Parallel station battery replacing robot

Abstract

The utility model discloses a parallel station battery replacing robot, which belongs to the technical field of battery replacing equipment and comprises an X-axis traveling mechanism, a Y-axis telescopic mechanism and a Z-axis lifting mechanism, and the X-axis traveling mechanism is arranged on an X-axis running track; the Y-axis telescopic mechanism is arranged above the X-axis walking mechanism; the Z-axis lifting mechanism is arranged at the end of the Y-axis telescopic mechanism. During use, the Z-axis lifting mechanism can be used for grabbing and locking a battery pack, and the battery pack is carried to a required position and put down through the actions of the X-axis walking mechanism, the Y-axis telescopic mechanism and the Z-axis lifting mechanism 3, so that the replacement of an under-power battery pack and the assembly of a full-power battery pack are realized. According to the parallel station battery replacing robot, the motor is adopted as a power source, the position precision is high, the service life is long, the electric control cabinet arranged on the X-axis walking assembly can solve the problem of signal interference caused by the fact that a communication cable is too long, and the stability of the robot is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of battery replacing equipment, and specifically relates to a parallel station battery replacing robot. BACKGROUND

[0002] At present, the demand for heavy trucks is large in the mining industry, and traditional fuel heavy trucks have large fuel consumption, large carbon emissions and serious environmental pollution. The use of new energy battery heavy trucks can greatly reduce carbon emissions, and higher economic benefits can also be obtained from oil-electricity differences.

[0003] Heavy truck battery replacement is the main way to provide energy supply for heavy trucks, and heavy truck battery replacement is mostly carried out in parallel stations. Parallel stations can realize battery charging and replacement separation, and can concentrate storage, charging and replacement and unified distribution of a large number of batteries. The working process of heavy truck battery replacement is to drive the heavy truck into the parallel station, use the battery replacement robot to take off the low battery pack on the heavy truck, and then install the full battery pack to complete the battery replacement process. The battery replacement robot is an important equipment of the battery replacement station, but the similar equipment on the current market has large volume and occupies large space, and has poor practicability for small sites and battery replacement stations with few application vehicles, and has high investment cost. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a parallel station battery replacement robot to solve the technical problems mentioned in the background.

[0005] In order to achieve the above-mentioned purpose, the utility model discloses a parallel station battery replacement robot, which comprises an X-axis walking mechanism, a Y-axis telescopic mechanism, a Z-axis lifting mechanism,

[0006] The X-axis walking mechanism is arranged on the X-axis running track;

[0007] The Y-axis telescopic mechanism is arranged above the X-axis walking mechanism;

[0008] The Z-axis lifting mechanism is arranged at the end of the Y-axis telescopic mechanism.

[0009] Further, the X-axis walking mechanism comprises an X-axis walking assembly, an X-axis driving motor, a universal coupling and an X-axis transmission chain. A rolling wheel is arranged below the X-axis walking assembly, and the rolling wheel is arranged on the X-axis running track in a rolling manner;

[0010] The X-axis driving motor is installed below the X-axis walking assembly, the output shaft of the X-axis driving motor is connected with the universal coupling, and the universal coupling is in transmission connection with the rolling wheel through the X-axis transmission chain.

[0011] Further, an electric control cabinet, a ladder and a platform are arranged on the X-axis walking assembly; an anti-toppling roller is arranged on the X-axis walking assembly, and track cleaning brushes are arranged on both sides of the roller on the X-axis walking assembly; meanwhile, an X-axis distance measuring sensor is arranged on the X-axis walking assembly.

[0012] Further, the Y-axis telescopic mechanism comprises a Y-axis driving motor, a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism which are sequentially connected in a nested manner, and the Y-axis driving motor is fixedly installed above the first telescopic mechanism.

[0013] The first telescopic mechanism comprises a first telescopic arm, a first transmission chain, a first transmission sprocket and a first walking wheel; the Y-axis first driving motor, the first transmission chain and the first transmission sprocket are sequentially connected in a transmission manner.

[0014] The second telescopic mechanism comprises a second telescopic arm, a second transmission chain, a second transmission sprocket and a second walking wheel; a first sliding groove is arranged on the outside of the second telescopic arm, and the first walking wheel is slidingly arranged in the first sliding groove; the second transmission chain and the second transmission sprocket are connected in a transmission manner.

[0015] The third telescopic mechanism comprises a third telescopic arm, and a second sliding groove is arranged on the outside of the third telescopic arm, and the second walking wheel is slidingly arranged in the second sliding groove.

[0016] Further, the Z-axis lifting mechanism comprises a Z-axis lifting trolley mechanism and a Z-axis hoisting mechanism; the Z-axis lifting trolley mechanism is located in the third telescopic mechanism, a third walking wheel is arranged on the Z-axis lifting trolley mechanism, a third sliding groove is arranged in the inside of the third telescopic arm, and the third walking wheel is slidingly arranged in the third sliding groove; the Z-axis hoisting mechanism is connected to the Z-axis lifting trolley mechanism in an elevatable manner through a steel wire.

[0017] Further, a motion rack is arranged on the third telescopic arm, a Z-axis driving motor and a helical gear are arranged on the Z-axis lifting trolley mechanism, and the Z-axis driving motor, the helical gear and the motion rack are sequentially connected in a transmission manner.

[0018] Further, a Z-axis lifting motor, a steel wire winding wheel and a steel wire guide wheel are arranged on the Z-axis lifting trolley mechanism, the Z-axis lifting motor is connected to the steel wire winding wheel in a transmission manner, a steel wire is wound on the steel wire winding wheel, the steel wire is wound from the steel wire winding wheel to the steel wire guide wheel, and the Z-axis hoisting mechanism is connected to the steel wire guide wheel.

[0019] Further, a movable pulley is arranged on the Z-axis hoisting mechanism; the steel wire is wound on the movable pulley.

[0020] Further, the Z-axis hoisting mechanism is further provided with a hoisting hook, the hoisting hook comprises a rotating hook and a locking mechanism, the locking mechanism is located above the Z-axis hoisting mechanism; one end of the rotating hook is connected with the locking mechanism, and the other end penetrates through the Z-axis hoisting mechanism and extends below the Z-axis hoisting mechanism.

[0021] Further, a spreader descending to position sensor and a photoelectric switch are arranged above the Z-axis hoisting mechanism; a spreader descending guide column is arranged above the Z-axis hoisting mechanism, and a battery pack guide column is arranged below the Z-axis hoisting mechanism.

[0022] Compared with the prior art, the parallel station battery replacing robot has the following advantages:

[0023] (1) The parallel station battery replacing robot adopts a motor as a power source, has high position precision and long service life, and the electric control cabinet arranged on the X-axis walking assembly can solve the signal interference problem caused by the excessively long communication cable, thereby greatly improving the stability of the robot.

[0024] (2) The parallel station battery replacing robot can simultaneously move in X, Y and Z directions and has good movement flexibility.

[0025] (3) The parallel station battery replacing robot completes the telescopic movement in the Y-axis direction through the Y-axis telescopic mechanism, has higher cost performance than a standard fork, has small hoisting disturbance and long hoisting stroke, and can be compatible with most models of battery packs on the market. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a perspective view of the parallel station battery replacing robot.

[0027] Figure 2 It is a top view of the parallel station battery replacing robot.

[0028] Figure 3 It is a side view of the parallel station battery replacing robot.

[0029] Figure 4 It is a top view of the first telescopic mechanism.

[0030] Figure 5 It is a top view of the second telescopic mechanism.

[0031] Figure 6 It is a top view of the third telescopic mechanism.

[0032] Figure 7 It is a structural schematic view of the Z-axis lifting trolley mechanism.

[0033] Figure 8 It is the structure schematic view of the Z axis hoisting mechanism of the utility model.

[0034] Figure 9 It is the bottom view of the Z axis hoisting mechanism of the utility model.

[0035] Figure 10 It is the structure schematic view of the hoisting hook claw of the utility model.

[0036] The figure mark is: 1, X axis walking mechanism;2, Y axis telescopic mechanism;3, Z axis lifting mechanism;

[0037] 101, X axis running track;102, X axis walking group stand;103, X axis drive motor;104, universal coupling;105, X axis transmission chain;106, speed reducer;107, electric control cabinet;108, ladder;109, platform;110, anti-toppling roller;111, cleaning brush;112, X axis distance measuring sensor;

[0038] 201, primary telescopic mechanism;202, secondary telescopic mechanism;203, tertiary telescopic mechanism;204, Y axis drive motor;205, primary telescopic arm;206, first transmission chain;207, first transmission sprocket;208, first walking wheel;209, secondary telescopic arm;210, second transmission chain;211, second transmission sprocket;212, second walking wheel;213, first sliding groove;214, tertiary telescopic arm;215, second sliding groove;216, third sliding groove;

[0039] 301, Z axis lifting trolley mechanism;302, Z axis hoisting mechanism;303, third walking wheel;304, motion rack;305, Z axis drive motor;306, helical gear;307, Z axis lifting motor;308, steel wire winding wheel;309, steel wire guide wheel;310, steel wire;311, movable pulley;312, hoisting hook claw;313, rotary hook claw;314, electric push rod;315, connecting rod;316, lifting appliance descending in place sensor;317, photoelectric switch;318, lifting appliance descending guide column;319, battery pack guide column. DETAILED DESCRIPTION

[0040] The technical scheme of the utility model is explained in detail through specific embodiments.

[0041] A parallel station battery replacing robot, comprising an X axis walking mechanism 1, a Y axis telescopic mechanism 2 and a Z axis lifting mechanism 3, wherein the X axis walking mechanism 1 is arranged on an X axis running track 101, the Y axis telescopic mechanism 2 is arranged above the X axis walking mechanism 1, and the Z axis lifting mechanism 3 is arranged at the end of the Y axis telescopic mechanism 2.

[0042] The X-axis walking mechanism 1 comprises an X-axis walking assembly 102, an X-axis driving motor 103, a universal coupling 104 and an X-axis transmission chain 105.

[0043] A speed reducer 106 is arranged between the X-axis driving motor 103 and the universal coupling 104. The X-axis driving motor 103 is a servo motor. The X-axis walking assembly 102 is in a gantry frame structure, and the X-axis running track 101 comprises two tracks. The X-axis walking assembly 102 is arranged across the two tracks by the rolling wheels. An electric control cabinet 107, a climbing ladder 108 and a platform 109 are arranged on the X-axis walking assembly 102. An anti-toppling rolling wheel 110 is arranged on the X-axis walking assembly 102. Track cleaning brushes 111 are arranged on both sides of the rolling wheels on the X-axis walking assembly 102. An X-axis distance measuring sensor 112 is also arranged on the X-axis walking assembly 102.

[0044] The Y-axis telescopic mechanism 2 comprises a Y-axis driving motor 204, a first telescopic mechanism 201, a second telescopic mechanism 202 and a third telescopic mechanism 203 which are connected in sequence, and the Y-axis driving motor 204 is fixedly arranged above the first telescopic mechanism 201.

[0045] The first telescopic mechanism 201 comprises a first telescopic arm 205, a first transmission chain 206, a first transmission sprocket 207 and a first walking wheel 208. The Y-axis driving motor 204, the first transmission chain 206 and the first transmission sprocket 207 are connected in sequence.

[0046] The second telescopic mechanism 202 comprises a second telescopic arm 209, a second transmission chain 210, a second transmission sprocket 211 and a second walking wheel 212. The first telescopic arm 209 is provided with a first sliding groove 213, and the first walking wheel 208 is slidingly arranged in the first sliding groove 213. The second transmission chain 210 and the second transmission sprocket 211 are connected in transmission.

[0047] The third telescopic mechanism 203 comprises a third telescopic arm 214, and the second telescopic arm 214 is provided with a second sliding groove 215, and the second walking wheel 212 is slidingly arranged in the second sliding groove 215.

[0048] The Z-axis lifting mechanism 3 comprises a Z-axis lifting trolley mechanism 301 and a Z-axis hoisting mechanism 302; the Z-axis lifting trolley mechanism 301 is located in the three-stage telescopic mechanism 203, and a third walking wheel 303 is arranged on the Z-axis lifting trolley mechanism 301; a third sliding groove 216 is arranged in the inside of the three-stage telescopic arm 214, and the third walking wheel 303 is slidingly arranged in the third sliding groove 216; the Z-axis hoisting mechanism 302 is in lifting connection with the Z-axis lifting trolley mechanism 301 through a steel wire 310.

[0049] A movement rack 304 is arranged on the three-stage telescopic arm 214, a Z-axis driving motor 305 and a bevel gear 306 are arranged on the Z-axis lifting trolley mechanism 301, and the Z-axis driving motor 305, the bevel gear 306 and the movement rack 304 are sequentially in driving connection.

[0050] A Z-axis lifting motor 307, a steel wire winding wheel 308 and a steel wire guide wheel 309 are arranged on the Z-axis lifting trolley mechanism 301, the Z-axis lifting motor 307 is in driving connection with the steel wire winding wheel 308, the steel wire 310 is wound on the steel wire winding wheel 308, the steel wire 310 is wound from the steel wire winding wheel 308 to the steel wire guide wheel 309, and the steel wire 310 is connected with the Z-axis hoisting mechanism 302. A movable pulley 311 is arranged on the Z-axis hoisting mechanism 302, and the steel wire 310 is wound on the movable pulley 311.

[0051] The Z-axis hoisting mechanism 302 further comprises a hoisting hook 312, the hoisting hook 312 comprises a rotating hook 313 and a locking mechanism, and the locking mechanism is located above the Z-axis hoisting mechanism 302; one end of the rotating hook 313 is connected with the locking mechanism, and the other end extends to below the Z-axis hoisting mechanism 302 through the Z-axis hoisting mechanism 302.

[0052] Specifically, the locking mechanism comprises an electric push rod 314 and a connecting rod 315, one rotating hook 313 is rotatably connected to each end of the connecting rod 315, and the electric push rod 314 is rotatably connected to the middle part of the connecting rod 315; in use, the electric push rod 314 is started to drive the connecting rod 315 to rotate the rotating hook 313, so that the rotating hook 313 can be locked or unlocked to the battery pack.

[0053] A spreader descending in-place sensor 316 and a photoelectric switch 317 are arranged above the Z-axis hoisting mechanism 302; a spreader descending guide column 318 is arranged above the Z-axis hoisting mechanism 302, and a battery pack guide column 319 is arranged below the Z-axis hoisting mechanism 302.

[0054] The lifting appliance lowering in place sensor 316 can detect the lifting position of the Z-axis lifting mechanism 302 on the Z-axis; the photoelectric switch 317 can detect whether the battery pack is lifted on the Z-axis lifting mechanism 302; the lifting appliance lowering guide column 318 can guide the position movement of the Z-axis lifting mechanism 302 on the Z-axis, and ensure the movement collimation of the Z-axis lifting mechanism 302; and the battery pack guide column 319 can guide the lifting position of the battery pack, and ensure the accurate lifting position of the battery pack.

[0055] The working principle of the parallel station battery replacing robot is as follows:

[0056] The X-axis driving motor 103 drives the X-axis walking assembly 102 to telescopically reciprocate on the X-axis running track 101 in the X-axis direction, so as to realize the movement in the X-axis direction.

[0057] The Y-axis telescopic mechanism 2 can telescopically reciprocate in the Y-axis direction, so as to realize the movement in the Y-axis direction. In the initial state, the first telescopic arm 205, the second telescopic arm 209 and the third telescopic arm 214 are in the retracted and stacked state, and the third telescopic arm 214 is a fixed mechanism.

[0058] When the Y-axis telescopic mechanism 2 is stretched, the first telescopic arm 205 and the second telescopic arm 209 are driven by the Y-axis driving motor 204 to rotate the second transmission chain 210 and the second transmission sprocket 211, so as to drive the second walking wheel 212 to walk on the second sliding groove 215, realize the stretching of the first telescopic arm 205 and the second telescopic arm 209 outside the third telescopic arm 214, and stretch to the outside of the third telescopic arm 214 until completely stretched; then, the Y-axis driving motor 204 drives the first transmission chain 206 and the first transmission sprocket 207 to rotate, so as to drive the first walking wheel 208 to walk on the first sliding groove 213, realize the stretching of the first telescopic arm 205 outside the second telescopic arm 209, and stretch to the outside of the second telescopic arm 209 until completely stretched, that is, the stretching process of the Y-axis telescopic mechanism 2 is completed.

[0059] When the Y-axis telescopic mechanism 2 is retracted, first, the first transmission chain 206 and the first transmission sprocket 207 of the Y-axis driving motor 204 rotate, so as to drive the first walking wheel 208 to walk on the first sliding groove 213, at this time, the first telescopic arm 205 is retracted to the second telescopic arm 209, when the first telescopic arm 205 is completely retracted to the outside of the second telescopic arm 209, the second transmission chain 210 and the second transmission sprocket 211 rotate, so as to drive the second walking wheel 212 to walk on the second sliding groove 215, at this time, the first telescopic arm 205 and the second telescopic arm 209 are retracted to the third telescopic arm 214 together, until completely retracted to the outside of the third telescopic arm 214, that is, the retraction process of the Y-axis telescopic mechanism 2 is completed.

[0060] The Z-axis driving motor 305 drives the bevel gear 306 to rotate, and drives the Z-axis lifting trolley mechanism 301 to move reciprocally along the movement rack 304 in the Y-axis direction inside the three-stage telescopic arm 214, and the third walking wheel 303 moves reciprocally in the Y-axis direction on the third sliding groove 216.

[0061] When the Z-axis lifting mechanism 302 needs to be lifted, the Z-axis lifting motor 307 is started, and drives the steel wire winding wheel 308 to rotate, and the steel wire 310 is loosened or wound on the steel wire winding wheel 308, so as to realize the lifting action of the Z-axis lifting mechanism 302, that is, the movement in the Z-axis direction. The lifting hook 312 can lock or unlock the battery pack, and realize the gripping and conveying or loosening of the battery pack.

[0062] The parallel station battery replacement robot can grasp and lock the battery pack by the lifting hook 312, and through the action of the X-axis walking mechanism 1, the Y-axis telescopic mechanism 2 and the Z-axis lifting mechanism 3, the battery pack can be carried to a required position and then placed down, so as to realize the replacement of the low-power battery pack and the assembly of the full-power battery pack.

[0063] The above is only a preferred embodiment of the utility model, and is not used for limiting the utility model, and any modification, equivalent replacement, improvement and the like within the design concept of the utility model should be included in the protection scope of the utility model.

Claims

1. A parallel station battery replacement robot, comprising an X-axis walking mechanism, a Y-axis telescopic mechanism and a Z-axis lifting mechanism, characterized in that: the X-axis walking mechanism is arranged on an X-axis running track; the Y-axis telescopic mechanism is arranged above the X-axis walking mechanism; the Z-axis lifting mechanism is arranged at the end of the Y-axis telescopic mechanism.

2. The parallel station battery replacement robot according to claim 1, characterized in that: the X-axis walking mechanism comprises an X-axis walking assembly, an X-axis drive motor, a universal coupling and an X-axis transmission chain; a rolling wheel is arranged below the X-axis walking assembly and rolls on the X-axis running track; the X-axis drive motor is installed below the X-axis walking assembly, the output shaft of the X-axis drive motor is connected with the universal coupling, and the universal coupling is in transmission connection with the rolling wheel through the X-axis transmission chain; 3. The parallel station battery swapping robot of claim 2, wherein: an electric control cabinet, a ladder and a platform are arranged on the X-axis walking assembly; an anti-toppling rolling wheel is arranged on the X-axis walking assembly, track cleaning brushes are arranged on both sides of the rolling wheel on the X-axis walking assembly; and an X-axis distance measuring sensor is installed on the X-axis walking assembly.

4. The parallel station battery swapping robot of claim 1, wherein: the Y-axis telescopic mechanism comprises a Y-axis drive motor and a first-level telescopic mechanism, a second-level telescopic mechanism and a third-level telescopic mechanism connected in sequence; the Y-axis drive motor is fixedly installed above the first-level telescopic mechanism; the first-level telescopic mechanism comprises a first-level telescopic arm, a first transmission chain, a first transmission sprocket and a first walking wheel; the Y-axis first drive motor, the first transmission chain and the first transmission sprocket are in transmission connection in sequence; the second-level telescopic mechanism comprises a second-level telescopic arm, a second transmission chain, a second transmission sprocket and a second walking wheel; a first sliding groove is arranged outside the second-level telescopic arm, and the first walking wheel is slidingly arranged in the first sliding groove; the second transmission chain and the second transmission sprocket are in transmission connection; the third-level telescopic mechanism comprises a third-level telescopic arm, and a second sliding groove is arranged outside the third-level telescopic arm, and the second walking wheel is slidingly arranged in the second sliding groove.

5. The parallel station battery swapping robot of claim 4, wherein: the Z-axis lifting mechanism comprises a Z-axis lifting trolley mechanism and a Z-axis hoisting mechanism; the Z-axis lifting trolley mechanism is located in the third-level telescopic mechanism, a third walking wheel is arranged on the Z-axis lifting trolley mechanism, a third sliding groove is arranged inside the third-level telescopic arm, and the third walking wheel is slidingly arranged in the third sliding groove; the Z-axis hoisting mechanism is in liftable connection with the Z-axis lifting trolley mechanism through a steel wire.

6. The parallel station battery swapping robot of claim 5, wherein: a motion rack is arranged on the third-level telescopic arm, a Z-axis drive motor and a helical gear are arranged on the Z-axis lifting trolley mechanism, and the Z-axis drive motor, the helical gear and the motion rack are in transmission connection in sequence.

7. The parallel station battery swapping robot of claim 6, wherein: a Z-axis lifting motor, a steel wire winding wheel and a steel wire guide wheel are arranged on the Z-axis lifting trolley mechanism; the Z-axis lifting motor is in transmission connection with the steel wire winding wheel; a steel wire is wound on the steel wire winding wheel, and the steel wire is wound from the steel wire winding wheel to the steel wire guide wheel and connected with the Z-axis hoisting mechanism.

8. The parallel station battery swapping robot of claim 7, wherein: a movable pulley is arranged on the Z-axis hoisting mechanism; the steel wire is wound on the movable pulley.

9. The parallel station battery swapping robot of claim 8, wherein: The Z-axis hoisting mechanism is further provided with a hoisting hook, which comprises a rotating hook and a locking mechanism, and the locking mechanism is located above the Z-axis hoisting mechanism; one end of the rotating hook is connected with the locking mechanism, and the other end penetrates through the Z-axis hoisting mechanism and extends below the Z-axis hoisting mechanism.

10. The parallel station battery swapping robot of claim 9, wherein: A spreader descending in-place sensor and a photoelectric switch are arranged above the Z-axis hoisting mechanism; a spreader descending guide column is arranged above the Z-axis hoisting mechanism, and a battery pack guide column is arranged below the Z-axis hoisting mechanism.

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