Battery replacement mechanical arm and battery replacement ship

Abstract

The embodiment of the utility model provides a battery replacement mechanical arm and a battery replacement ship, and relates to the technical field of ship battery replacement. A battery replacing mechanical arm of the battery replacing ship comprises a base, a mechanical arm support, a large arm mechanism and a small arm mechanism. The mechanical arm support is rotationally installed on the base. And one end of the large arm mechanism is rotationally connected with the mechanical arm support. And the other end of the big arm mechanism is rotationally connected with the small arm mechanism. A first driving piece and a second driving piece are arranged on the mechanical arm support. The first driving piece is in driving connection with the big arm mechanism and used for driving the big arm mechanism to rotate relative to the mechanical arm support. The second driving piece is in driving connection with the small arm mechanism through the connecting rod mechanism and used for driving the small arm mechanism to rotate relative to the large arm mechanism. The end, away from the big arm mechanism, of the small arm mechanism is connected with a connecting arm. The connecting arms are used for connecting and fixing batteries. Posture adjustment of battery transportation can be achieved, butt joint failure of the battery and a ship body is avoided, and damage to the battery or ship body equipment is prevented.

Description

Technical Field

[0001] This utility model relates to the field of ship battery swapping technology, specifically to a battery swapping robotic arm and a battery swapping ship. Background Technology

[0002] With the development of ship electrification, existing ship battery swapping technologies mainly include boom cranes and folding boom cranes. In actual operation, these devices primarily rely on preset paths and fixed action sequences to complete the battery replacement process. In existing technologies, boom cranes and folding boom cranes can effectively remove old batteries and install new ones, thereby supporting continuous ship operation and energy replenishment.

[0003] However, existing cranes lack real-time attitude adjustment capabilities, which can lead to battery docking failures and increase the risk of equipment damage. Utility Model Content

[0004] The purpose of this utility model is to provide a battery swapping robotic arm and a battery swapping boat, which can realize the attitude adjustment of battery transportation, avoid battery docking failure with the hull, and prevent damage to the battery or hull equipment.

[0005] The embodiments of this utility model can be implemented as follows:

[0006] In a first aspect, this utility model provides a battery swapping robotic arm, including a base, a robotic arm support, a large arm mechanism, and a small arm mechanism. The robotic arm support is rotatably mounted on the base. One end of the large arm mechanism is rotatably connected to the robotic arm support, and the other end of the large arm mechanism is rotatably connected to the small arm mechanism. The robotic arm support is provided with a first driving member and a second driving member. The first driving member is drivenly connected to the large arm mechanism and is used to drive the large arm mechanism to rotate relative to the robotic arm support. The second driving member is drivenly connected to the small arm mechanism through a linkage mechanism and is used to drive the small arm mechanism to rotate relative to the large arm mechanism. A connecting arm is connected to the end of the small arm mechanism away from the large arm mechanism, and the connecting arm is used to connect and fix the battery.

[0007] In an optional embodiment, the linkage mechanism includes a first link and a second link, one end of the first link is rotatably connected to the robotic arm support, the other end of the first link is rotatably connected to one end of the second link, the end of the second link away from the first link is rotatably connected to the forearm mechanism, and the second drive member is drivenly connected to the first link.

[0008] In an optional embodiment, the first driving component includes a first hydraulic cylinder, the second driving component includes a second hydraulic cylinder, one end of the drive shaft of the first hydraulic cylinder is rotatably connected to the boom mechanism, and one end of the drive shaft of the second hydraulic cylinder is drivenly connected to the linkage mechanism.

[0009] In an optional embodiment, the first drive unit further includes a first energy storage device, and the second drive unit further includes a second energy storage device, wherein the first energy storage device is used to absorb the braking energy of the first hydraulic cylinder, and the second energy storage device is used to absorb the braking energy of the second hydraulic cylinder.

[0010] In an optional embodiment, the battery swapping robotic arm further includes a lever mechanism, which includes a first lever, a lever connecting part, and a second lever. One end of the first lever is rotatably connected to the robotic arm support, and the other end of the first lever is rotatably connected to the lever connecting part. One end of the second lever is rotatably connected to the lever connecting part, and the other end of the second lever is rotatably connected to the connecting arm. The lever connecting part is also rotatably connected to the end of the upper arm mechanism near the lower arm mechanism.

[0011] In an optional embodiment, the pull rod connection portion coincides with the rotation axis of the upper arm mechanism and the rotation axis of the upper arm mechanism and the lower arm mechanism.

[0012] In an optional embodiment, the connecting arm includes a connecting arm body and a connector. The forearm mechanism is connected to the connecting arm body and is used to drive the connecting arm body to move. The connector is rotatably connected to the bottom of the connecting arm body and is used to connect a battery.

[0013] In an optional embodiment, the connector is provided with a detection element, which sends a positioning signal when the connector approaches the battery.

[0014] In an optional embodiment, the bottom of the base is provided with a slide rail, and the base is slidably connected to the slide rail.

[0015] Secondly, this utility model provides a battery swapping boat, including the battery swapping robotic arm described in any of the foregoing embodiments.

[0016] The beneficial effects of the battery swapping robotic arm and battery swapping boat provided in this embodiment of the invention include:

[0017] This utility model discloses a battery-swapping robotic arm comprising a base, a robotic arm support, a large arm mechanism, and a small arm mechanism. The robotic arm support is rotatably mounted on the base. One end of the large arm mechanism is rotatably connected to the robotic arm support. The other end of the large arm mechanism is rotatably connected to the small arm mechanism. A first driving member and a second driving member are provided on the robotic arm support. The first driving member is driven by the large arm mechanism and is used to drive the large arm mechanism to rotate relative to the robotic arm support. The second driving member is driven by the small arm mechanism via a linkage mechanism and is used to drive the small arm mechanism to rotate relative to the large arm mechanism. A connecting arm is connected to the end of the small arm mechanism away from the large arm mechanism. The connecting arm is used to connect and fix the battery. By setting a connecting arm support that can rotate relative to the base, and a large arm mechanism and a small arm mechanism that are rotatably connected in sequence, the extension, pitch, and rotation functions of the battery-swapping robotic arm can be realized. This enables attitude adjustment during battery transportation, avoids battery docking failure with the hull, and prevents damage to the battery or hull equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the battery swapping robotic arm provided in this embodiment;

[0020] Figure 2 This is a schematic diagram of the battery swapping vessel provided in this embodiment.

[0021] Icons: 100-Battery swapping robotic arm; 10-Base; 20-Robotic arm support; 21-First drive component; 22-Second drive component; 30-Large arm mechanism; 40-Small arm mechanism; 50-Linkage mechanism; 51-First link; 52-Second link; 60-Pull rod mechanism; 61-First pull rod; 62-Pull rod connection; 63-Second pull rod; 70-Connecting arm; 71-Connecting arm body; 72-Connector; 80-Slide rail; 200-Battery swapping boat; 201-Battery. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0026] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0027] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0028] Please refer to Figure 1 and Figure 2 The battery swapping robotic arm 100 provided by this utility model is applied to a battery swapping vessel 200. The robotic arm 100 is installed on the battery swapping vessel 200 and is used for exchanging batteries 201 between the battery swapping vessel 200 and another vessel. When the battery 201 of the vessel is low on power, the robotic arm 100 moves the vessel's battery 201 to the battery swapping vessel 200, and then moves a fully charged battery 201 from the battery swapping vessel 200 to the vessel for docking, thereby swapping the battery for the vessel.

[0029] This battery swapping robotic arm 100 includes a base 10, a robotic arm support 20, a large arm mechanism 30, and a small arm mechanism 40. The robotic arm support 20 is rotatably mounted on the base 10. One end of the large arm mechanism 30 is rotatably connected to the robotic arm support 20. The other end of the large arm mechanism 30 is rotatably connected to the small arm mechanism 40. The robotic arm support 20 is provided with a first driving member 21 and a second driving member 22. The first driving member 21 is drivenly connected to the large arm mechanism 30 and is used to drive the large arm mechanism 30 to rotate relative to the robotic arm support 20. The second driving member 22 is drivenly connected to the small arm mechanism 40 through a linkage mechanism 50 and is used to drive the small arm mechanism 40 to rotate relative to the large arm mechanism 30. A connecting arm 70 is connected to the end of the small arm mechanism 40 away from the large arm mechanism 30. The connecting arm 70 is used to connect and fix the battery 201. By setting a connecting arm 70 support that can rotate relative to the base 10, and a large arm mechanism 30 and a small arm mechanism 40 that are rotatably connected in sequence, the battery swapping robotic arm 100 can realize the functions of extension, pitch and rotation, and can realize the attitude adjustment of battery 201 transportation, avoid battery 201 docking failure with the hull, and prevent damage to battery 201 or hull equipment.

[0030] Specifically, the linkage mechanism 50 includes a first link 51 and a second link 52. One end of the first link 51 is rotatably connected to the robotic arm support 20. The other end of the first link 51 is rotatably connected to one end of the second link 52. The end of the second link 52 away from the first link 51 is rotatably connected to the forearm mechanism 40. The second drive member 22 is driven to rotate relative to the first link 51. It can be understood that the second drive member 22 is used to drive the first link 51 to rotate relative to the robotic arm support 20, and the first link 51 drives the second link 52 to rotate, thereby driving the forearm mechanism 40 to rotate relative to the upper arm mechanism 30. In this embodiment, while the first drive member 21 drives the upper arm mechanism 30 to rotate relative to the connecting arm 70 support, it also drives the forearm mechanism 40 to move. By setting the second drive member 22 to drive the forearm mechanism 40 to rotate relative to the upper arm mechanism 30, the position of the connecting arm 70 at the end of the forearm mechanism 40 can be precisely controlled. Furthermore, by rotating the robotic arm support 20 relative to the base 10, the spatial position of the battery 201 can be adjusted.

[0031] In this embodiment, the first link 51 coincides with the rotation axis of the robotic arm support 20, and the upper arm mechanism 30 coincides with the rotation axis of the robotic arm support 20. In other embodiments, the first link 51 and the rotation axis of the robotic arm support 20, and the upper arm mechanism 30 and the rotation axis of the robotic arm support 20, can be respectively set at different positions on the robotic arm support 20. This utility model does not limit this.

[0032] Furthermore, the first driving component 21 includes a first hydraulic cylinder, and the second driving component 22 includes a second hydraulic cylinder. One end of the drive shaft of the first hydraulic cylinder is rotatably connected to the boom mechanism 30. One end of the rotating shaft of the second hydraulic cylinder is drivenly connected to the linkage mechanism 50. Specifically, one end of the rotating shaft of the second hydraulic cylinder is rotatably connected to the first connecting rod 51. In this embodiment, both the first and second hydraulic cylinders are servo hydraulic cylinders, with a more complex structure to meet the requirements of high precision and high response speed.

[0033] Furthermore, the first drive component 21 also includes a first energy accumulator (not shown), and the second drive component 22 also includes a second energy accumulator (not shown). The first energy accumulator is used to absorb the braking energy of the first hydraulic cylinder, and the second energy accumulator is used to absorb the braking energy of the second hydraulic cylinder. Specifically, both the first and second energy accumulators are hydraulic accumulators. When the instantaneous pressure of the first and second hydraulic cylinders increases, they can absorb this energy to ensure normal pressure; they can recover braking energy and improve energy efficiency, especially in applications with frequent start-stop and heavy loads, where energy consumption can be reduced through energy recovery and regeneration.

[0034] In this embodiment, the battery swapping robotic arm 100 further includes a pull rod mechanism 60. The pull rod mechanism 60 includes a first pull rod 61, a pull rod connecting portion 62, and a second pull rod 63. One end of the first pull rod 61 is rotatably connected to the robotic arm support 20. The other end of the first pull rod 61 is rotatably connected to the pull rod connecting portion 62. One end of the second pull rod 63 is rotatably connected to the pull rod connecting portion 62. The other end of the second pull rod 63 is rotatably connected to the connecting arm 70. The pull rod connecting portion 62 is rotatably connected to the end of the upper arm mechanism 30 near the lower arm mechanism 40. It can be understood that by setting the pull rod mechanism 60 to tighten the connecting arm 70, the stability of the connecting arm 70 is improved. That is, by rotatably connecting the lower arm mechanism 40 and the second pull rod 63 to the connecting arm 70 respectively, the connecting arm 70 is prevented from shaking when connecting the battery 201, thus improving the stability of the battery 201 during transportation.

[0035] Furthermore, the rotation axis of the pull rod connecting part 62 coincides with the rotation axis of the upper arm mechanism 30 and the lower arm mechanism 40. It is understood that when the upper arm mechanism 30 rotates relative to the support of the connecting arm 70, it drives the pull rod connecting part 62 to move, causing the first pull rod 61 to rotate relative to the support of the connecting arm 70. The first pull rod 61 then pulls the pull rod connecting part 62 to rotate relative to the upper arm mechanism 30, thereby driving the second pull rod 63 to move. It is understood that when the upper arm mechanism 30 and the lower arm mechanism 40 are moving, the linkage mechanism 50 applies a constraint to the connecting arm 70, preventing the connecting arm 70 from rotating freely relative to the lower arm mechanism 40, thus improving the stability of the connection between the connecting arm 70 and the battery 201. In this embodiment, by setting the linkage mechanism 50 to tighten the connecting arm 70, the connection surface between the connecting arm 70 and the battery 201 is in a horizontal position.

[0036] Specifically, the connecting arm 70 includes a connecting arm body 71 and a connector 72. A forearm mechanism 40 is connected to the connecting arm body 71 and is used to move the connecting arm body 71. A second pull rod 63 is rotatably connected to the connecting arm body 71. The connector 72 is rotatably connected to the bottom of the connecting arm body 71. The connector 72 is used to connect the battery 201. It can be understood that when the connector 72 is connected to the battery 201, the battery 201 can rotate relative to the connecting arm body 71, further adjusting the posture of the battery 201.

[0037] In this embodiment, the connector 72 is connected to the connecting arm body 71 via a motor and a reducer. Specifically, the connector 72 is an adsorption device, which can be a magnet or similar structure. In other embodiments, the connector 72 can also be configured as a clamp. As long as a fixed connection with the battery 201 can be achieved, the specific type of the connector 72 is not limited in this invention.

[0038] Furthermore, a detection element is also provided on the connector 72. When the connector 72 approaches the battery 201, the detection element sends a positioning signal, and the connector 72 then completes a fixed connection with the battery 201, thereby achieving precise positioning. Specifically, the detection element can be a vision sensor, proximity switch, or other device to enable intelligent sensing of the battery swapping robotic arm 100, improving the battery swapping efficiency and autonomous decision-making function of the robotic arm.

[0039] In this embodiment, a slide rail 80 is provided at the bottom of the base 10. The base 10 is slidably connected to the slide rail 80. It can be understood that the slide rail 80 is provided on the battery swapping boat 200 to facilitate the movement of the battery swapping robotic arm 100 on the battery swapping boat 200 and improve the range of motion of the battery swapping robotic arm 100.

[0040] The beneficial effects of the battery swapping robotic arm 100 and battery swapping boat 200 provided in this embodiment of the invention include:

[0041] The battery swapping robotic arm 100 of this utility model includes a base 10, a robotic arm support 20, a large arm mechanism 30, and a small arm mechanism 40. The robotic arm support 20 is rotatably mounted on the base 10. One end of the large arm mechanism 30 is rotatably connected to the robotic arm support 20. The other end of the large arm mechanism 30 is rotatably connected to the small arm mechanism 40. A first driving member 21 and a second driving member 22 are provided on the robotic arm support 20. The first driving member 21 is drivenly connected to the large arm mechanism 30 and is used to drive the large arm mechanism 30 to rotate relative to the robotic arm support 20. The second driving member 22 is drivenly connected to the small arm mechanism 40 through a linkage mechanism 50 and is used to drive the small arm mechanism 40 to rotate relative to the large arm mechanism 30. A connecting arm 70 is connected to the end of the small arm mechanism 40 away from the large arm mechanism 30. The connecting arm 70 is used to connect and fix the battery 201. By setting a connecting arm 70 support that can rotate relative to the base 10, and a large arm mechanism 30 and a small arm mechanism 40 that are rotatably connected in sequence, the battery swapping robotic arm 100 can realize the functions of extension, pitch and rotation, and can realize the attitude adjustment of battery 201 transportation, avoid battery 201 docking failure with the hull, and prevent damage to battery 201 or hull equipment.

[0042] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. A battery-swapping robotic arm, characterized in that, The device includes a base, a robotic arm support, a large arm mechanism, and a small arm mechanism. The robotic arm support is rotatably mounted on the base. One end of the large arm mechanism is rotatably connected to the robotic arm support, and the other end of the large arm mechanism is rotatably connected to the small arm mechanism. The robotic arm support is provided with a first driving member and a second driving member. The first driving member is drivenly connected to the large arm mechanism and is used to drive the large arm mechanism to rotate relative to the robotic arm support. The second driving member is drivenly connected to the small arm mechanism through a linkage mechanism and is used to drive the small arm mechanism to rotate relative to the large arm mechanism. A connecting arm is connected to the end of the small arm mechanism away from the large arm mechanism, and the connecting arm is used to connect and fix a battery.

2. The battery-swapping robotic arm according to claim 1, characterized in that, The linkage mechanism includes a first link and a second link. One end of the first link is rotatably connected to the robotic arm support, and the other end of the first link is rotatably connected to one end of the second link. The end of the second link away from the first link is rotatably connected to the forearm mechanism, and the second drive member is drivenly connected to the first link.

3. The battery-swapping robotic arm according to claim 1, characterized in that, The first driving component includes a first hydraulic cylinder, and the second driving component includes a second hydraulic cylinder. One end of the drive shaft of the first hydraulic cylinder is rotatably connected to the boom mechanism, and one end of the drive shaft of the second hydraulic cylinder is drivenly connected to the linkage mechanism.

4. The battery-swapping robotic arm according to claim 3, characterized in that, The first drive unit further includes a first energy storage device, and the second drive unit further includes a second energy storage device. The first energy storage device is used to absorb the braking energy of the first hydraulic cylinder, and the second energy storage device is used to absorb the braking energy of the second hydraulic cylinder.

5. The battery-swapping robotic arm according to claim 1, characterized in that, The battery swapping robotic arm also includes a lever mechanism, which includes a first lever, a lever connecting part, and a second lever. One end of the first lever is rotatably connected to the robotic arm support, and the other end of the first lever is rotatably connected to the lever connecting part. One end of the second lever is rotatably connected to the lever connecting part, and the other end of the second lever is rotatably connected to the connecting arm. The lever connecting part is also rotatably connected to the end of the large arm mechanism near the small arm mechanism.

6. The battery swapping robotic arm according to claim 5, characterized in that, The connecting part of the pull rod coincides with the rotation axis of the upper arm mechanism and the rotation axis of the upper arm mechanism and the lower arm mechanism.

7. The battery-swapping robotic arm according to claim 1, characterized in that, The connecting arm includes a connecting arm body and a connector. The forearm mechanism is connected to the connecting arm body and is used to drive the connecting arm body to move. The connector is rotatably connected to the bottom of the connecting arm body and is used to connect a battery.

8. The battery swapping robotic arm according to claim 7, characterized in that, The connector is equipped with a detection element. When the connector approaches the battery, the detection element sends a positioning signal.

9. The battery-swapping robotic arm according to claim 1, characterized in that, The base is provided with a slide rail at its bottom, and the base is slidably connected to the slide rail.

10. A battery-swapping boat, characterized in that, Includes the battery swapping robotic arm as described in any one of claims 1-9.

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