The invention discloses a battery replacing robot of an electric heavy truck battery replacing station and a working method of the battery replacing robot. The battery replacing robot comprises a crane trolley and a lifting appliance. The crane trolley comprises a running mechanism, a frame and a hoisting mechanism, and the running mechanism is connected with the hoisting mechanism through the frame; the lifting appliance comprises a claw mechanism, a telescopic cylinder mechanism, a slewing mechanism and a lifting frame; marking points are pasted on the hanging bracket; when the battery replacing robot works, the hanging ring is adopted to control stretching and retracting of the hook claws so as to fix the hanging bracket; a target hoisting point is accurately positioned, an ArUcoTag mark point on a battery hanging bracket is recognized through a camera, and the rotating angle of a rotating disc is determined; the number of to-be-rotated turns of the servo motor is calculated through the transmission ratio, and the number of the to-be-rotated turns is output to the servo motor; and the hoisting mechanism synchronously puts down the steel wire rope and the hanging ring steel wire rope until the claw is separated from the ring of the hanging bracket. The technical problems that in the existing lifting process, a lifting appliance cannot rotate, the lifting precision is low, and the stability is poor are solved.

    本发明公开了一种电动重卡换电站换电机器人及其工作方法,换电机器人包括起重机小车和吊具;起重机小车包括运行机构、车架和起升机构,运行机构与起升机构通过车架连接;吊具包括钩爪机构、伸缩筒机构、回转机构和吊架;吊架上贴有标志点;本发明的换电机器人在工作时,采用吊环控制钩爪的伸缩进而对吊架进行固定;对目标吊装点进行精确定位,并通过摄像机对电池吊架上的ArUcoTag标志点进行识别,确定转盘的旋转角度;通过传动比计算出伺服电机的待旋转圈数,将旋转圈数输出至伺服电机;通过起升机构将钢丝绳与吊环钢丝绳同步放下至钩爪与吊架的圆环脱离。本发明解决了现有吊装过程中吊具无法旋转,吊装精度低,稳定性不好的技术问题。


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    Title :

    Electric heavy truck battery swap station battery swap robot and working method thereof


    Additional title:

    一种电动重卡换电站换电机器人及其工作方法


    Contributors:
    ZHENG XIANGYU (author) / TANG WENXIAN (author) / GUO SHENG (author)

    Publication date :

    2024-06-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen



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