Flexible battery gripper and battery replacing robot

Abstract

The utility model belongs to the technical field of battery replacement of electric vehicles, and discloses a flexible battery gripper and a battery replacement robot. The battery flexible gripper comprises a lifting appliance and a flexible connecting assembly, and the lifting appliance can be in butt joint with a battery and is locked and attached to the battery, so that the battery and the lifting appliance move synchronously; the flexible connecting assemblies are arranged between the lifting appliance and the tail end of the mechanical arm, each flexible connecting assembly comprises a connecting base, a connector and a connecting lock, the connecting bases are in rigid connection with the tail end of the mechanical arm, the connectors are in ball connection with the connecting bases, and the connecting locks are arranged between the connectors and the lifting appliance. According to the flexible battery gripper, the lifting appliance is connected to the mechanical arm through the flexible connecting assembly, so that the lifting appliance can translate, incline and / or deflect relative to the mechanical arm, the position deviation between the mechanical arm and the battery can be quickly compensated through the movement of the lifting appliance, the battery replacement time can be shortened, and the battery replacement efficiency can be improved.

Description

Technical Field

[0001] This utility model relates to the field of battery swapping technology for electric vehicles, and in particular to a flexible battery gripper and a battery swapping robot. Background Technology

[0002] Currently, to ensure timely recharging, most electric work vehicles such as heavy-duty trucks and mining trucks rely on physical battery swapping instead of traditional charging, thereby extending their operating time. The vehicle's battery is located behind the cab. During battery swapping, a battery swapping robot uses a gripper to pick up the battery and then moves it to perform the swapping operation.

[0003] Currently, the gripper of the battery swapping robot is fixedly connected to the robot body via a rigid mechanical arm. When performing the battery grabbing-removal-installation process, precise docking between the gripper and the battery is required. However, in actual operation, due to the tilting of the work vehicle itself, deviations in the parking position of the work vehicle, or assembly errors of the battery swapping robot itself, it is difficult for the gripper to dock with the battery on the work vehicle, resulting in a prolongation of battery swapping time and seriously affecting the efficiency of battery swapping. In addition, the rigid contact between the gripper and the battery can easily cause damage to the battery casing, posing certain safety hazards. Utility Model Content

[0004] The purpose of this invention is to provide a flexible battery gripper and a battery swapping robot to shorten the battery swapping time of work vehicles, thereby improving the battery swapping efficiency of work vehicles.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A flexible battery gripper, located at the end of a robotic arm, is used to grip batteries. The flexible battery gripper includes:

[0007] The lifting device is capable of docking with and locking onto the battery so that the battery moves synchronously with the lifting device;

[0008] At least three flexible connection components are disposed between the lifting device and the end of the robotic arm. Each flexible connection component includes a connecting seat, a connecting head, and a connecting lock. The connecting seat is rigidly connected to the end of the robotic arm, the connecting head is ball-jointed with the connecting seat, and the connecting lock is disposed between the connecting head and the lifting device.

[0009] Preferably, the connector includes:

[0010] A fixing plate is attached to the end of the robotic arm; and,

[0011] A connecting plate is attached to one side of the fixed plate. A rotating ring is attached to the top of the connecting plate. A connector passes through the connecting plate and extends out of the rotating ring. A spherical crown is attached to the top of the connector. The spherical crown rotates and abuts against the inner ring of the rotating ring.

[0012] Preferably, the spherical crown is detachably connected to the connector, and a limiting plate and a locking member are connected sequentially from bottom to top at the top of the connector. The locking member is detachably connected to the connector, and the locking member, the limiting plate, and the spherical crown abut against each other in sequence.

[0013] Preferably, the bottom end of the connector is connected to a first connecting ring, the top of the lifting device is connected to a second connecting ring, and the connecting lock is detachably connected between the first connecting ring and the second connecting ring.

[0014] Preferably, the connecting lock is a shackle.

[0015] Preferably, multiple shackles are connected in sequence.

[0016] Preferably, the lifting device includes:

[0017] A hanger, disposed below the flexible connection assembly; and,

[0018] A locking assembly is disposed at the bottom of the hanger, and multiple locking assemblies are provided. The locking assemblies are configured to lock the hanger to the top of the battery.

[0019] Preferably, the locking assembly includes:

[0020] A locking block, slidably connected to the hanger, slides horizontally; the top of the battery has a locking groove into which the locking block can be inserted; and...

[0021] A driving component is disposed on the hanger, and the driving component is used to drive the locking block to slide.

[0022] Preferably, the body of the driving component is rotatably connected to the hanger, and the driving end of the driving component is rotatably connected to the locking block.

[0023] The battery swapping robot includes a robot body and a robotic arm, the robotic arm being connected to the robot body, and a flexible battery gripper connected to the end of the robotic arm.

[0024] The beneficial effects of this utility model are:

[0025] This utility model discloses a flexible battery gripper that connects a lifting device to a robotic arm via a flexible connecting assembly. The connector head is ball-jointed with a connecting seat, and the connector head and the lifting device are connected by a connecting lock. The connector head can rotate in multiple directions, allowing for free adjustment in different directions. The connecting lock enables the connector head and the lifting device to be raised, lowered, rotated, and moved to a certain extent, further enhancing the flexibility of the lifting device. This allows the lifting device to translate, tilt, and / or deflect relative to the robotic arm, quickly compensating for positional deviations between the robotic arm and the battery through the movement of the lifting device. This shortens battery swapping time and improves battery swapping efficiency. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the battery structure of this utility model;

[0027] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0028] Figure 3 This is a structural schematic diagram of the flexible battery gripper of this utility model;

[0029] Figure 4 This is a schematic diagram of the locking assembly of the flexible battery gripper of this utility model;

[0030] Figure 5 This is one of the structural schematic diagrams of the flexible connection component of the battery flexible gripper of this utility model;

[0031] Figure 6 This is the second structural schematic diagram of the flexible connection component of the battery flexible gripper of this utility model;

[0032] Figure 7 yes Figure 6 A sectional view along the BB direction.

[0033] In the picture:

[0034] 100. Battery; 101. Docking groove; 102. Locking groove; 1. Lifting device; 11. Hanger; 111. Second connecting ring; 112. Slide rail; 12. Locking assembly; 121. Locking block; 122. Driving component; 2. Flexible connecting assembly; 21. Connecting seat; 211. Fixing plate; 212. Connecting plate; 2121. Rotating ring; 21211. Rotating groove; 2122. Connecting hole; 213. Reinforcing plate; 22. Connecting head; 221. Spherical crown; 2211. Through hole; 222. Limiting plate; 223. Locking component; 224. Limiting ring; 225. First connecting ring; 23. Connecting lock. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not the entire structure.

[0036] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0039] Reference Figures 1 to 7 The present invention describes the flexible battery gripper and battery swapping robot provided by this utility model.

[0040] Reference Figure 1 and Figure 2The battery swapping robot includes a robot body, a robotic arm, and a flexible battery gripper. The robotic arm is connected to the robot body. In this embodiment, the robotic arm can be any type of robotic arm in the prior art, and its specific structure is prior art, which will not be described in detail here. The flexible battery gripper is connected to the end of the robotic arm and is used to grip the battery 100. The top of the battery 100 has an upward-opening docking groove 101, and the inner wall of the docking groove 101 has a locking groove 102. The specific structure of the flexible battery gripper is described below in this embodiment.

[0041] Reference Figure 3 The flexible battery gripper includes a lifting device 1 and a flexible connecting assembly 2. The lifting device 1 is located at the bottom of the end of the robotic arm and can dock with and lock onto the battery 100, allowing the battery 100 to move synchronously with the lifting device 1. The flexible connecting assembly 2 is disposed between the lifting device 1 and the end of the robotic arm, and at least three flexible connecting assemblies 2 are provided, thereby achieving a flexible connection between the lifting device 1 and the robotic arm. This allows the lifting device 1 to move relative to the robotic arm to a certain extent, thus quickly compensating for angular and positional deviations between the robotic arm and the battery 100 when lifting the battery 100, shortening the battery swapping time and improving the battery swapping efficiency.

[0042] Reference Figure 4 and Figure 5 Specifically, the lifting device 1 includes a hanger 11 and a locking assembly 12. The hanger 11 is horizontally positioned below the flexible connecting assembly 2. The hanger 11 is a frame structure welded from steel, giving it good strength while achieving lightweight design. The locking assembly 12 is located at the bottom of the hanger 11. Multiple locking assemblies 12 are provided, configured to lock the hanger 11 to the top of the battery 100. In this embodiment, four locking assemblies are provided, distributed at the four corners of the hanger 11, thereby enabling four-point locking between the hanger 11 and the battery 100, improving the reliability of the locking. Of course, in other embodiments, three, five, six, or more locking assemblies 12 may be provided.

[0043] Exemplarily, each locking assembly 12 includes a locking block 121 and a driving member 122. The locking block 121 is slidably connected to the hanger 11 and slides horizontally. The locking block 121 can be inserted into the locking groove 102. The driving member 122 is disposed on the hanger 11 and is used to drive the locking member 223 to slide. Specifically, in this embodiment, the hanger 11 is fixedly connected to a slide rail 112 for each locking block 121. The locking block 121 is slidably connected to the bottom of the slide rail 112 and slides towards the edge of the hanger 11 when it is working. The driving component 122 is located on the side of the locking block 121 near the center of the hanger 11. The body of the driving component 122 is rotatably connected to the hanger 11, and the driving end of the driving component 122 is rotatably connected to the locking block 121. In this embodiment, the driving component 122 is an electric cylinder. Its body is rotatably connected to the hanger 11, and its driving end is rotatably connected to the locking block 121, so that the electric cylinder can rotate relative to the hanger 11. The electric cylinder only provides sliding power for the locking block 121, and the sliding rail 112 only guides and limits the locking block 121, thereby improving the sliding accuracy of the locking block 121.

[0044] Based on the above, when the hanger 11 connects to the battery 100, the bottom of the hanger 11 abuts against the bottom of the battery 100, and the locking block 121 is located inside the docking groove 101. Then, the locking block 121 slides from the inside of the docking groove 101 to the inside of the locking groove 102, locking the hanger 11 to the top of the battery 100, so that the battery 100 and the hanger 11 move synchronously. Of course, in some other embodiments, if the docking groove 101 is located on the outer wall of the battery 100, the locking block 121 is located at the edge of the hanger 11, so that multiple locking blocks 121 are distributed along the circumference of the battery 100. The locking blocks 121 move from the edge of the hanger 11 to the center of the hanger 11, thereby achieving the locking of the hanger 11.

[0045] Reference Figure 5 Furthermore, each flexible connection component 2 includes a connecting seat 21, a connecting head 22, and a connecting lock 23. The connecting seat 21 is rigidly connected to the end of the robotic arm, the connecting head 22 is ball-jointed with the connecting seat 21, and the connecting lock 23 is disposed between the connecting head 22 and the lifting device 1. By ball-jointing the connecting head 22 with the connecting seat 21 and connecting the connecting head 22 and the lifting device 1 with the connecting lock 23, the connecting head 22 can achieve multi-directional rotational movement, allowing the connecting head 22 to be freely adjusted in different directions. The connecting lock 23 enables the connecting head 22 and the lifting device 1 to be raised and lowered, and to a certain extent rotated and moved, further enhancing the flexibility of the lifting device 1, allowing the lifting device 1 to translate, tilt, and / or deflect relative to the robotic arm to adapt to various situations.

[0046] Specifically, the connecting base 21 includes a welded fixing plate 211, a connecting plate 212, and a reinforcing plate 213. The fixing plate 211 is fixedly connected to the end of the robotic arm and is vertically arranged. The connecting plate 212 is fixedly connected to one side of the fixing plate 211 and is horizontally arranged. Two reinforcing plates 213 are fixedly connected to one side of the fixing plate 211, and the connecting plate 212 is located between the two reinforcing plates 213, thereby improving the stability of the connecting plate 212 during operation.

[0047] Reference Figure 6 and Figure 7 Furthermore, a rotating ring 2121 is connected to the top of the connecting plate 212. A connecting hole 2122 is formed on the connecting plate 212. The connecting head 22 is rod-shaped and vertically arranged. The top end of the connecting head 22 slides through the connecting hole 2122 and extends out of the rotating ring 2121. The sidewalls of the connecting head 22 and the connecting hole 2122 are clearance-fitted. A spherical crown 221 is connected to the top end of the connecting head 22. The spherical crown 221 rotatably abuts against the inner ring of the rotating ring 2121. The inner ring of the rotating ring 2121 is provided with a rotating groove 21211. The sidewall of the rotating groove 21211 is adapted to the spherical crown 221, thereby enabling the connecting head 22 and the connecting plate 212 to achieve ball joint, allowing the connecting head 22 to achieve multi-directional rotational movement. A limiting ring 224 is provided at the bottom end of the connecting head 22. The outer diameter of the limiting ring 224 is larger than the diameter of the connecting hole 2122, thereby limiting the connecting head 22 and preventing the connecting head 22 from detaching upward from the connecting plate 212.

[0048] Optionally, in some other embodiments, a ball joint can be connected to the connecting plate 212, and a ball joint can be connected to the connector 22, with the ball joint directly ball-to-ball contacting the ball joint, thereby enabling ball-to-ball contact between the connector 22 and the connecting plate 212.

[0049] It should be noted that the spherical crown 221 is detachably connected to the connector 22. In this embodiment, the spherical crown 221 has a through hole 2211 and is fitted onto the connector 22, thus facilitating the replacement of the spherical crown 221. To limit the movement of the spherical crown 221, a limiting plate 222 and a locking member 223 are connected sequentially from bottom to top at the top of the connector 22. The locking member 223 is detachably connected to the connector 22. In this embodiment, the locking member 223 is a nut, threadedly connected to the connector 22. After tightening the nut, the locking member 223, the limiting plate 222, and the spherical crown 221 abut against each other in sequence. After unscrewing the nut, the limiting plate 222 and the spherical crown 221 can be removed. In some other embodiments, the locking member 223 may also be a positioning pin.

[0050] Furthermore, a first connecting ring 225 is connected to the bottom end of the connector 22, and a second connecting ring 111 is connected to the top of the lifting device 1. The axis of the first connecting ring 225 is perpendicular to the axis of the second connecting ring 111. The connecting lock 23 is detachably connected between the first connecting ring 225 and the second connecting ring 111, so that the connecting lock 23 can rotate and rise and fall relative to the connector 22, and the second connecting ring 111 can rotate and rise and fall relative to the connecting lock 23, so that the lifting device 1 can rotate and rise and fall relative to the connector 22, giving the lifting device 1 a greater degree of freedom.

[0051] As a preferred embodiment, the connecting lock 23 in this embodiment is a shackle, and two shackles are connected in sequence. The shackle adopts a quick-release structure, which makes it easy to disassemble and replace it or quickly adjust the number of shackles when damaged.

[0052] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A battery flexible gripper, disposed at the end of a robot arm, for grasping a battery (100), characterized in that, The battery flexible gripper includes: The lifting device (1) is capable of docking with and locking onto the battery (100) so that the battery (100) and the lifting device (1) move synchronously. At least three flexible connection components (2) are disposed between the lifting device (1) and the end of the robotic arm. Each flexible connection component (2) includes a connecting seat (21), a connecting head (22) and a connecting lock (23). The connecting seat (21) is rigidly connected to the end of the robotic arm. The connecting head (22) is ball-jointed with the connecting seat (21). The connecting lock (23) is disposed between the connecting head (22) and the lifting device (1).

2. The battery flexible gripper of claim 1, wherein, The connector (21) includes: A fixing plate (211) is attached to the end of the robotic arm; and, A connecting plate (212) is connected to one side of the fixed plate (211). A rotating ring (2121) is connected to the top of the connecting plate (212). A connector (22) passes through the connecting plate (212) and extends out of the rotating ring (2121). A spherical crown (221) is connected to the top of the connector (22). The spherical crown (221) rotates and abuts against the inner ring of the rotating ring (2121).

3. The battery flexible gripper of claim 2, wherein, The spherical crown (221) is detachably connected to the connector (22). The top of the connector (22) is connected from bottom to top to a limiting plate (222) and a locking member (223). The locking member (223) is detachably connected to the connector (22). The locking member (223), the limiting plate (222), and the spherical crown (221) abut against each other in sequence.

4. The battery flexible gripper according to any one of claims 1-3, wherein, The bottom end of the connector (22) is connected to a first connecting ring (225), the top of the lifting device (1) is connected to a second connecting ring (111), and the connecting lock (23) is detachably connected between the first connecting ring (225) and the second connecting ring (111).

5. The battery flexible gripper according to any one of claims 1-3, wherein, The connecting lock (23) is a shackle.

6. The battery flexible gripper of claim 5, wherein, The shackles are connected in sequence in multiples.

7. The battery flexible gripper of any one of claims 1-3, wherein, The lifting device (1) includes: A hanger (11) is disposed below the flexible connection assembly (2); and, A locking assembly (12) is disposed at the bottom of the hanger (11), and multiple locking assemblies (12) are provided. The locking assembly (12) is configured to lock the hanger (11) to the top of the battery (100).

8. The flexible battery gripper according to claim 7, characterized in that, The locking assembly (12) includes: A locking block (121) is slidably connected to the hanger (11), the locking block (121) slides horizontally, the top of the battery (100) has a locking groove (102), and the locking block (121) can be inserted into the locking groove (102); and, A drive member (122) is disposed on the hanger (11) and the drive member (122) is used to drive the locking block (121) to slide.

9. The battery flexible gripper of claim 8, wherein, The body of the drive component (122) is rotatably connected to the hanger (11), and the drive end of the drive component (122) is rotatably connected to the locking block (121).

10. A battery swapping robot, comprising a robot body and a mechanical arm, the mechanical arm being connected with the robot body, characterized in that, Also included is a battery flexible gripper as in any of claims 1-9, connected to an end of the robotic arm.

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