a steel rope winding wheel, and a steel rope guide wheel; the Z-axis drive motor is connected to the steel rope winding wheel, a steel rope is wound on the steel rope winding wheel, and the steel rope passes through the steel rope guide wheel and is fixedly connected to the lifting device.

7. The gantry robot as described in claim 5, characterized in that: The lifting device is provided with a lifting device guide column above it, and the bottom of the Y-axis traveling trolley is provided with a guide hole. The lifting device guide column and the guide hole are positioned correspondingly.

8. The gantry robot as described in claim 5, characterized in that: The lifting device is equipped with a battery pack clamping mechanism, which includes an electric push rod, a connecting rod, a first rotating claw, and a second rotating claw. The two ends of the connecting rod are rotatably connected to the first rotating claw and the second rotating claw, respectively. The electric push rod is rotatably connected to the other side of the first rotating claw. The claw bodies of the first rotating claw and the second rotating claw pass through the lifting device and are located below the lifting device.

9. The gantry robot as described in claim 5, characterized in that: Above the lifting device are a hook rotation positioning detection mechanism and a battery pack presence detection mechanism.

10. The gantry robot as described in claim 5, characterized in that: A battery pack guide block is provided below the lifting device.

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