Battery replacement robot based on operation and maintenance of energy storage power station

Abstract

The utility model relates to the field of intelligent operation and maintenance of energy storage equipment, and discloses a battery replacement robot based on operation and maintenance of an energy storage power station, which comprises a mobile vehicle, a transfer platform, a lifting driving device and a tail end execution device, the transfer platform is used for placing at least one battery pack, and the lifting driving device is arranged on the mobile vehicle, is in transmission connection with the transfer platform and is used for driving the transfer platform to lift; the tail end executing device comprises a telescopic arm, a transverse sliding table and two chucks, the telescopic arm can stretch out and draw back in the longitudinal direction and is connected with the transverse sliding table, one of the telescopic arm and the transverse sliding table is arranged on the transfer platform, the output end of the other one is detachably connected with the chucks, and the transverse sliding table is used for driving the two chucks to move oppositely in the transverse direction. The telescopic arm is used for driving the two clamping heads to move in the longitudinal direction. According to the utility model, the problem of how to improve the universality can be solved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent operation and maintenance of energy storage equipment, specifically to a battery swapping robot based on the operation and maintenance of energy storage power stations. Background Technology

[0002] With the transformation of the global energy structure and the deepening utilization of renewable energy, large-scale energy storage power stations, as key facilities for ensuring stable grid operation and improving energy efficiency, are experiencing continuous expansion in construction scale and application scope. Among large-scale energy storage power stations, containerized battery systems have become one of the mainstream energy storage solutions due to their modular design and ease of transportation and deployment. However, as the battery system operates for longer periods, the battery packs gradually age, and some may fail under complex operating environments. Therefore, it is necessary to regularly replace aging or faulty battery packs within the container to ensure the safe, stable, and efficient operation of the energy storage power station. Currently, battery pack replacement within the container mainly relies on manual labor or customized hoisting equipment. Both methods have revealed numerous problems in practical applications, seriously affecting battery swapping efficiency, quality, and safety.

[0003] First, most customized lifting and swapping equipment currently on the market is designed and manufactured for a single battery pack specification, making it incompatible with battery packs of different shapes and types, resulting in poor versatility. Second, the limited space inside shipping containers, coupled with the large size of most lifting and swapping equipment, makes it difficult to move within the container and reach the designated battery pack location, limiting its flexibility. Furthermore, traditional customized lifting and swapping equipment mostly uses electric drive, which has a relatively small load-bearing capacity. Since some battery packs weigh over 200KG, traditional customized lifting and swapping equipment struggles to stably and safely transport such heavy battery packs.

[0004] Therefore, it is necessary to develop a battery swapping robot based on the operation and maintenance of energy storage power stations, which has high versatility, flexibility and large load-bearing capacity. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] This invention provides a battery swapping robot based on the operation and maintenance of energy storage power stations, which can at least solve the technical problem of how to improve versatility.

[0007] (II) Technical Solution

[0008] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a battery swapping robot based on the operation and maintenance of energy storage power stations, comprising:

[0009] Mobile vehicle;

[0010] The transfer platform and the lifting drive device are provided. The transfer platform is used to place at least one battery pack. The lifting drive device is located on the mobile vehicle and is connected to the transfer platform for transmission. The lifting drive device is used to drive the transfer platform to move up and down so that the transfer platform is relative to the target battery pack or the target battery pack slot.

[0011] The end effector includes a telescopic arm, a transverse slide, and two grippers. The telescopic arm can extend and retract longitudinally and is connected to the transverse slide. One of the telescopic arm and the transverse slide is located on the transfer platform, and the output end of the other is detachably connected to the grippers.

[0012] The transverse slide is used to drive the two grippers to move relative to each other in the transverse direction to grip or release the corresponding battery pack. The telescopic arm is used to drive the two grippers to move in the longitudinal direction to move the target battery pack into the transfer platform, or to push the battery pack on the transfer platform into the target battery pack slot.

[0013] In a further configuration, two telescopic arms and two transverse slides are provided, each corresponding to one of the two chucks. The two telescopic arms are used to drive the two chucks to move longitudinally, and the two transverse slides are used to drive the two chucks to move laterally.

[0014] Further configuration: the aforementioned clamp includes a first clamp plate extending vertically and a second clamp plate extending horizontally. One end of the first clamp plate is located on the output end of the telescopic arm or the transverse slide, and the other end is connected to the second clamp plate.

[0015] Furthermore, a roller assembly is rotatably mounted on the aforementioned transfer platform to support the battery pack on the transfer platform.

[0016] Furthermore, the aforementioned battery swapping robot based on energy storage power station operation and maintenance also includes a visual positioning device, which is mounted on the mobile vehicle and used to identify the location of the target battery pack or the target battery pack slot.

[0017] Furthermore, the aforementioned battery swapping robot based on energy storage power station operation and maintenance also includes a six-dimensional force sensor. The six-dimensional force sensor is installed on the end effector and is used to monitor the insertion and extraction force of the end effector on the battery pack.

[0018] Furthermore, the aforementioned mobile vehicle includes a swivel wheel chassis, and the bottom of the swivel wheel chassis is equipped with an anti-collision infrared sensor.

[0019] (III) Beneficial Effects

[0020] Compared with existing technologies, the battery swapping robot based on the operation and maintenance of energy storage power stations provided by this utility model has the following beneficial effects:

[0021] 1. When using the battery swapping robot based on energy storage power station operation and maintenance provided by this utility model, firstly, the mobile vehicle moves to the target battery container. Then, the lifting drive device drives the transfer platform to rise to the height of the target battery pack (aged or faulty battery pack), so that the transfer platform is positioned relative to the target battery pack. Next, the end effector, through the cooperation of the telescopic arm and the lateral slide, drives two grippers to grab the target battery pack and remove it from the target battery pack slot onto the transfer platform. After completing the disassembly and transfer of the target battery pack, the end effector releases the target battery pack. Subsequently, the mobile vehicle transports the target battery pack to a designated location. The lifting drive device and the end effector repeat the above steps to transfer the target battery pack on the transfer platform to the designated location and temporarily store a new battery pack on the transfer platform. Finally, the mobile vehicle returns to the container, and the lifting drive device and the end effector repeat the above steps again to push the new battery pack on the transfer platform into the original battery pack slot. The end effector then releases the new battery pack, thus completing the disassembly and replacement of the aged or faulty battery pack. As can be seen, this utility model can automatically disassemble and replace battery packs inside containers, and can also automatically transport the replaced battery packs to designated locations, greatly reducing manual intervention, shortening battery swapping time, and significantly improving battery swapping efficiency.

[0022] 2. The end effector's chuck is detachable and can be replaced with any type of chuck, such as a fork-tooth type, electromagnetic adsorption type, or flexible clamping type, to adapt to battery packs of different specifications, shapes, and types, greatly enhancing the equipment's versatility.

[0023] 3. The mobile vehicle, as the mobile carrier of the entire battery swapping robot, can move flexibly and accurately to the target battery pack position in the confined space of the container, effectively improving the flexibility of the equipment inside the container. Attached Figure Description

[0024] Figure 1 This is a 3D view of the battery swapping robot based on the operation and maintenance of an energy storage power station in the embodiment.

[0025] Figure 2 for Figure 1 Enlarged diagram of point A in the middle.

[0026] Icon labels:

[0027] 1. Mobile vehicle; 11. Caster wheel mobile chassis; 111. Caster wheels;

[0028] 2. Transfer platform; 21. Roller assembly; 211. Roller;

[0029] 3. Lifting drive device;

[0030] 4. End effector; 41. Telescopic arm; 42. Lateral slide; 43. Chuck; 431. First clamping plate; 432. Second clamping plate;

[0031] 5. Visual positioning device. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] This invention provides a battery swapping robot for the operation and maintenance of energy storage power stations, which addresses the issue of how to improve versatility.

[0034] See Figure 1 As shown, Figure 1 The image shown is a perspective view of a battery swapping robot based on the operation and maintenance of an energy storage power station in the embodiment. The battery swapping robot based on the operation and maintenance of an energy storage power station includes a mobile vehicle 1, a transfer platform 2, a lifting drive device 3, and an end effector 4.

[0035] Transfer platform 2 is used to place at least one battery pack.

[0036] The lifting drive device 3 is mounted on the mobile vehicle 1 by means of screwing or welding, and is connected to the transfer platform 2 via transmission. The lifting drive device 3 is used to drive the transfer platform 2 to move up and down, so that the transfer platform 2 is positioned relative to the target battery pack or the target battery pack slot.

[0037] The end effector 4 includes a telescopic arm 41, a transverse slide 42, and two grippers 43. The telescopic arm 41 can extend and retract longitudinally and is connected to the transverse slide 42. One of the telescopic arm 41 and the transverse slide 42 is mounted on the transfer platform 2 by means of screwing or welding, and the output end of the other is detachably connected to the gripper 43 by means of screwing or snap-fit.

[0038] The transverse slide 42 is used to drive the two grippers 43 to move relative to each other in the transverse direction in order to grab or release the corresponding battery pack; the telescopic arm 41 is used to drive the two grippers 43 to move in the longitudinal direction in order to move the target battery pack into the transfer platform 2, or to push the battery pack on the transfer platform 2 into the target battery pack slot.

[0039] When using the battery swapping robot based on energy storage power station operation and maintenance, the above technical solution involves the following steps: First, the mobile vehicle 1 moves to the target battery container. Then, the lifting drive device 3 drives the transfer platform 2 to rise to the height of the target battery pack (an aging or faulty battery pack), positioning the transfer platform 2 relative to the target battery pack. Next, the end effector 4, through the cooperation of the telescopic arm 41 and the transverse slide 42, drives two grippers 43 to grab the target battery pack and remove it from its slot onto the transfer platform 2. After disassembling and transferring the target battery pack, the end effector 4 releases it. Subsequently, the mobile vehicle 1 transports the target battery pack to a designated location, and the lifting drive device 3 and the end effector 4 repeat the above steps to transfer the target battery pack from the transfer platform 2 to the designated location and temporarily store a new battery pack on the transfer platform 2. Finally, the mobile vehicle 1 returns to the aforementioned container. The lifting drive device 3 and the end effector 4 repeat the above steps, pushing the new battery pack from the transfer platform 2 into the original battery pack slot. The end effector 4 then releases the new battery pack, thus completing the replacement of the aging or faulty battery pack. It can be seen that this invention can automatically replace battery packs within a container and automatically transport the replaced battery packs to a designated location, greatly reducing manual intervention, shortening battery swapping time, and significantly improving battery swapping efficiency. The end effector 4's chuck 43 is detachable and can be replaced with any type of chuck, such as a fork-tooth type, electromagnetic adsorption type, or flexible clamping type, to adapt to battery packs of different specifications, shapes, and types, greatly enhancing the equipment's versatility. Furthermore, the mobile vehicle 1, as the mobile carrier of the entire battery swapping robot, can move flexibly and accurately to the target battery pack position within the confined space of the container, effectively improving the equipment's flexibility within the container.

[0040] If the telescopic arm 41 is installed on the transfer platform 2, the output end of the telescopic arm 41 is connected to the transverse slide 42, and the output end of the transverse slide 42 is connected to the clamp 43. Conversely, if the transverse slide 42 is installed on the transfer platform 2, the output end of the transverse slide 42 is connected to the telescopic arm 41, and the output end of the telescopic arm 41 is connected to the clamp 43. In the first embodiment, either one telescopic arm 41 or two transverse slides 42 can be provided; in the second embodiment, either one or two transverse slides 42 can also be provided, but two telescopic arms 41 must be provided. If only one transverse slide 42 is provided, the transverse slide 42 can use an existing bidirectional linear module such as a motor-bidirectional lead screw nut linear module, so that the transverse slide 42 can be simultaneously connected to two clamps 43 or two telescopic arms 41; if two transverse slides 42 are provided, the transverse slides 42 can use an existing unidirectional linear module such as a motor-lead screw nut linear module, and the two transverse slides 42 are respectively connected to two clamps 43 or two telescopic arms 41.

[0041] The aforementioned lifting drive device 3 can use an existing two-stage telescopic hydraulic arm, with a maximum lifting height of 3m and an output load ≥500KG. The aforementioned lateral slide 42 and telescopic arm 41 can both use existing hydraulic slides and telescopic arms, respectively. This battery swapping robot based on energy storage power station operation and maintenance also includes a hydraulic drive system mounted on the mobile vehicle 1. The lifting drive device 3, lateral slide 42, and telescopic arm 41 are all connected to this hydraulic drive system, which provides hydraulic power. This hydraulic drive system integrates a high-power hydraulic pump, servo valve group, and multi-way hydraulic cylinders. The servo valve group controls the hydraulic cylinders to achieve the lifting movement of the transfer platform 2 and the lateral and longitudinal movement of the chuck 43. Thus, compared to electric drive, hydraulic drive effectively improves the load capacity of the output ends of the lifting drive device 3, lateral slide 42, and telescopic arm 41, ensuring smooth and vibration-free operation of the end effector during lifting, making the battery swapping process safe and reliable. It solves the problem of unstable transport of heavy battery packs, enabling the battery swapping robot to be suitable for heavy battery swapping operations in complex and confined spaces.

[0042] The aforementioned hydraulic drive system also needs to be integrated with an emergency pressure relief valve. The emergency pressure relief valve can automatically release pressure when the pressure of the hydraulic drive system exceeds the limit, ensuring the safe use of the hydraulic drive system.

[0043] The aforementioned mobile vehicle 1 can use existing AGV forklifts, which can travel automatically along a planned path and are suitable for narrow spaces.

[0044] See Figure 1 As shown, based on the above embodiment, two telescopic arms 41 and two transverse slides 42 are provided, each corresponding to one of the two grippers 43. The two telescopic arms 41 are used to drive the two grippers 43 to move longitudinally, and the two transverse slides 42 are used to drive the two grippers 43 to move laterally. In this embodiment, both telescopic arms 41 are mounted on the transfer platform 2. The output ends of the two telescopic arms 41 are connected to the two transverse slides 42, and the output ends of the two transverse slides 42 are connected to the two grippers 43. Thus, each gripper 43 is independently driven by one telescopic arm 41 and one transverse slide 42. This allows for flexible adjustment of the actual position of the gripper 43 according to the actual position of the target battery pack during the battery pack assembly / disassembly process, effectively preventing the end effector 4 from failing to accurately and stably grip the battery pack due to slight displacement of the battery pack position during gripping.

[0045] See Figure 1 and Figure 2 As shown, Figure 2 for Figure 1The enlarged schematic diagram at point A shows that, in one embodiment of the clamp 43, the clamp 43 includes a first clamping plate 431 extending vertically and a second clamping plate 432 extending horizontally. One end of the first clamping plate 431 is attached to the output end of the telescopic arm 41 or the transverse slide 42 by means of screwing or snap-fitting, and the other end of the first clamping plate 431 is integrally connected to the second clamping plate 432. Thus, the end effector 4 can clamp the battery pack by having the two first clamping plates 431 contact and abut against the outer surface of the battery pack, or by inserting the two second clamping plates 432 into the grooves on the end face of the battery pack and contacting and abutting against the inner wall of the grooves. This variety of clamping methods allows for flexible adaptation to various battery pack shapes, effectively reducing repetitive equipment investment and saving costs.

[0046] See Figure 1 As shown, based on any of the above embodiments, a roller assembly 21 is rotatably connected to the transfer platform 2. The roller assembly 21 is used to support the battery pack on the transfer platform 2. Thus, during the process of the end effector 4 moving the battery pack into or out of the transfer platform 2, the battery pack will be rotatably connected to the roller assembly 21. The roller assembly 21 can not only assist the end effector 4 in moving the battery pack into or out of the transfer platform 2, but also assist the end effector 4 in supporting the battery pack, effectively preventing the battery pack from accidentally falling off the end effector 4 and being damaged.

[0047] The roller assembly 21 described above may be composed of several existing rollers 211 arranged at intervals along the same straight line.

[0048] See Figure 1 As shown, based on any of the above embodiments, the battery swapping robot for energy storage power station operation and maintenance also includes a visual positioning device 5. The visual positioning device 5 is mounted on the mobile vehicle 1 and is used to identify the position of the target battery pack or the target battery pack slot. This facilitates the coordinated operation of the lifting drive device 3 and the end effector 4 to transfer the battery pack to the transfer platform 2, or to accurately insert the battery pack on the transfer platform 2 into the battery pack slot.

[0049] The aforementioned visual positioning device 5 can use existing binocular vision cameras to quickly visually identify and locate the battery pack or battery pack slot.

[0050] Based on any of the above embodiments, the battery swapping robot for energy storage power station operation and maintenance also includes a six-dimensional force sensor (not shown in the figure). The six-dimensional force sensor is installed on the end effector 4 and is used to monitor the insertion and extraction force of the end effector 4 on the battery pack. In this way, it can not only avoid the battery pack not moving into place due to insufficient insertion and extraction force of the end effector 4, but also avoid the battery pack being crushed or damaged due to excessive insertion and extraction force of the end effector 4.

[0051] The battery swapping robot based on energy storage power station operation and maintenance may also include a pressure feedback controller (not shown in the figure). The pressure feedback controller and the six-dimensional force sensor work together to dynamically adjust the moving position of the chuck 43.

[0052] See Figure 1 As shown, in one embodiment of the mobile vehicle 1, the mobile vehicle 1 includes a caster wheel chassis 11. An anti-collision infrared sensor (not shown) is mounted on the bottom of the caster wheel chassis 11. Thus, the caster wheel chassis 11 enables the mobile vehicle 1 to have omnidirectional movement capabilities, supporting precise movement in complex scenarios, and improving efficiency by 40% compared to traditional tracked equipment. Furthermore, the anti-collision infrared sensor can promptly detect obstacles ahead and send the information to the mobile vehicle 1, thereby effectively preventing the mobile vehicle 1 from colliding with obstacles during movement.

[0053] The aforementioned anti-collision infrared sensor can use existing infrared sensors.

[0054] The aforementioned caster chassis 11 can use two sets of independently driven casters 111, equipped with existing hub motors and shock-absorbing springs. The hub motors employ redundant encoders, supporting millimeter-level displacement feedback. Thus, the caster chassis 11 enables the mobile vehicle 1 to possess shock absorption and omnidirectional movement capabilities, supporting 360° omnidirectional movement and on-the-spot rotation, with a minimum turning radius ≤0.5m, enabling it to adapt to confined spaces.

[0055] The aforementioned omnidirectional wheel mobile chassis 11 can be connected to existing autonomous navigation modules (e.g., lidar + inertial navigation system) or follower modules (e.g., UWB positioning + handheld terminal) via a standard interface (e.g., CAN bus). In this way, the main navigation module or follower module can plan the driving path of the mobile vehicle 1, enabling the battery swapping robot to move to the target battery container.

[0056] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A battery replacement robot based on energy storage power station operation and maintenance, characterized in that, include: Mobile vehicle; A transfer platform and a lifting drive device are provided. The transfer platform is used to place at least one battery pack. The lifting drive device is mounted on the mobile vehicle and is connected to the transfer platform in a transmission manner. The lifting drive device is used to drive the transfer platform to move up and down so that the transfer platform is relative to the target battery pack or the target battery pack slot. The end effector includes a telescopic arm, a transverse slide, and two grippers. The telescopic arm is longitudinally telescopic and connected to the transverse slide. One of the telescopic arm and the transverse slide is located on the transfer platform, and the output end of the other is detachably connected to the grippers. The transverse slide is used to drive the two grippers to move relative to each other in the transverse direction to grip or release the corresponding battery pack. The telescopic arm is used to drive the two grippers to move in the longitudinal direction to move the target battery pack into the transfer platform, or to push the battery pack on the transfer platform into the target battery pack slot.

2. The energy storage-based power station operation and maintenance battery swapping robot according to claim 1, characterized in that, Two telescopic arms and two transverse slides are provided, and each is corresponding to one of the two clamps. The two telescopic arms are used to drive the two clamps to move longitudinally, and the two transverse slides are used to drive the two clamps to move laterally.

3. The energy storage-based power station operation and maintenance battery swapping robot according to claim 2, characterized in that, The clamp includes a first clamping plate extending vertically and a second clamping plate extending horizontally. One end of the first clamping plate is located on the output end of the telescopic arm or the transverse slide, and the other end is connected to the second clamping plate.

4. The energy storage station operation and maintenance based battery swapping robot according to any one of claims 1-3, characterized in that, A roller assembly is rotatably mounted on the transfer platform, and the roller assembly is used to support the battery pack on the transfer platform.

5. The energy storage station operation and maintenance based battery swapping robot according to any one of claims 1-3, characterized in that, The battery swapping robot based on energy storage power station operation and maintenance also includes a visual positioning device, which is installed on the mobile vehicle and used to identify the location of the target battery pack or the target battery pack slot. 6.The energy storage power station operation and maintenance based battery swapping robot according to any one of claims 1-3, characterized in that, The battery swapping robot based on energy storage power station operation and maintenance also includes a six-dimensional force sensor, which is installed on the end effector and used to monitor the insertion and extraction force of the end effector on the battery pack.

7. The energy storage station operation and maintenance based battery swapping robot according to any one of claims 1-3, characterized in that, The mobile vehicle includes a swivel wheel chassis, and an anti-collision infrared sensor is installed at the bottom of the swivel wheel chassis.

Images