Automatic feeding and discharging mechanism of movable composite robot

Abstract

The utility model provides a mobile composite robot automatic feeding and discharging mechanism which comprises an AGV automatic navigation carrying trolley, a battery tray assembly and a composite arm robot assembly and has the advantages that the composite arm robot assembly simulates a left mechanical hand and a right mechanical hand of a person to work together at the same time, so that the working efficiency is high, and the reliability is high; a CCD camera is arranged on the mechanical hand and used for accurately positioning the position of a battery cell, an automatic auxiliary mechanical hand clamp and an automatic suction mechanical hand execution end are arranged on the mechanical hand at the same time and used for automatically taking and placing a battery, and an AGV automatic moving base of the composite robot is further provided with a battery cell temporary storage position used for transferring the battery cell. Movement of the robot is achieved through AGV base vehicle laser wireless navigation, and multiple sets of test jig equipment are matched with the composite robot to finally achieve the target of an unmanned black light factory.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to an automatic loading and unloading mechanism for a mobile composite robot. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines designed for industrial applications. They can perform tasks automatically, relying on their own power and control capabilities to achieve various functions. They can be commanded by humans or operate according to pre-programmed procedures. Modern industrial robots can also act according to principles established by artificial intelligence technology.

[0003] Currently, traditional industrial robots use single-mechanism gripping devices. When gripping metal objects with specific shapes, the single gripping device causes uneven force distribution and unstable gripping ability.

[0004] Chinese patent CN208246843U discloses an industrial robot composite gripping device. Although this industrial robot composite gripping device has 3 degrees of freedom and can move flexibly to any position in space, it cannot adjust the angle of the gripper itself during gripping and assembly. It can only rely on the industrial robot's robotic arm for adjustment, resulting in poor flexibility. If the grip is too loose, the object may fall off; if it is too tight, the object may be damaged. Furthermore, it cannot perform flipping operations or further assembly during gripping.

[0005] Chinese patent CN110561471A discloses an artificial intelligence composite gripping assembly robot, including a composite gripping robot fixture. The fixture comprises four parts: a rotary material-picking mechanism, a fixture flipping mechanism, a gripping assembly, and a pneumatic gripper assembly. The rotary material-picking mechanism includes a fixed base, a connecting pipe, a fixture carrier base, a rotating shaft, and a servo motor. The rotating shaft is housed within the connecting pipe, with one end connected to the fixture carrier base and the other end connected to the servo motor. A fixture flipping mechanism is mounted on the fixture carrier base. This mechanism includes a fixture flipping seat, a flipping shaft, and a flipping motor. Both ends of the fixture flipping seat are connected to the fixture carrier base via the flipping shaft, and one end of the flipping shaft is connected to the flipping motor. A gripping assembly is mounted on the fixture flipping seat. This assembly includes a fixture mounting base and a fixture frame. The fixture mounting base is fixed to the fixture flipping seat, and the fixture frame is mounted on the fixture mounting base. A pneumatic gripper assembly is mounted on the fixture frame. The pneumatic gripper assembly includes a gripping electric cylinder, a pressure head seat, a linkage rod, a first gripper, and a second gripper. The gripping electric cylinder is a bidirectional telescopic electric cylinder. A linkage rod is hinged to the telescopic rods at both ends of the gripping electric cylinder. Each linkage rod is equipped with a first gripper and a second gripper. The linkage rods are rotatably mounted on the pressure head seat, which is mounted on the fixture frame. This design solves the problem of flexible and convenient operation by mounting the composite gripping robot fixture on the robotic arm of a six-axis robot. It also facilitates the adjustment of the position of the composite gripping robot fixture. Furthermore, the composite gripping robot fixture uses a rotary material handling mechanism, a fixture flipping mechanism, a gripping assembly, and a pneumatic gripper assembly to respectively complete the angle adjustment, workpiece flipping, and material handling, and facilitates assembly. This improves the assembly efficiency of workpiece gripping, assembly, and flipping processes, reduces manual operation, and achieves high accuracy and efficiency in gripping and assembly, while also reducing management costs. Summary of the Invention

[0006] The purpose of this utility model is to solve the above-mentioned technical problems by providing a novel mobile composite robot automatic loading and unloading mechanism. By using composite arm robot components to mimic the simultaneous working of human left and right robotic arms, it achieves high efficiency and reliability. The robotic arms are equipped with CCD cameras for accurate positioning of battery cells. The robotic arms are also equipped with automatic auxiliary robotic grippers and automatic suction robotic arm actuators for automatic battery loading and unloading. The composite robot's AGV automatic moving base is also equipped with a battery cell buffer position for battery cell transfer. The robot's movement is guided by laser wireless navigation via the AGV base. Multiple sets of testing equipment work together with the composite robot to ultimately achieve the goal of an unmanned, lights-out factory.

[0007] This utility model is achieved through the following technical solution:

[0008] A mobile composite robot automatic loading and unloading mechanism includes an AGV (Automated Guided Vehicle), a battery tray assembly, and a composite robot arm assembly. The AGV has several composite robot arm groups on its top, and the battery tray assembly is located on the right side of each composite robot arm group. The electric clamping and suction actuator on the composite robot arm group electrically clamps and picks up the tested soft-pack battery cells from the test rack assembly and places them into the battery tray of the battery tray assembly.

[0009] As a further step, the battery tray assembly includes a battery tray fixing frame, a battery tray drive motor, battery tray rollers, a battery tray timing belt, a battery tray, a battery tray fixing plate, and a battery tray slide. The battery tray fixing frame is provided with a plurality of battery tray rollers, and the battery tray timing belt is fitted onto the battery tray rollers. The battery tray drive motor is provided on one side of the battery tray fixing frame. The battery tray slide is provided on the battery tray timing belt, and the battery tray slide has a plurality of battery trays. The battery tray fixing plate is provided at the bottom of the battery tray fixing frame. The battery tray fixing plate is installed on the top of the AGV automatic navigation transport vehicle. The battery tray drive motor drives the battery tray rollers to rotate, the battery tray rollers drive the battery tray timing belt to rotate, the battery tray timing belt drives the battery tray slide to rotate, and the battery tray slide drives the battery tray to move.

[0010] As a further step, the composite arm robot assembly includes a base, a first drive motor, a first robotic arm, a second drive motor, a second robotic arm, and an electric clamping and suction actuator. The base is mounted on the top of the AGV (Automated Guided Vehicle). The first drive motor is mounted on the base. One end of the first robotic arm is connected to the first drive motor, and the other end of the first robotic arm is connected to one end of the second drive motor. One end of the second robotic arm is connected to the other end of the second drive motor, and the other end of the second robotic arm is movably connected to the electric clamping and suction actuator.

[0011] As a further step, the electric clamping and suction actuator includes an auxiliary robotic arm gripper component and a robotic arm actuator component. A movable robotic arm actuator component is located below the auxiliary robotic arm gripper component. The auxiliary robotic arm gripper component includes an auxiliary robotic arm mounting plate, an auxiliary robotic arm connecting rod, a vision CCD camera mounting block, a CCD camera connecting block, a CCD camera, a CCD camera fixing block, a vision light source component, a quick-change gripping module, an auxiliary robotic arm drive motor mounting plate, an auxiliary robotic arm drive motor, and an auxiliary robotic arm gripper. The right end of the auxiliary robotic arm mounting plate is connected to the other end of the second robotic arm. A connecting rod mounting hole is provided on the left end of the auxiliary robotic arm mounting plate. The auxiliary robotic arm connecting rod is mounted on the connecting rod mounting hole on the left end of the auxiliary robotic arm mounting plate. The upper part of the auxiliary robotic arm connecting rod is provided with… A visual CCD camera mounting block is provided, and a CCD camera connecting block is provided on the visual CCD camera mounting block. A CCD camera is provided on the CCD camera connecting block. The CCD camera is fixed to the auxiliary robot arm connecting rod by a CCD camera fixing block. A visual light source component is provided at the lower part of the auxiliary robot arm connecting rod. The CCD camera is aligned with the visual light source on the visual light source component at the lower part of the auxiliary robot arm connecting rod to take pictures. The top of the quick-change gripping module is connected to the right end of the auxiliary robot arm mounting plate, and the bottom of the quick-change gripping module is connected to the auxiliary robot arm drive motor mounting plate. An auxiliary robot arm drive motor is provided on one side of the auxiliary robot arm drive motor mounting plate. The output shaft of the auxiliary robot arm drive motor passes through a through hole in the auxiliary robot arm drive motor mounting plate and is movably connected to the auxiliary robot arm gripper.

[0012] As a further step, the robotic arm actuator component includes an actuator mounting plate, an actuator connecting plate, a battery tray mounting plate, a battery tray, an actuator drive motor, an actuator connecting rod, a motor mounting plate, an electric cylinder, an electric cylinder connecting rod, an electric cylinder connecting block, an electric cylinder push plate, a slider, and a guide rail. The upper part of the actuator mounting plate is provided with an auxiliary robotic arm drive motor mounting slot. The auxiliary robotic arm drive motor is mounted in the auxiliary robotic arm drive motor mounting slot on the actuator mounting plate and fixed to the actuator mounting plate by the electric cylinder connecting block. The lower part of the actuator mounting plate is provided with an electric cylinder mounting plate mounting slot. A guide rail is provided on the left side of the electric cylinder mounting plate mounting slot. A slider is provided on the guide rail, and an electric cylinder mounting plate is provided on the slider. An electric cylinder is provided on the mounting plate, and the electric cylinder is embedded in the electric cylinder mounting plate mounting groove at the lower part of the actuator mounting plate. A push plate with a round hole is provided on the left side of the electric cylinder mounting plate. A motor mounting plate is provided on the upper left side of the actuator mounting plate. The actuator drive motor is mounted on the motor mounting plate on the upper left side of the actuator mounting plate. The output shaft of the actuator drive motor is connected to one end of the actuator connecting rod. The other end of the actuator connecting rod is inserted into the round hole on the push plate and fixed to the push plate by a nut. One end of the electric cylinder connecting rod is connected to the electric cylinder, and the other end of the electric cylinder connecting rod is connected to the battery tray mounting plate. The battery tray mounting plate is provided with several battery trays.

[0013] The beneficial effects of this utility model are as follows: by mimicking the simultaneous working of the left and right robotic arms of a human through the composite arm robot component, the efficiency and reliability are high. The robotic arm is equipped with a CCD camera for accurate positioning of the battery cells. The robotic arm is also equipped with an automatic auxiliary robotic gripper and an automatic suction robotic arm actuator for automatic battery picking and placing. The AGV automatic moving base of the composite robot is also equipped with a battery cell buffer position for battery cell transfer. The robot's movement is guided by laser wireless navigation through the AGV base. Multiple sets of testing equipment work together with the composite robot to ultimately achieve the goal of an unmanned, lights-out factory. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the automatic loading and unloading mechanism of the mobile composite robot of this utility model;

[0015] Figure 2 This is an exploded structural diagram of the automatic loading and unloading mechanism of the mobile composite robot of this utility model;

[0016] Figure 3 This is a schematic diagram of the battery tray assembly structure of this utility model;

[0017] Figure 4 This is an exploded view of the battery tray assembly of this utility model;

[0018] Figure 5 This is a schematic diagram of the composite arm robot component structure of this utility model;

[0019] Figure 6 This is an exploded view of the composite arm robot component of this utility model;

[0020] Figure 7 This is a schematic diagram of the structure of the auxiliary manipulator gripper component of this utility model;

[0021] Figure 8 This is an exploded view of the gripper component of the auxiliary manipulator of this utility model;

[0022] Figure 9 This is a schematic diagram of the structure of the robotic arm actuator component of this utility model;

[0023] Figure 10 This is an exploded view of the actuator component of the robotic arm of this utility model;

[0024] Reference numerals: 1. AGV (Automated Guided Vehicle) trolley; 2. Battery tray assembly; 21. Battery tray fixing frame; 22. Battery tray drive motor; 23. Battery tray roller; 24. Battery tray timing belt; 25. Battery tray; 26. Battery tray fixing plate; 27. Battery tray slide; 3. Composite arm robot assembly; 31. Base; 32. First drive motor; 33. First robotic arm; 34. Second drive motor; 35. Second robotic arm; 36. Electric clamping and suction actuator; 361. Auxiliary robotic arm gripper component; 3610. Auxiliary robotic arm mounting plate; 3611. Auxiliary robotic arm connecting rod; 3612. Vision CCD camera mounting block; 3613. CCD camera connecting block; 3614. CCD Camera; 3615, CCD camera mounting block; 3616, vision light source component; 3617, quick-change gripping module; 3618, auxiliary robot drive motor mounting plate; 3619, auxiliary robot drive motor; 3620, auxiliary robot gripper; 362, robot actuator component; 36201, actuator mounting plate; 36202, actuator connecting plate; 36203, battery tray mounting plate; 36204, battery tray; 36205, actuator drive motor; 36206, actuator connecting rod; 36207, motor mounting plate; 36208, electric cylinder; 36209, electric cylinder connecting rod; 36210, electric cylinder connecting block; 36211, electric cylinder push plate; 36212, slider; 36213, guide rail. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] For reference Figures 1-10 As shown, a mobile composite robot automatic loading and unloading mechanism includes an AGV (Automated Guided Vehicle), a battery tray assembly, and a composite arm robot assembly. The top of the AGV is equipped with several composite arm robot groups, and the battery tray assembly is located on the right side of each composite arm robot group. The electric clamping and suction actuator on the composite arm robot group electrically clamps and sucks up the tested soft-pack battery cells from the test rack assembly and places them into the battery tray of the battery tray assembly.

[0029] Preferably, the battery tray assembly includes a battery tray fixing frame, a battery tray drive motor, battery tray rollers, a battery tray timing belt, a battery tray, a battery tray fixing plate, and a battery tray slide. The battery tray fixing frame has a plurality of battery tray rollers, and the battery tray timing belt is fitted onto the battery tray rollers. The battery tray drive motor is located on one side of the battery tray fixing frame. The battery tray slide is located on the battery tray timing belt, and the battery tray slide has a plurality of battery trays. The bottom of the battery tray fixing frame has a plurality of battery tray fixing plates, and the battery tray fixing plates are installed on the top of the AGV automatic navigation transport vehicle. The battery tray drive motor drives the battery tray rollers to rotate, the battery tray rollers drive the battery tray timing belt to rotate, the battery tray timing belt drives the battery tray slide to rotate, and the battery tray slide drives the battery tray to move.

[0030] Preferably, the composite arm robot assembly includes a base, a first drive motor, a first robotic arm, a second drive motor, a second robotic arm, and an electric clamping and suction actuator. The base is mounted on the top of the AGV (Automated Guided Vehicle). The first drive motor is mounted on the base. One end of the first robotic arm is connected to the first drive motor, and the other end of the first robotic arm is connected to one end of the second drive motor. One end of the second robotic arm is connected to the other end of the second drive motor, and the other end of the second robotic arm is movably connected to the electric clamping and suction actuator.

[0031] Preferably, the electric clamping and suction actuator includes an auxiliary robotic arm gripper component and a robotic arm actuator component. A movable robotic arm actuator component is located below the auxiliary robotic arm gripper component. The auxiliary robotic arm gripper component includes an auxiliary robotic arm mounting plate, an auxiliary robotic arm connecting rod, a vision CCD camera mounting block, a CCD camera connecting block, a CCD camera, a CCD camera fixing block, a vision light source component, a quick-change gripping module, an auxiliary robotic arm drive motor mounting plate, an auxiliary robotic arm drive motor, and an auxiliary robotic arm gripper. The right end of the auxiliary robotic arm mounting plate is connected to the other end of the second robotic arm. A connecting rod mounting hole is provided on the left end of the auxiliary robotic arm mounting plate. The auxiliary robotic arm connecting rod is mounted on the connecting rod mounting hole on the left end of the auxiliary robotic arm mounting plate. The upper part of the auxiliary robotic arm connecting rod is provided with… A visual CCD camera mounting block is provided, on which a CCD camera connecting block is provided, and a CCD camera is provided on the CCD camera connecting block. The CCD camera is fixed to the auxiliary robot arm connecting rod by a CCD camera fixing block. A visual light source component is provided at the lower part of the auxiliary robot arm connecting rod. The CCD camera is aligned with the visual light source component at the lower part of the auxiliary robot arm connecting rod to take pictures. The top of the quick-change gripping module is connected to the right end of the auxiliary robot arm mounting plate, and the bottom of the quick-change gripping module is connected to the auxiliary robot arm drive motor mounting plate. An auxiliary robot arm drive motor is provided on one side of the auxiliary robot arm drive motor mounting plate. The output shaft of the auxiliary robot arm drive motor passes through a through hole in the auxiliary robot arm drive motor mounting plate and is movably connected to the auxiliary robot arm gripper.

[0032] Preferably, the robotic arm actuator component includes an actuator mounting plate, an actuator connecting plate, a battery tray mounting plate, a battery tray, an actuator drive motor, an actuator connecting rod, a motor mounting plate, an electric cylinder, an electric cylinder connecting rod, an electric cylinder connecting block, an electric cylinder push plate, a slider, and a guide rail. The upper part of the actuator mounting plate has an auxiliary robotic arm drive motor mounting slot, and the auxiliary robotic arm drive motor is mounted in this slot and fixed to the actuator mounting plate by the electric cylinder connecting block. The lower part of the actuator mounting plate has an electric cylinder mounting plate mounting slot, and a guide rail is located on the left side of this slot. A slider is mounted on the guide rail, and an electric cylinder mounting plate is mounted on the slider. An electric cylinder is provided on the mounting plate, and the electric cylinder is embedded in the electric cylinder mounting plate mounting groove at the lower part of the actuator mounting plate. A push plate with a round hole is provided on the left side of the electric cylinder mounting plate. A motor mounting plate is provided on the upper left side of the actuator mounting plate. The actuator drive motor is mounted on the motor mounting plate on the upper left side of the actuator mounting plate. The output shaft of the actuator drive motor is connected to one end of the actuator connecting rod. The other end of the actuator connecting rod is inserted into the round hole on the push plate and fixed to the push plate by a nut. One end of the electric cylinder connecting rod is connected to the electric cylinder, and the other end of the electric cylinder connecting rod is connected to the battery tray mounting plate. The battery tray mounting plate is provided with several battery trays.

[0033] Based on the disclosure and teachings of the above specification, those skilled in the art can make appropriate changes and modifications to the above embodiments. Therefore, this utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes to this utility model should also fall within the protection scope of the claims of this utility model. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on this utility model.

Claims

1. An automatic loading and unloading mechanism for a mobile composite robot, characterized in that: The system includes an AGV (Automated Guided Vehicle), a battery tray assembly, and a composite robot assembly. The AGV has several composite robot groups on its top, and the battery tray assembly is located on the right side of each composite robot group. The electric clamping and suction actuator on the composite robot group uses an electric clamping and suction device to place the tested soft-pack battery cells from the test rack assembly into the battery tray of the battery tray assembly.

2. The automatic loading and unloading mechanism for a mobile composite robot according to claim 1, characterized in that: The battery tray assembly includes a battery tray fixing frame, a battery tray drive motor, battery tray rollers, a battery tray timing belt, a battery tray, a battery tray fixing plate, and a battery tray slide. The battery tray fixing frame has several battery tray rollers, and the battery tray timing belt is fitted onto each battery tray roller. A battery tray drive motor is located on one side of the battery tray fixing frame. A battery tray slide is located on the battery tray timing belt, and several layers of battery trays are mounted on the battery tray slide. Several battery tray fixing plates are located at the bottom of the battery tray fixing frame. The battery tray fixing plates are mounted on the top of the AGV (Automated Guided Vehicle). The battery tray drive motor drives the battery tray rollers to rotate, which in turn drives the battery tray timing belt to rotate. The battery tray timing belt then drives the battery tray slide, which in turn moves the battery tray.

3. The automatic loading and unloading mechanism for a mobile composite robot according to claim 1, characterized in that: The composite arm robot assembly includes a base, a first drive motor, a first robotic arm, a second drive motor, a second robotic arm, and an electric clamping and suction actuator. The base is mounted on the top of the AGV (Automated Guided Vehicle). The first drive motor is mounted on the base. One end of the first robotic arm is connected to the first drive motor, and the other end of the first robotic arm is connected to one end of the second drive motor. One end of the second robotic arm is connected to the other end of the second drive motor, and the other end of the second robotic arm is movably connected to the electric clamping and suction actuator.

4. The automatic loading and unloading mechanism for a mobile composite robot according to claim 3, characterized in that: The electric clamping and gripping actuator includes an auxiliary robotic arm gripper component and a robotic arm actuator component. A movable robotic arm actuator component is located below the auxiliary robotic arm gripper component. The auxiliary robotic arm gripper component includes an auxiliary robotic arm mounting plate, an auxiliary robotic arm connecting rod, a vision CCD camera mounting block, a CCD camera connecting block, a CCD camera, a CCD camera fixing block, a vision light source component, a quick-change gripping module, an auxiliary robotic arm drive motor mounting plate, an auxiliary robotic arm drive motor, and an auxiliary robotic arm gripper. The right end of the auxiliary robotic arm mounting plate is connected to the other end of the second robotic arm. A connecting rod mounting hole is provided on the left end of the auxiliary robotic arm mounting plate, and the auxiliary robotic arm connecting rod is mounted on the connecting rod mounting hole on the left end of the auxiliary robotic arm mounting plate. A vision CCD is located on the upper part of the auxiliary robotic arm connecting rod. A CCD camera mounting block is provided, and a CCD camera connecting block is provided on the visual CCD camera mounting block. A CCD camera is provided on the CCD camera connecting block. The CCD camera is fixed to the auxiliary robot arm connecting rod by a CCD camera fixing block. A visual light source component is provided at the lower part of the auxiliary robot arm connecting rod. The CCD camera is aligned with the visual light source on the visual light source component at the lower part of the auxiliary robot arm connecting rod to take pictures. The top of the quick-change gripping module is connected to the right end of the auxiliary robot arm mounting plate, and the bottom of the quick-change gripping module is connected to the auxiliary robot arm drive motor mounting plate. An auxiliary robot arm drive motor is provided on one side of the auxiliary robot arm drive motor mounting plate. The output shaft of the auxiliary robot arm drive motor passes through a through hole in the auxiliary robot arm drive motor mounting plate and is movably connected to the auxiliary robot arm gripper.

5. The automatic loading and unloading mechanism for a mobile composite robot according to claim 4, characterized in that: The robotic arm actuator component includes an actuator mounting plate, an actuator connecting plate, a battery tray mounting plate, a battery tray, an actuator drive motor, an actuator connecting rod, a motor mounting plate, an electric cylinder, an electric cylinder connecting rod, an electric cylinder connecting block, an electric cylinder push plate, a slider, and a guide rail. The upper part of the actuator mounting plate has an auxiliary robotic arm drive motor mounting slot, and the auxiliary robotic arm drive motor is mounted in this slot and fixed to the actuator mounting plate by the electric cylinder connecting block. The lower part of the actuator mounting plate has an electric cylinder mounting plate mounting slot, and a guide rail is located on the left side of this slot. A slider is mounted on the guide rail, and an electric cylinder mounting plate is mounted on the slider. An electric cylinder is provided on the upper part of the actuator mounting plate. The electric cylinder is embedded in the electric cylinder mounting plate mounting groove at the lower part of the actuator mounting plate. A push plate with a round hole is provided on the left side of the electric cylinder mounting plate. A motor mounting plate is provided on the upper left side of the actuator mounting plate. The actuator drive motor is mounted on the motor mounting plate on the upper left side of the actuator mounting plate. The output shaft of the actuator drive motor is connected to one end of the actuator connecting rod. The other end of the actuator connecting rod is inserted into the round hole on the push plate and fixed to the push plate by a nut. One end of the electric cylinder connecting rod is connected to the electric cylinder, and the other end of the electric cylinder connecting rod is connected to the battery tray mounting plate. The battery tray mounting plate is provided with several battery trays.

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