Gantry type marine battery replacing robot

Abstract

The utility model discloses a gantry type marine battery changing robot which comprises a ship body, rails are arranged on the ship body, a rack is arranged on the rails, a battery room is arranged between the rails, the rack comprises a top frame and side frames, the top frame is located above the battery room, the side frames are located on the two sides of the battery room, the top frame is connected with a lifting system, and moving mechanisms are arranged on the side frames. The gantry type marine battery replacing robot is simple in structure, low in use cost and high in battery replacing efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of ship battery swapping technology. Specifically, this utility model relates to a gantry-type ship battery swapping robot. Background Technology

[0002] With increasing global emphasis on environmental protection and sustainable development, the shipping industry is facing an urgent need to reduce carbon emissions and improve energy efficiency. Electric ships are gradually becoming more common, and to improve their efficiency, they employ a PACK battery swapping system, thus requiring battery swapping equipment. Existing electric ship battery swapping equipment is complex, costly, often occupies significant space on the hull, is inconvenient to operate, and has low swapping efficiency.

[0003] Utility model patent CN219217218U, published on June 20, 2023, discloses a device entitled "A Battery Swapping Spreader for Ship Containers." This device includes a fixing component, a magnetic suction component movably installed inside the fixing component, and a stabilizing component detachably installed at the upper end of the fixing component. The fixing component includes a first fixing plate and a second fixing plate, with an extension plate movably connected between the first and second fixing plates. A controller is fixedly installed at the upper end of both the first and second fixing plates. However, this battery swapping spreader for ship containers does not solve the aforementioned technical problems. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a gantry-type marine battery swapping robot that is simple in structure, low in operating cost, and highly efficient in battery swapping.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] The gantry-type marine battery swapping robot includes a hull, a track on the hull, a frame on the track, and a battery compartment between the tracks. The frame includes a top frame and side frames. The top frame is located above the battery compartment, and the side frames are located on both sides of the battery compartment. The top frame is connected to a lifting system, and the side frames are equipped with a moving mechanism.

[0007] The top frame has a motor in the middle, which is connected to a first reducer. The output end of the first reducer is connected to a drum, on which a steel wire rope is wound. The bottom end of the steel wire rope is connected to a battery hanger. The lifting system includes hooks, which are located below the battery hanger. There are four hooks. The battery hanger has two electric push rods, whose output ends are hinged to connecting rods. The top of the hooks is fixedly connected to a connecting seat, which is at the same height as the connecting rod. The two ends of the connecting rod are eccentrically connected to the connecting seat. The bottom of the side frame has rollers that cooperate with the track. The moving mechanism includes a transverse motor. The bottom of the side frame has a connecting plate, which is fixedly connected to the transverse motor. The transverse motor is vertically arranged. The output end of the transverse motor is sequentially connected to a second reducer and a drive gear. A rack and pinion track is arranged parallel to the outside of the track. The length of the rack and pinion track is adapted to the length of the rack and pinion track. The drive gear meshes with the rack.

[0008] A buffer rack and a battery compartment cover storage rack are also provided between the tracks. The buffer rack and the battery compartment cover storage rack are located on both sides of the battery compartment. There are two buffer racks. A quick clamp is provided at the end of the battery compartment. Battery compartment covers are stacked on the battery compartment cover storage rack.

[0009] Batteries are evenly distributed inside the battery compartment, and a hoisting frame is provided on the top of the batteries and the top of the battery compartment cover.

[0010] The battery hoist is equipped with a guide block at the bottom, and the outer side of the guide block has an arc-shaped structure.

[0011] The track has an I-shaped cross section, and the rollers are provided with limiting plates on both sides, with the top of the track located between the limiting plates.

[0012] The battery hoist is also equipped with a limiting rod, which is set vertically.

[0013] The hook has an L-shaped structure, and the turning point of the hook has an arc-shaped transition.

[0014] The frame has a portal frame structure and is constructed from welded square tubing.

[0015] This utility model has the following technical effects:

[0016] 1. Synergistic structure of gantry frame and transverse component: Through the cooperation of rack and pinion track, transverse gear and rack, combined with transverse motor and reducer, the precise lateral movement of gantry battery swapping robot is realized, simplifying the drive structure and reducing cost.

[0017] 2. Integrated design of vertical lifting components: The battery lifting components integrate wire rope drums, reducers, motors and other components, and work with guide blocks to achieve stability and reliability in vertical battery lifting; the use of quick clamps and the linkage structure design of the battery lifting device ensures the rapid opening and closing of the battery compartment cover and the precise positioning of the battery gripper, improving battery swapping efficiency.

[0018] 3. Fully automated operation: The robot's movement, battery grabbing, transfer, and cover plate reset are achieved through automated coordination of lateral movement, lifting, and hoisting actions, reducing manual intervention and improving battery swapping efficiency.

[0019] 4. Modular battery transfer and storage system: Through the design between the buffer rack and the battery, the transfer and storage of new and old batteries can be realized, optimizing the continuity of the battery swapping process. Attached Figure Description

[0020] This manual includes the following figures, which illustrate the following:

[0021] Figure 1 This is a structural schematic diagram of the gantry-type marine battery swapping robot of this utility model;

[0022] Figure 2 yes Figure 1 Enlarged view of region A;

[0023] Figure 3 yes Figure 2 Enlarged view of region B;

[0024] Figures 4-1 to 4-3 This is a structural schematic diagram of the battery lifting device of this utility model;

[0025] Figure 5 This is a schematic diagram of the battery compartment structure of this utility model;

[0026] Figure 6 This is a schematic diagram of the bottom structure of the side frame of this utility model;

[0027] Figure 7 This is a schematic diagram of the installation of the roller and the transverse motor of this utility model;

[0028] Figure 8 This is a schematic diagram of the installation of the electric push rod of this utility model;

[0029] The markings in the diagram are as follows: 1. Hull; 11. Track; 12. Rack and pinion track; 13. Rack; 14. Frame; 15. Buffer rack; 16. Battery compartment cover storage rack; 17. Lifting frame; 2. Top frame; 21. Motor; 22. First reducer; 23. Drum; 24. Wire rope; 25. Bearing seat; 3. Side frame; 31. Transverse motor; 32. Second reducer; 33. Drive gear; 34. Roller; 35. Connecting plate; 36. Roller support; 37. Connecting shaft; 38. Limiting plate; 4. Battery lifting device; 41. Hook; 42. Connecting seat; 43. Electric push rod; 44. Connecting rod; 45. Guide block; 46. Limiting rod; 47. F-shaped bracket; 48. Fixing plate; 49. Waist-shaped hole; 5. Battery compartment; 51. Battery compartment cover; 52. Battery; 53. Quick clamp. Detailed Implementation

[0030] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of this invention, and to facilitate its implementation.

[0031] like Figure 1 and Figure 2 As shown, the gantry-type marine battery swapping robot includes a hull 1, with tracks 11 on the hull 1. A frame 14 is mounted on the tracks 11, and battery compartments 5 are located between the tracks 11. The frame 14 includes a top frame 2 and side frames 3. The top frame 2 is located above the battery compartments 5, and the side frames 3 are located on both sides of the battery compartments 5. The top frame 2 is connected to a lifting system, and the side frames 3 are equipped with a moving mechanism. The frame 14 provides mounting support for the various components of the gantry battery swapping robot. The frame 14 is generally U-shaped, with its main structure located outside the battery compartments 5, thus not occupying a large space on the hull 1. This simplifies the structure of existing battery swapping equipment and helps reduce the space occupied on the hull 1. There are two tracks 11, and the battery compartments 5 are located between the two tracks 11 for storing batteries. The gantry frame 14 improves battery swapping efficiency by using the movement of the transverse components on the rack and pinion track 12 and the linkage mechanism between the quick clamp 53 and the battery hoist 4. Furthermore, by improving the integrated structure of the components and their collaborative control logic with the hoist, as well as the modular layout of the buffer rack 15 and the battery compartment 5, the problems of complexity and high cost of existing battery swapping equipment are solved, achieving the core advantages of simplified structure and improved efficiency.

[0032] like Figures 3 to 4-3As shown, a motor 21 is provided in the middle of the top frame 2. The motor 21 is connected to a first reducer 22. The output end of the first reducer 22 is connected to a drum 23. A steel wire rope 24 is wound on the drum 23. The bottom end of the steel wire rope 24 is connected to a battery hoist 4. The lifting system includes a hook 41, which is located below the battery hoist 4. There are four hooks 41. The battery hoist 4 is provided with an electric push rod 43. There are two electric push rods 43. The output end of the electric push rod 43 is hinged to a connecting rod 44. The top end of the hook 41 is fixedly connected to a connecting seat 42. The connecting seat 42 and the connecting rod 44 are at the same height. The two ends of the connecting rod 44 are eccentrically connected to the connecting seat 42. The end of the drum 23 is rotatably connected to the bearing seat 25 on the battery hoist 4 to ensure stable rotation of the drum 23. The motor 21 outputs power sequentially through the reducer and the drum 23 to achieve the vertical lifting action of the wire rope 24 on the battery hoist 4. The connecting rod 44 is used to drive the hook 41 to rotate. The electric push rod 43 provides power for the rotation of the hook 41 through the connecting rod 44. The end of the connecting rod 44 is hinged and eccentrically connected to the connecting seat 42. The two electric push rods 43 start and stop synchronously, driving the connecting rod 44 to move, thereby controlling the synchronous rotation of the four hooks 41 to achieve the locking or unlocking of the battery compartment cover 51 or the battery. The battery hoist 4 is equipped with an F-shaped bracket 47 for the installation of the electric push rod 43. The bottom of the F-shaped bracket 47 is provided with a fixing plate 48. The fixing plate 48 is provided with a waist-shaped hole 49 to facilitate the adjustment of the installation position of the electric push rod 43 by the connecting parts of the fixing plate 48.

[0033] like Figure 6 and Figure 7 As shown, the bottom end of the side frame 3 is equipped with a roller 34, which engages with the track 11. The moving mechanism includes a transverse motor 31. A connecting plate 35 is located in the middle of the bottom end of the side frame 3. The transverse motor 31 is fixedly connected to the connecting plate 35. The transverse motor 31 is vertically arranged. The output end of the transverse motor 31 is sequentially connected to a second reducer 32 and a drive gear 33. A rack track 12 is arranged parallel to the outer side of the track 11. The rack 13 is matched with the length of the rack track 12. The drive gear 33 meshes with the rack 13. The track 11 is used for the directional rolling of the roller 34 of the gantry battery swapping robot. The rack track 12 is used for the installation of the rack 13, ensuring that the rack 13 is aligned and meshes smoothly. The bottom end of the side frame 3 is equipped with a roller support 36 for the installation of the roller 34. The roller 34 is rotatably connected to the roller support 36 through a connecting shaft 37. The transverse motor 31 provides power for the transverse movement of the gantry battery swapping robot, and the transverse reducer is used to drive the transverse gear. The transverse motor 31 realizes the transverse movement of the gantry battery swapping robot on the track 11 through the meshing transmission of the drive gear 33 and the rack 13.

[0034] like Figure 2As shown, a buffer rack 15 and a battery compartment cover storage rack 16 are also provided between the tracks 11. The buffer rack 15 and the battery compartment cover storage rack 16 are located on both sides of the battery compartment 5, respectively. There are two buffer racks 15, and quick clamps 53 are provided at the ends of the battery compartment 5. Battery compartment covers 51 are stacked on the battery compartment cover storage rack 16. The quick clamps 53 are used to clamp the battery compartment covers 51, and the clamping and sealing action of the quick clamps 53 achieves the weathertightness of the battery compartment 5. The battery compartment cover storage rack 16 is used to place the battery compartment covers 51, and the battery compartment 5 that is opened during battery swapping can have its battery compartment covers 51 stacked on the battery compartment cover storage rack 16, so as not to affect the battery swapping operation. The buffer rack 15 is used for the transfer storage of batteries, and the two buffer racks 15 serve as temporary storage positions for fully charged batteries and undercharged batteries, respectively.

[0035] like Figure 5 As shown, batteries 52 are evenly distributed within the battery compartment 5. Both the top of the batteries 52 and the top of the battery compartment cover 51 are equipped with lifting frames 17. The batteries 52 provide power to the electric boat. The lifting frames 17 for the batteries 52 and the battery compartment cover 51 have the same structure and specifications, allowing the lifting equipment to sequentially lift the battery compartment cover 51 and the batteries 52. Therefore, it is unnecessary to use two separate lifting equipment to lift the battery compartment cover 51 and the batteries 52, simplifying the overall structure and improving battery swapping efficiency.

[0036] like Figure 4-2 and Figure 4-3 As shown, the bottom of the battery hoist 4 is provided with a guide block 45, and the outer side of the guide block 45 has an arc-shaped structure. Through the guide surface of the arc-shaped structure, the guide block 45 ensures that when the hoisting device approaches the battery, the third plate is close to the battery and located above the battery. The guide surfaces of multiple guide blocks 45 are respectively downward and inserted downward into the inner side of the upper beam corresponding to the hoisting frame 17 above the battery, thereby reliably achieving alignment with the battery.

[0037] like Figure 7 As shown, the track 11 has an I-shaped cross-section, and the rollers 34 are provided with limiting plates 38 on both sides, with the top of the track 11 located between the limiting plates 38. The I-shaped cross-section of the track 11 improves the structural strength, and the limiting plates 38 ensure that the rollers 34 will not fall off the track 11 when the frame 14 moves along the track 11.

[0038] like Figure 4-1 As shown, the battery hoist 4 is also equipped with a limiting rod 46, which is vertically arranged. There are two limiting rods 46, which are used to limit the minimum vertical distance between the battery hoist 4 and the top frame 2, which helps to keep the battery hoist 4 horizontal.

[0039] like Figure 4-2 and Figure 4-3 As shown, the hook 41 has an L-shaped structure with an arc-shaped transition at the bend. The arc-shaped transition at the bend of the L-shaped hook 41 helps to reduce the probability of breakage due to stress concentration when it hooks the battery.

[0040] like Figure 2 As shown, the frame 14 has a portal frame structure and is constructed from welded square tubing. The top frame 2 and side frames 3 are connected to form the gantry-type frame 14, with double support on both sides. This structure is simple, stable, and has reliable load-bearing capacity. The frame 14 is manufactured using welded square tubing, ensuring low cost while providing reliable structural strength. It also facilitates the positioning and installation of components, offering high manufacturing flexibility. Furthermore, the connection positions of the square tubing can be adjusted according to the specifications and dimensions of the components.

[0041] The working process of the gantry-type battery swapping robot is as follows:

[0042] 1. The operator opens the quick clamp 53.

[0043] 2. The gantry-type battery swapping robot moves to the battery compartment cover 51 and moves the six battery compartment covers 51 to the battery compartment cover storage rack 16. The specific operation is as follows: The transverse motor 31 starts and moves the frame 14 along the track 11 to the top of the battery compartment cover 51 through the meshing transmission of the gear and rack 13. Then, the motor 21 starts and drives the drum 23 to rotate, which drives the wire rope 24 and the battery lifting device 4 to move down, so that the hook 41 is located below the lifting frame 17 of the battery compartment cover 51. Then, the two electric push rods 43 start and drive the rotating seats of a pair of hooks 41 to rotate 90° through the two ends of the connecting rod 44. The hooks 41 unfold synchronously with the rotation of the hook 41 rotating seats. Then, the motor 21 drives in the opposite direction to move the battery lifting device 4 upward. The four hooks 41 will stably hook the lifting frame 17 of the battery compartment cover 51. The transverse motor 31 starts again and transfers the battery compartment cover 51 to the top of the battery compartment cover storage rack 16. The placement operation of the battery compartment cover 51 can be carried out in reverse to achieve the transfer of the battery compartment cover 51.

[0044] 3. The gantry-type battery swapping robot positions itself below the battery using the lateral movement component. The lifting component positions the lifting device to the gripping position, and the lifting hook 41 rotates 90° to open and hooks the lifting frame 17. The lifting component lifts the battery to a certain height, and the gantry-type battery swapping robot transfers the undercharged battery to the first buffer position using the lateral movement component. Then, the gantry-type battery swapping robot transfers the fully charged battery from another buffer position to the battery compartment 5 where the undercharged battery was transferred out, thus completing the battery swapping operation. This process is repeated to swap the remaining 5 batteries.

[0045] 4. The gantry-type battery swapping robot places the battery compartment cover 51 from the battery compartment cover storage rack 16 into the 6 battery compartments 5 in sequence.

[0046] 5. The operator uses quick clamps 53 to close the battery compartment cover 51 and complete the battery swapping operation.

[0047] This gantry-type marine battery swapping robot has the following technical advantages:

[0048] 1. Synergistic structure of gantry frame 14 and transverse component: Through the cooperation of rack and pinion track 12, transverse gear and rack 13, combined with transverse motor 31 and reducer, the precise transverse movement of gantry battery swapping robot is realized, simplifying the drive structure and reducing cost.

[0049] 2. Integrated design of vertical lifting components: The battery lifting components integrate components such as wire rope drum 23, reducer, and motor 21, and work with guide block 45 to achieve stability and reliability of vertical battery lifting; the use of quick clamp 53 and the linkage structure design of battery lifting device 4 ensure the rapid opening and closing of battery compartment cover 51 and the precise positioning of battery grabbing, thereby improving battery swapping efficiency.

[0050] 3. Fully automated operation: The robot's movement, battery grabbing, transfer, and cover plate reset are achieved through automated coordination of lateral movement, lifting, and hoisting actions, reducing manual intervention and improving battery swapping efficiency.

[0051] 4. Modular battery transfer and storage system: Through the design of the buffer rack 15 and the battery compartment 5, the transfer and storage of new and old batteries can be realized, optimizing the continuity of the battery swapping process.

[0052] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A gantry type marine battery swapping robot, characterized in that: The device includes a hull (1), on which a track (11) is provided, and a frame (14) is provided on the track (11). A battery compartment (5) is provided between the tracks (11). The frame (14) includes a top frame (2) and a side frame (3). The top frame (2) is located above the battery compartment (5), and the side frames (3) are located on both sides of the battery compartment (5). The top frame (2) is connected to a lifting system, and the side frames (3) are provided with a moving mechanism.

2. The gantry-type marine battery replacement robot according to claim 1, characterized in that: The top frame (2) is equipped with a motor (21) in the middle. The motor (21) is connected to a first reducer (22). The output end of the first reducer (22) is connected to a drum (23). A steel wire rope (24) is wound on the drum (23). The bottom end of the steel wire rope (24) is connected to a battery hoist (4). The lifting system includes a hook (41). The hook (41) is located below the battery hoist (4). There are four hooks (41). The battery hoist (4) is equipped with an electric push rod (43). There are two electric push rods (43). The output end of the electric push rod (43) is hinged to a connecting rod (44). The top end of the hook (41) is fixedly connected to a connecting seat (42). The connecting seat (42) and the connecting rod (44) are at the same height. The two ends of the connecting rod (44) are eccentrically connected to the connecting seat (42).

3. The gantry-type marine battery replacement robot according to claim 2, characterized in that: The side frame (3) is provided with a roller (34) at the bottom end, and the roller (34) cooperates with the track (11); the moving mechanism includes a transverse motor (31), and a connecting plate (35) is provided in the middle of the bottom end of the side frame (3). The transverse motor (31) is fixedly connected to the connecting plate (35). The transverse motor (31) is vertically arranged. The output end of the transverse motor (31) is connected to a second reducer (32) and a drive gear (33) in sequence. A rack track (12) is arranged parallel to the outside of the track (11). The rack (13) is adapted to the length of the rack track (12). The drive gear (33) meshes with the rack (13).

4. The gantry-type marine battery replacement robot according to claim 3, characterized in that: A buffer rack (15) and a battery compartment cover storage rack (16) are also provided between the tracks (11). The buffer rack (15) and the battery compartment cover storage rack (16) are located on both sides of the battery compartment (5). There are two buffer racks (15). A quick clamp (53) is provided at the end of the battery compartment (5). Battery compartment covers (51) are stacked on the battery compartment cover storage rack (16).

5. The gantry-type marine battery changing robot according to claim 4, characterized in that: Batteries (52) are evenly distributed in the battery compartment (5), and a hoisting frame (17) is provided on the top of the battery (52) and the top of the battery compartment cover (51).

6. The gantry-type marine battery replacement robot according to claim 2, characterized in that: The battery hoist (4) has a guide block (45) at its bottom, and the outer side of the guide block (45) has an arc-shaped structure.

7. The gantry-type marine battery replacement robot according to claim 3, characterized in that: The track (11) has an I-shaped cross section, and the roller (34) is provided with limiting plates (38) on both sides. The top of the track (11) is located between the limiting plates (38).

8. The gantry-type marine battery replacement robot according to claim 2, characterized in that: The battery hoist (4) is also provided with a limiting rod (46), which is set vertically.

9. The gantry-type marine battery replacement robot according to claim 2, characterized in that: The hook (41) has an L-shaped structure, and the turning point of the hook (41) has an arc transition.

10. The gantry-type marine battery replacement robot according to claim 1, characterized in that: The rack (14) is in the shape of a gate, and the rack (14) is made of square tubes welded together.

Images