Battery replacement robot lifting appliance capable of adapting to variable-pitch guiding

Abstract

The utility model discloses a battery replacement robot lifting appliance capable of adapting to variable-pitch guiding, and relates to the technical field of new energy vehicle battery replacement. The two width direction lead screw modules are connected to the two sides of the bottom of the lifting tool frame in the width direction respectively, and first guide columns are connected to the width direction lead screw modules and used for guiding in the width y direction when the width direction lead screw modules are connected with the battery frame; the two lead screw modules in the length direction are connected to the two sides of the bottom of the lifting tool frame in the length direction correspondingly, and second guide columns are connected to the lead screw modules in the length direction and used for guiding in the length x direction when the lead screw modules are connected with the battery frame; and the clamping mechanism is connected to the bottom of the lifting appliance frame and is used for clamping the battery frame so as to adapt to the sizes of different battery frames.

Description

TECHNICAL FIELD

[0001] The utility model relates to new energy vehicle battery swap technical field especially relates to a kind of battery swap robot lifting appliance that can adapt to variable distance guidance. BACKGROUND

[0002] Heavy electric truck attracts the attention of countries around the world, and its environmental-friendly feature is the main use feature. However, high cost of battery, slow charging speed and low efficiency of battery life have become the problems that limit the popularization and application of electric heavy truck. Therefore, establishing battery swap robot is a feasible promotion scheme.

[0003] Among them, the battery hoisting system is an important subsystem of the battery swap station. The hoisting system automatically travels to the battery position according to the coordinates of the battery swap heavy truck provided by the system (battery coordinates), grabs the battery, places the battery in the designated battery charging seat of the battery swap station, grabs the fully charged battery and places it in the heavy truck battery seat, and completes the entire heavy truck battery swap execution process. The lifting appliance is an important component of the hoisting system.

[0004] However, there are differences in the size of battery packs among various battery production enterprises in the industry. Battery standardization and expansion compatibility have become one of the important factors that restrict the widespread promotion of battery swap heavy truck in the short term. In particular, currently, solving the adaptation of lifting appliance to different types of battery pack frame is the key to the development of technology. UTILITY MODEL CONTENT

[0005] To solve the problems in the prior art, the utility model provides a kind of battery swap robot lifting appliance that can adapt to variable distance guidance, comprising:

[0006] Lifting appliance frame;

[0007] Two width direction screw rod modules are respectively connected to the bottom of the width direction of the lifting appliance frame on both sides, and a first guide column is connected to each of the width direction screw rod modules for guiding in the width y direction when connected with the battery frame;

[0008] Two length direction screw rod modules are respectively connected to the bottom of the length direction of the lifting appliance frame on both sides, and a second guide column is connected to each of the length direction screw rod modules for guiding in the length x direction when connected with the battery frame;

[0009] Clamping mechanism is connected to the bottom of the lifting appliance frame for clamping the battery frame.

[0010] Further, the width direction screw rod module is a bidirectional screw rod module;

[0011] The bottom of the two nut seats of the width direction screw rod module is connected with a first guide connecting plate, and the bottom of the first guide connecting plate is connected with the first guide column.

[0012] Further, the nut seat bottom of the length direction screw rod module is connected with a second guide connecting plate, and the bottom of the second guide connecting plate is connected with the second guide column.

[0013] Further, the side wall of the first guide column and the second guide column in contact with the top of the battery frame is an arc surface structure.

[0014] Further, the length of the length direction screw rod module is less than half of the length of the lifting appliance frame.

[0015] Further, the two length direction screw rod modules are arranged in a staggered manner.

[0016] Further, the clamping mechanism is located between the two width direction screw rod modules and the two length direction screw rod modules.

[0017] The clamping mechanism comprises:

[0018] Two servo motors are connected to the bottom of the lifting appliance frame.

[0019] Two screw rods are respectively connected to the output ends of the two servo motors.

[0020] Two ball nut seats are respectively threadedly connected to the two screw rods.

[0021] Two clamping plates are respectively connected to the bottoms of the two ball nut seats.

[0022] The servo motor drives the screw rod to rotate, and drives the ball nut seat to drive the clamping plate to move in the length direction of the lifting appliance frame.

[0023] Further, the clamping plate is L-shaped, one end of which is connected to the bottom of the ball nut seat, and an anti-wear pad plate is connected to the clamping plate.

[0024] Further, a locking column is detachably connected to the clamping plate.

[0025] Further, a rotating mechanism is connected to the top of the lifting appliance frame.

[0026] The beneficial effects of the technical scheme provided by the utility model are as follows: in the utility model, the width direction screw rod module is connected to the bottom of the lifting appliance frame on both sides in the width direction, the length direction screw rod module is connected to the bottom of the lifting appliance frame on both sides in the length direction, the two first guide columns are driven to move by the width direction screw rod module, the width y direction is guided when the battery frame is connected, the second guide column is driven to move by the length direction screw rod module, the length x direction is guided when the battery frame is connected, and thus different battery frame sizes can be adapted. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a perspective view of the battery replacing robot lifting appliance capable of adaptive variable-distance guiding provided by the utility model;

[0028] Figure 2 is a side view of the battery replacing robot lifting appliance capable of adaptive variable-distance guiding provided by the utility model;

[0029] Figure 3 is a bottom view of the battery replacing robot lifting appliance capable of adaptive variable-distance guiding provided by the utility model;

[0030] Figure 4 is a top view of the battery replacing robot lifting appliance capable of adaptive variable-distance guiding provided by the utility model;

[0031] Figure 5 is a structural schematic view of the width direction screw module provided by the utility model;

[0032] Figure 6 is a top view of the battery frame provided by the utility model;

[0033] Figure 7 is a battery replacing heavy truck battery replacing action flow chart provided by the utility model;

[0034] Figure 8 is an action flow chart of the battery replacing robot lifting appliance capable of adaptive variable-distance guiding provided by the utility model.

[0035] Reference signs: 1-lifting appliance frame, 2-width direction screw module, 3-first guiding column, 4-length direction screw module, 5-second guiding column, 6-first guiding connecting plate, 7-battery frame, 8-servo motor, 9-screw rod, 10-rolling ball nut base, 11-clamping plate, 12-anti-abrasion pad plate, 13-locking column, 14-longitudinal beam, 15-cross beam, 16-first fixed plate, 17-second fixed plate, 18-sliding rod, 19-rotary gear. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0037] To make the purpose, technical solutions and advantages of the utility model more clear, the utility model embodiment will be further described in detail below with reference to the drawings.

[0038] It should be noted that in the present embodiment, the directions or positional relationships indicated by "bottom", "top", "left", "right" and the like are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0039] It should also be noted that in the present embodiment, unless otherwise explicitly specified and limited, the terms "set", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] Reference Figures 1-8 A battery changing robot spreader that can adapt to variable distance guiding, comprising: a spreader frame 1, both sides of the bottom of the width direction of the spreader frame 1 are connected with width direction screw rod modules 2, both sides of the bottom of the length direction of the spreader frame 1 are connected with length direction screw rod modules 4.

[0041] Among them, the width direction screw rod module 2 is a bidirectional screw rod module, the main components of the bidirectional screw rod module include: bidirectional screw rod, guide rail, motor, coupling; the output end of the motor is connected with the bidirectional screw rod through the coupling, the bidirectional screw rod has two opposite threads, the two opposite threads are respectively connected with nut seats matched therewith, the motor provides rotary power for the bidirectional screw rod, the two nut seats simultaneously move away from or close to each other with the rotation of the bidirectional screw rod, the guide rail ensures the smooth movement of the nut seat along the predetermined path, improves the precision and stability of the system; the bottom of the two nut seats of the width direction screw rod module 2 is connected with the first guide connecting plate 6, and the bottom of the first guide connecting plate 6 is connected with the first guide column 3.

[0042] The screw rod in the length direction screw rod module 4 has only one direction of thread, and is connected with one nut seat, and the bottom of the nut seat of the length direction screw rod module 4 is connected with the second guide connecting plate, and the bottom of the second guide connecting plate is connected with the second guide column 5.

[0043] The guide mechanism is needed when the lifting appliance is positioned to move along the edge correctly and reduce the abrasion to the edge of the battery frame, since the size boundary of the upper frame of the heavy truck battery pack is different in the industry, the main difference is that the distance standard of the crossbeam in the length x direction and the width y direction of the battery frame is not unified, therefore, in the utility model, the width direction screw rod module is arranged at the bottom of the lifting appliance frame 1 in the width direction, the length direction screw rod module 4 is arranged at the bottom of the lifting appliance frame 1 in the length direction, the width direction screw rod module drives the two first guide columns 3 to move, is used for guiding in the width y direction when being connected with the battery frame 7, the length direction screw rod module 4 drives the second guide column 5 to move, is used for guiding in the length x direction when being connected with the battery frame 7, so that different battery frame sizes are adapted, after the lifting appliance is positioned, the battery frame is clamped through the clamping mechanism at the bottom of the lifting appliance frame 1.

[0044] Further, the length of the length direction screw rod module 4 is less than half of the length of the lifting appliance frame 1, and the two length direction screw rod modules 4 are arranged in a staggered manner.

[0045] Referring to Figure 6 , Figure 6 is a top view of the battery frame provided by the utility model, when guiding in the length x direction, the motor drives the screw rod of the two length direction screw rod modules 4, so that the two second guide columns 5 move towards the direction of approaching or moving away at the same time, so as to be in contact with the two longitudinal beams 14 in the middle of the top of the battery frame, so that the distance between the two longitudinal beams 14 of different battery frames can be adapted.

[0046] The motor of the width direction screw rod module 2 drives the bidirectional screw rod, so that the two first guide columns 3 on each width direction screw rod module 2 move towards the direction of approaching or moving away at the same time, are in contact with the inner side of the two crossbeams 15 of the battery frame, so that the distance between the two crossbeams 15 of different battery frames can be adapted.

[0047] Further, the side wall in contact with the crossbeam 15 of the battery frame of the first guide column 3 and the side wall in contact with the longitudinal beam 14 of the battery frame of the second guide column 5 are both arc surface structures, forming a guide slope, in the process of lowering the lifting appliance, based on the action of gravity, the guide slope of the first guide column 3 and the second guide column 5 guides the covering of the lifting appliance and the battery frame.

[0048] In addition, the first guide column 3 and the second guide column 5 are made of high molecular polyethylene material, which has the advantage of high wear resistance.

[0049] Further, the clamping mechanism is located between the two width direction screw module 2 and the two length direction screw module 4, and the clamping mechanism comprises two first fixed plates 16 and two second fixed plates 17, the two first fixed plates 16 are fixedly connected at the middle position of the bottom of the lifting appliance frame, the two second fixed plates 17 are fixedly connected at both sides of the bottom of the lifting appliance frame, the two first fixed plates 16 are connected with the servo motor 8, the output end of the servo motor 8 is connected with the screw rod 9, the other end of the screw rod 9 is rotatably connected with the second fixed plate 17, the screw rod 9 is threadedly connected with the ball nut seat 10, the bottom of the ball nut seat 10 is connected with the clamping plate 11, and the first fixed plate 16 and the second fixed plate 17 are connected with the slide rod 18, and the ball nut seat 10 is slidably connected with the slide rod 18.

[0050] After the lifting appliance is overlapped with the battery frame, the servo motor 8 starts to work, drives the screw rod 9 to rotate, and drives the ball nut seat 10 to move with the clamping plate 11, the servo motor 8 controls the moving direction by forward and reverse rotation, realizes the extension and retraction action of the clamping plate 11, and locks and unlocks the battery frame through the movement of the clamping plate 11, and the first fixed plate 16 and the second fixed plate 17 limit the stroke limit.

[0051] In addition, the clamping plate 11 is L-shaped, one end of which is connected with the bottom of the ball nut seat 10, and the other ends of the two clamping plates 11 are oppositely arranged, the servo motor 8 controls the two clamping plates 11 to move towards each other, and clamps the two longitudinal beams 14 at the top of the battery frame, wherein the end surface of the clamping plate 11 in contact with the longitudinal beam 14 is fixedly connected with the wear-resistant pad 12 by means of a countersunk head bolt, the wear-resistant pad 12 is made of high molecular polyethylene material, which has the advantages of high wear resistance and reduces the wear with the battery frame during lifting to prevent shaking.

[0052] Further, the clamping plate 11 is detachably connected with the locking column 13, when the clamping plate 11 matches with the longitudinal beam 14 of the battery frame, the locking column 13 presses the longitudinal beam 14 of the battery frame to ensure stable transportation, which is similar to the anti-shaking design, the locking column 13 is made into a detachable tooling, which is suitable for different battery frames and has higher flexibility.

[0053] Further, the top of the lifting appliance frame 1 is connected with a rotating mechanism, the rotating mechanism is a rotating gear 19, the rotating gear 19 is connected at the top of the lifting appliance frame 1, the rotating gear 19 is further connected with the battery replacing robot through a rotary support, the battery replacing robot is further connected with a motor, the output end of the motor is connected with a driving gear, and the driving gear is engaged with the rotating gear 19.

[0054] The battery replacing station is provided with a 3D camera, the 3D camera obtains the battery coordinate information through visual recognition technology, and the recognition data is transferred to the robot coordinate, the motor drives the rotating gear 19 to drive the lifting appliance frame 1 to rotate at a certain angle, and the rotation is corrected to ensure that the posture is consistent with the battery frame.

[0055] In addition, the hoist rotating mechanism can be added or cancelled according to the requirements of the battery swap station, appropriate functions are selected for different application scenarios, upgrade and maintenance are convenient, the application range is wide, the rotating function has the advantages of high matching precision of the hoist and the battery pack, high service life of the battery pack connector, and reduced maintenance cost of the battery pack.

[0056] Referring to Figure 7 and Figure 8 , the action flow of the battery swap heavy truck is as follows: after the vehicle enters the battery swap station, the vehicle identity is recognized, the battery swap hoisting system is started, the 3D camera takes a picture of the battery and feeds back to the system, the battery coordinate information is obtained, the hoist is adjusted and rotated to control the work, the hoist positioning position is corrected, the battery size information is fed back to the battery swap robot PLC by the station control, the feedback is executed by the width direction screw module and the length direction screw module of the hoist, the purpose of adapting to different battery frames is achieved, the hoist moves from the zero point to the vehicle dismounting position, the hoist starts to grab the low battery pack and runs to the battery pack buffer position, the hoist is unloaded to the position, then the full battery pack is grabbed and run to the vehicle dismounting position, the hoist returns to the zero point, and the vehicle drives out of the battery swap station after self-checking and passing.

[0057] The above only describes the preferred embodiments of the utility model, and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. An adaptive reach guided battery swapping robot spreader, characterized in that, Include: The lifting appliance frame (1) ; Two width direction screw module (2) is connected in the bottom of the lifting appliance frame (1) width direction two sides respectively, and the width direction screw module (2) is connected with first guide column (3) on it, for guiding width y direction when connecting with battery frame; Two length direction screw module (4) is connected in the bottom of the lifting appliance frame (1) length direction two sides respectively, and the length direction screw module (4) is connected with second guide column (5) on it, for guiding length x direction when connecting with battery frame; Clamping mechanism, connected in the bottom of the lifting appliance frame (1), for clamping battery frame.

2. The adaptive span-luffing electro- swap robotic spreader of claim 1, wherein, The width direction screw module (2) is bidirectional screw module; The bottom of the width direction screw module (2) is connected with first guide connecting plate (6), and the bottom of the first guide connecting plate (6) is connected with the first guide column (3).

3. The adaptive span-luffing electro- swap robotic spreader of claim 2, wherein, The bottom of the length direction screw module (4) is connected with second guide connecting plate, and the bottom of the second guide connecting plate is connected with the second guide column (5).

4. The adaptive span-luffing electro- swap robotic spreader of claim 3, wherein, The side wall of the first guide column (3) and the second guide column (5) contacting with the top of the battery frame (7) is arc surface structure.

5. The adaptive span-luffing electro- swap robotic spreader of claim 1, wherein, The length of the length direction screw module (4) is less than half of the length of the lifting appliance frame (1).

6. The reach adjustment adaptable guided battery swap robot spreader of claim 5, wherein, Two length direction screw module (4) is set in error.

7. The adaptive span-luffing electro- swap robotic spreader of claim 1, wherein, The clamping mechanism is located between two width direction screw module (2), two length direction screw module (4) ; The clamping mechanism includes: Two servo motors (8) are connected in the bottom of the lifting appliance frame (1) ; Two screw rods (9) are connected in the output end of two servo motors (8) respectively; Two ball nut seats (10) are threadedly connected on two screw rods (9) respectively; Two clamping plates (11) are connected in the bottom of two ball nut seats (10) respectively; The servo motor (8) drives the screw rod (9) to rotate, drives the ball nut seat (10) to drive the clamping plate (11) to move in the length direction of the lifting appliance frame (1).

8. The adaptive span-luffing electro- swap robotic spreader of claim 7, wherein, The clamping plate (11) is L-shaped, one end of which is connected with the bottom of the ball nut seat (10), and the clamping plate (11) is connected with wear-resistant pad (12).

9. The reach adjustment adaptable guided battery swap robot spreader of claim 8, wherein, The clamping plate (11) is detachably connected with locking column (13).

10. The adaptive span-luffing electro- swap robotic spreader of claim 1, wherein, The top of the lifting appliance frame (1) is connected with rotating mechanism.

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