A flat, three-dimensional walking battery swapping robot

Abstract

This utility model relates to the field of mechanical technology. A flat, three-dimensional walking battery-swapping robot includes a first guide rail and a walking frame. The walking frame includes a first crossbeam and a supporting crossbeam arranged opposite each other. A first walking mechanism for moving along the first guide rail is mounted on the first crossbeam. A rack is mounted on the top of the supporting crossbeam. The robot also includes a flat walking vehicle that slides within a rectangular area enclosed by the first crossbeam and the supporting crossbeam. Rollers are arranged on opposite sides of the flat walking vehicle. A second drive motor is mounted on the flat walking vehicle, and the power output shaft of the second drive motor drives a drive gear to rotate. The drive gear meshes with the rack. The flat walking vehicle includes a support frame, and a third drive motor is mounted in the center of the support frame. The power output shaft of the third drive motor is connected to two parallel winding rollers. This utility model achieves a flat design.

Description

Technical Field

[0001] This utility model relates to the field of mechanical technology, specifically to a battery swapping robot. Background Technology

[0002] With increasingly stringent environmental protection standards, more and more vehicles are adopting electric power. To store this electricity, vehicles typically require a battery pack. Existing batteries generally provide a suitable driving range; however, they require several hours of charging before being fully charged. This prolonged charging time leads to a poor user experience.

[0003] The battery swapping robot is a core component of the battery swapping station equipment. It is the transfer component of the overall battery swapping process. It picks up the battery pack that is being fed to the vehicle, transfers it to the battery rack, and then transfers it to pick up a fully charged battery pack and places it at the vehicle end. The importance of the battery swapping robot is beyond doubt.

[0004] To address the issue of large space requirements associated with traditional side-mounted battery swapping, battery swapping robots with lifting mechanisms also exist. For example, a multi-axis intelligent battery swapping robot for heavy trucks, disclosed in CN115893187A, has a layout in which the lifting robot mechanism includes a lifting mechanism mounted on the second moving guide rail. Since the lifting mechanism is mounted above the second moving guide rail, it is not conducive to the flattening design of the lifting mechanism.

[0005] Achieving a flat design for battery swapping robots has been one of the directions that has been continuously improved in research and development. Utility Model Content

[0006] In view of the problems existing in the prior art, this utility model provides a flat three-dimensional walking battery swapping robot to solve at least one of the above technical problems.

[0007] To achieve the above objectives, this utility model provides a flat three-dimensional walking battery swapping robot, including a first guide track for guiding movement in a first straight line direction. The robot is characterized by further including a walking frame, which includes a first crossbeam and a support crossbeam arranged opposite to each other. A first walking mechanism for moving along the first guide track is installed on the first crossbeam.

[0008] The top of the support beam is equipped with a straight rack with a guiding direction perpendicular to the first straight line direction and a second straight line direction. The opposite support beams are provided with oppositely positioned travel guide grooves.

[0009] It also includes a flat-shaped traveling vehicle that slides within a rectangular area enclosed by the first crossbeam and the supporting crossbeam. Rollers are provided on opposite sides of the flat-shaped traveling vehicle and are embedded in the traveling guide groove. A second drive motor is installed on the flat-shaped traveling vehicle. The power output shaft of the second drive motor drives the drive gear to rotate, and the drive gear meshes with the spur rack.

[0010] The flat-shaped walking vehicle includes a support frame, and a third drive motor is installed in the center of the support frame. The power output shaft of the third drive motor is connected to two winding rollers arranged side by side.

[0011] The winding drum is rotatably mounted inside the support frame;

[0012] Each winding drum is wound with a wire rope for connecting to the lifting device used to hoist the battery.

[0013] This utility model adopts a flat-shaped walking vehicle and has rollers on the opposite side of the flat-shaped walking vehicle, which makes it easy to control the overall height and achieves a flat design.

[0014] More preferably, two parallel fixed pulley assemblies are fixed on opposite sides of the support frame, and the two ends of the wire rope are respectively fixed on the winding drum, and the wire rope is wound on the winding drum;

[0015] The middle section of the wire rope is sleeved on the outside of the fixed pulley assembly;

[0016] The wire rope passes through two parallel movable pulley assemblies on the side adjacent to the fixed pulley assembly, and the two parallel movable pulley assemblies are connected by a bracket, which is used to connect the lifting device.

[0017] More preferably, the longitudinal height of the flat-shaped walking vehicle is no more than 300mm.

[0018] By reducing the height, manufacturing costs can be significantly lowered.

[0019] More preferably, the first walking mechanism includes a first active walking roller that walks above the first guide rail, a first driven walking roller, and a first drive motor that drives the first active walking roller to rotate.

[0020] The first drive motor is installed on the adjacent side of the two first crossbeams.

[0021] More preferably, the two sides of the first crossbeam extend beyond the connection point between the first crossbeam and the supporting crossbeam in the length direction;

[0022] The first drive motor, the first active walking roller, and the first driven walking roller are installed at the connection point between the first crossbeam and the supporting crossbeam.

[0023] More preferably, limit blocks are installed at both ends of the first guide rail along its length.

[0024] The first crossbeam has buffer devices installed at both ends along its length to abut against the limit block.

[0025] More preferably, a first support frame is detachably connected to the inner side of the connection between the first crossbeam and the supporting crossbeam. The first support frame is used to detachably connect a cam follower, and the cam follower is in contact with the side wall of the first guide rail.

[0026] The cam follower ensures that the traveling frame moves on the first guide rail without excessive deviation.

[0027] More preferably, a laser rangefinder is installed on the walking frame;

[0028] A reference plate is installed adjacent to the end of the first guide rail. The detection direction of the laser rangefinder is parallel to the first guide rail, and the detection laser of the laser rangefinder is directed toward the reference plate.

[0029] This facilitates the detection of the distance the walking frame travels along the first guide track.

[0030] More preferably, a limit switch is installed on the walking frame;

[0031] Both ends of the first guide rail along its length are fitted with sheet metal parts for activating the limit switch.

[0032] More preferably, the central axis direction of the power output shafts of the first drive motor, the second drive motor, and the third drive motor is horizontal.

[0033] It facilitates control of the vertical height.

[0034] Compared with the prior art, the beneficial effects of this utility model are:

[0035] This device uses a flat-shaped traveling vehicle with rollers on the opposite side of the vehicle to facilitate control of the overall height and achieve a flat design.

[0036] This device ensures the stability of three-dimensional walking. Attached Figure Description

[0037] Figure 1This is a top view of a specific embodiment 1 of the present utility model;

[0038] Figure 2 This is a schematic diagram of a crane frame according to a specific embodiment 1 of the present utility model;

[0039] Figure 3 This is a schematic diagram of a flat-shaped walking vehicle according to a specific embodiment 1 of this utility model;

[0040] Figure 4 This is a schematic diagram of a flat-shaped walking vehicle according to a specific embodiment 1 of this utility model;

[0041] Figure 5 This is a schematic diagram of a specific embodiment 1 of the present utility model;

[0042] Figure 6 This is a partial structural diagram of the walking frame in a specific embodiment 1 of this utility model;

[0043] Figure 7 This is a partial structural diagram of the limit block in a specific embodiment 1 of this utility model;

[0044] Figure 8 This is a partial structural diagram of the limit block in a specific embodiment 1 of this utility model.

[0045] In the diagram: 1. First drive motor; 2. Walking frame; 3. Flat walking vehicle; 4. First guide rail; 5. Rail pressure block; 6. Sheet metal part; 7. Limiting block; 8. Drive gear; 9. Spur rack; 10. Laser rangefinder sensor; 11. Position sensor; 12. Lifting ring; 13. First support frame; 14. Polyurethane buffer; 15. Roller; 16. Gear reducer; 17. Winding roller; 18. Third drive motor; 19. Wire rope; 20. Moving pulley assembly; 21. Tank chain; 22. Gantry crane electrical cabinet; 23. Fixed pulley assembly; 24. Second drive motor. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings.

[0047] See Figures 1 to 8Specific Embodiment 1: A flat three-dimensional walking battery-swapping robot includes a first guide track 4 for guiding movement in a first linear direction, and a walking frame 2. The walking frame 2 includes a first crossbeam and a supporting crossbeam arranged opposite each other. A first walking mechanism for moving along the first guide track 4 is installed on the first crossbeam. A rack 9 with a guiding direction perpendicular to the first linear direction is installed on the top of the supporting crossbeam. The oppositely arranged supporting crossbeams have walking guide grooves with openings arranged opposite each other. It also includes a flat walking vehicle 3. The flat walking vehicle 3 is located within the rectangular area enclosed by the first crossbeam and the supporting crossbeam. The sliding, flat-shaped traveling vehicle 3 has rollers 15 on opposite sides, which are embedded in the travel guide groove. A second drive motor 24 is installed on the flat-shaped traveling vehicle 3. The power output shaft of the second drive motor 24 drives the drive gear 8 to rotate, and the drive gear 8 meshes with the rack 9. The flat-shaped traveling vehicle 3 includes a support frame, and a third drive motor is installed in the center of the support frame. The power output shaft of the third drive motor is connected to two parallel winding rollers 17 through a gear reducer 16. The winding rollers 17 are rotatably installed in the support frame. Each winding roller 17 is wound with a steel wire rope 19 for connecting a lifting device for hoisting the battery. This utility model uses a flat-shaped traveling vehicle 3 and provides rollers on opposite sides of the flat-shaped traveling vehicle 3 to facilitate control of the overall height and achieve a flat design. The raising and lowering of the power battery is achieved by the winding of the steel wire rope 19 by the winding rollers 17. The first crossbeam is set perpendicular to the support crossbeam.

[0048] A cam follower is mounted on the top of the opposite side of the flat-shaped traveling vehicle 3, adjacent to the roller 15. The cam follower abuts against the support beam.

[0049] A lifting ring 12 is installed on the top of the traveling frame 2. The traveling frame 2 can be installed onto the first guide rail 4 by hoisting.

[0050] The support beam is also equipped with at least three position sensors 11 arranged along the length of the support beam. These sensors are used to verify the position of the flat-shaped traveling vehicle 3.

[0051] The two winding rollers 17 rotate in opposite directions. The two winding rollers 17 are arranged side-by-side. The first guide rail 4 guides the wire in a left-right direction. The first crossbeam is arranged in a mirror-symmetrical configuration. The support crossbeam is arranged in a mirror-symmetrical configuration.

[0052] Two fixed pulley assemblies 23 are fixed side-by-side on opposite sides of the support frame. The two ends of the wire rope 19 are fixed to the winding drum 17, and the wire rope 19 is wound around the winding drum 17. The middle section of the wire rope 19 is sleeved on the outside of the fixed pulley assembly 23. The side of the wire rope 19 adjacent to the fixed pulley assembly 23 passes through two parallel movable pulley assemblies 20, and the two parallel movable pulley assemblies 20 are connected by a bracket, which is used to connect the lifting device. The movable pulley assembly 20 installed on the wire rope 19 makes the overall mechanism more labor-saving. Two fixed pulley assemblies 23 are installed on both the front and rear sides of the support frame. Clearance notches are provided on the front and rear sides of the support frame to avoid the fixed pulley assemblies 23. The pulley frame of the fixed pulley assembly 23 is rotatably connected to the support frame. One end of the wire rope 19 is wound around the winding drum 17, passes through the movable pulley assembly 20, the fixed pulley assembly 23, and another movable pulley assembly 20, and then the other end is wound around the winding drum 17. A notch is provided on the side adjacent to the first crossbeam to avoid the fixed pulley assembly 23.

[0053] The longitudinal height of the flat-shaped traveling vehicle 3 is no more than 300mm. Reducing the height significantly lowers manufacturing costs.

[0054] The first traveling mechanism includes a first active traveling roller, a first driven traveling roller, and a first drive motor 1 that drives the first active traveling roller to rotate, all traveling above the first guide rail 4. The first drive motor 1 is installed on the adjacent sides of the two first crossbeams. A guide groove is provided on the first crossbeam to slide in connection with the first guide rail 4. The first guide rail 4 is an I-beam. The guide groove has a T-shaped cross-section. Limiting plates are fixed on the left and right sides of the first crossbeam, and guide grooves are provided at the bottom of the limiting plates.

[0055] The first crossbeam extends beyond the connection point between itself and the supporting crossbeam on both sides along its length. A first drive motor 1, a first active traveling roller, and a first driven traveling roller are installed at the connection point between the first crossbeam and the supporting crossbeam. The first active traveling roller and the first driven traveling roller are rotatably mounted at both ends of the first crossbeam.

[0056] Limit blocks 7 are installed at both ends of the first guide rail 4 along its length; buffer devices for abutting the limit blocks 7 are installed at both ends of the first crossbeam along its length. The buffer devices may be polyurethane buffers 14.

[0057] A first support frame 13 is detachably connected to the inner side of the connection between the first crossbeam and the supporting crossbeam. The first support frame 13 is used to detachably connect a cam follower, which is in contact with the side wall of the first guide rail 4. The cam follower ensures that the traveling frame 2 moves on the first guide rail 4 without excessive deviation.

[0058] A laser rangefinder 10 is mounted on the walking frame 2; a reference plate is mounted adjacent to the end of the first guide rail 4, the detection direction of the laser rangefinder 10 is parallel to the first guide rail 4, and the detection laser of the laser rangefinder 10 is directed towards the reference plate. This facilitates the detection of the distance the walking frame 2 moves along the first guide rail 4.

[0059] Limit switches are installed on the walking frame 2; sheet metal parts 6 for activating the limit switches are installed at both ends of the first guide rail 4 in the length direction.

[0060] The central axis of the power output shafts of the first drive motor 1, the second drive motor 24, and the third drive motor 18 is horizontal. This facilitates control of the longitudinal height.

[0061] A tank track 21 is installed on the traveling frame 2. It serves to protect, pull, and store the cables during reciprocating motion. The traveling frame 2 is also equipped with a gantry crane electrical cabinet 22.

[0062] The above are merely preferred embodiments of this utility model. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A flat, three-dimensional walking battery-swapping robot, comprising a first guide track for guiding movement in a first linear direction, characterized in that, It also includes a traveling frame, which includes a first crossbeam and a support crossbeam arranged opposite each other, and a first traveling mechanism for moving along a first guide track is mounted on the first crossbeam. The top of the support beam is equipped with a straight rack with a guiding direction perpendicular to the first straight line direction and a second straight line direction. The opposite support beams are provided with oppositely positioned travel guide grooves. It also includes a flat-shaped traveling vehicle that slides within a rectangular area enclosed by the first crossbeam and the supporting crossbeam. Rollers are provided on opposite sides of the flat-shaped traveling vehicle and are embedded in the traveling guide groove. A second drive motor is installed on the flat-shaped traveling vehicle. The power output shaft of the second drive motor drives the drive gear to rotate, and the drive gear meshes with the spur rack. The flat-shaped walking vehicle includes a support frame, and a third drive motor is installed in the center of the support frame. The power output shaft of the third drive motor is connected to two winding rollers arranged side by side. The winding drum is rotatably mounted inside the support frame; Each winding drum is wound with a wire rope for connecting to the lifting device used to hoist the battery.

2. The flat three-dimensional walking battery swapping robot according to claim 1, characterized in that: Two fixed pulley assemblies arranged side by side are fixed on opposite sides of the support frame. The two ends of the wire rope are respectively fixed on the winding drum, and the wire rope is wound on the winding drum. The middle section of the wire rope is sleeved on the outside of the fixed pulley assembly; The wire rope passes through two parallel movable pulley assemblies on the side adjacent to the fixed pulley assembly, and the two parallel movable pulley assemblies are connected by a bracket, which is used to connect the lifting device.

3. The flat three-dimensional walking battery swapping robot according to claim 1, characterized in that: The longitudinal height of the flat-shaped walking vehicle is no more than 300mm.

4. The flat three-dimensional walking battery swapping robot according to claim 1, characterized in that: The first walking mechanism includes a first active walking roller that travels above the first guide rail, a first driven walking roller, and a first drive motor that drives the first active walking roller to rotate. The first drive motor is installed on the adjacent side of the two first crossbeams.

5. A flat, three-dimensional walking battery-swapping robot according to claim 4, characterized in that: The two sides of the first crossbeam extend beyond the connection between the first crossbeam and the supporting crossbeam along its length. The first drive motor, the first active walking roller, and the first driven walking roller are installed at the connection point between the first crossbeam and the supporting crossbeam.

6. The flat three-dimensional walking battery swapping robot according to claim 1, characterized in that: Limit blocks are installed at both ends of the first guide rail along its length. The first crossbeam has buffer devices installed at both ends along its length to abut against the limit block.

7. A flat, three-dimensional walking battery-swapping robot according to claim 1, characterized in that: A first support frame is detachably connected to the inner side of the connection between the first crossbeam and the supporting crossbeam. The first support frame is used to detachably connect a cam follower, and the cam follower is in contact with the side wall of the first guide rail.

8. A flat, three-dimensional walking battery-swapping robot according to claim 1, characterized in that: A laser rangefinder is installed on the walking frame; A reference plate is installed adjacent to the end of the first guide rail. The detection direction of the laser rangefinder is parallel to the first guide rail, and the detection laser of the laser rangefinder is directed toward the reference plate.

9. A flat three-dimensional walking battery swapping robot according to claim 1, characterized in that: Limit switches are installed on the walking frame; Both ends of the first guide rail along its length are fitted with sheet metal parts for activating the limit switch.

10. A flat three-dimensional walking battery swapping robot according to claim 4, characterized in that: The central axis of the power output shafts of the first drive motor, the second drive motor, and the third drive motor is horizontal.

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