Battery replacement robot

Abstract

The invention discloses a battery replacing robot. The battery replacing robot comprises a main body, a telescopic arm, a lifting appliance switching device, a telescopic anti-shaking mechanism and a lifting appliance. The telescopic arm is arranged on the main body and provided with a lifting mechanism, and the lifting mechanism is provided with a lifting rope. The lifting appliance switching device is provided with a matching seat, and the matching seat is connected to the lifting rope. The anti-shaking mechanism is connected to the telescopic arm and provided with a positioning component, and the positioning component is matched with the matching seat in a limiting mode to limit shaking of the lifting appliance switching device. The lifting appliance is connected to the lifting appliance switching device, and in the lifting process of the lifting appliance, the anti-shaking mechanism ascends and descends along with the lifting appliance switching device. When the battery replacing robot hoists the battery box, the positioning component can be matched with the matching seat in a limiting mode, shaking of the lifting appliance switching device is limited, the lifting appliance can clamp the battery box stably, the influence of the environment is small, obvious shaking cannot happen even under the condition of external force, the hoisting operation convenience of the battery box is improved, the battery transferring efficiency is high, safety is high, and the battery replacing robot is suitable for large-scale popularization and application. And the occurrence of safety accidents and the damage to assets are avoided.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement technology, and more specifically, to a battery replacement robot. Background Art

[0002] Existing battery swap stations use battery swap robots to lift battery boxes. Battery swap robots usually include a main body, a telescopic arm and a hoist. A walking mechanism is provided on the main body. The walking mechanism can be a roller. The walking mechanism can drive the main body to move along the length direction of the battery swap station. The telescopic arm is provided on the main body. A lifting mechanism is provided on the telescopic arm. The lifting mechanism has a lifting rope. The telescopic arm includes a plurality of movable arms. Adjacent movable arms can be movably connected. The telescopic arm can extend into and out of the battery swap station. The lifting mechanism can be a winch. One end of the lifting rope is connected to the winch, and the other end is connected to the hoist. The hoist is used to lift the battery box. The hoist is lifted and lowered by winding the hoist rope by the winch. The lifting mechanism can also be a cylinder. The movable end of the cylinder is connected to the hoist rope. The telescopic movement of the cylinder can drive the telescopic movement of the hoist rope, so that the hoist rope drives the lifting and lowering movement of the hoist to realize the lifting operation of the battery box.

[0003] However, the lifting ropes in the prior art are usually made of steel wire ropes, which are made of flexible materials. Once there is an external force (such as wind or collision with external structures), the steel wire ropes will shake continuously during the process of lifting and transporting the battery boxes, and the shaking is uncontrollable, making the lifting operation of the battery boxes difficult, slowing down the work efficiency, and easily causing safety accidents and damaging assets.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] In order to solve one of the above-mentioned technical defects, a battery-changing robot is provided in an embodiment of the present application.

[0006] This application adopts the following technical solutions:

[0007] A battery-swapping robot, comprising:

[0008] main body;

[0009] A telescopic arm, the telescopic arm is arranged on the main body, a lifting mechanism is arranged on the telescopic arm, and the lifting mechanism has a lifting rope;

[0010] A sling adapter device, the sling adapter device having a matching seat, the matching seat being connected to the sling rope;

[0011] A retractable anti-sway mechanism, the retractable anti-sway mechanism is connected to the telescopic arm, the retractable anti-sway mechanism has a positioning component, the positioning component and the matching seat are limitedly matched to limit the shaking of the sling adapter;

[0012] The sling is connected to the sling adapter. During the lifting process of the sling, the retractable anti-sway mechanism moves up and down with the sling adapter.

[0013] Optionally, the retractable anti-sway mechanism comprises a scissor fork lifting frame, the scissor fork lifting frame comprises a plurality of connecting rod groups, each connecting rod group comprises two cross-arranged movable connecting rods, and the movable connecting rods of two adjacent connecting rod groups are hinged;

[0014] The two movable connecting rods of the connecting rod group at the bottom end of the scissor fork lifting frame are both connected to the positioning component;

[0015] During the lifting process of the sling, the scissor fork lifting frame drives the positioning component to move synchronously up and down.

[0016] Optionally, the retractable anti-sway mechanism includes two scissor fork lifting frames, the two scissor fork lifting frames are located on both sides of the matching seat, and the two scissor fork lifting frames are respectively connected to two ends of the positioning component.

[0017] Optionally, the mating seat has a through slot;

[0018] The positioning component is arranged to penetrate the through slot, and two ends of the positioning component are respectively connected to the two scissor fork lifting frames.

[0019] Optionally, both ends of the mating seat are respectively provided with outward expansion grooves, the outward expansion grooves are connected to the through grooves, and the outer diameter of the outward expansion grooves is larger than the through grooves, and a bearing is arranged in the outward expansion grooves;

[0020] The positioning component is arranged to penetrate the bearing and the through groove.

[0021] Optionally, a positioning shaft is provided on the movable connecting rod of the connecting rod group at the bottom end of the scissor fork lifting frame;

[0022] The sling adapter device has a support frame, the matching seat is connected to the support frame, and the sling is connected to the support frame;

[0023] A positioning notch is provided on the support frame;

[0024] When the lifting device is raised to the extreme position, the positioning shaft limit is located in the positioning notch.

[0025] Optionally, the support frame is provided with first connecting seats on both sides of the matching seat in the width direction, the first connecting seat has an axial hole, and the matching seat is provided with convex shafts on both sides, the convex shafts are rotatably connected to the corresponding axial holes;

[0026] Wherein, the matching seat is provided with spring seats on both sides of the convex shaft along the length direction of the matching seat, and a spring is provided between the spring seat and the support frame.

[0027] Optionally, the sling adapter device includes a buffer assembly;

[0028] The buffer assembly includes a first buffer frame and a second buffer frame;

[0029] The first buffer frame is connected to the support frame, the first buffer frame can reciprocate relative to the support frame along a first direction, and a first elastic component is arranged between the first buffer frame and the support frame;

[0030] The second buffer frame is connected to the first buffer frame, the second buffer frame can reciprocate along the second direction relative to the support frame, and a second elastic component is arranged between the second buffer frame and the second buffer frame;

[0031] The hanger is connected to the second buffer frame.

[0032] Optionally, the battery-swapping robot includes a suspension rope limiting frame, and the suspension rope limiting frame is connected to the telescopic arm;

[0033] The suspension rope limiting frame has a plurality of limiting holes;

[0034] Each suspension rope is respectively passed through a corresponding limiting hole.

[0035] Optionally, the suspension rope limiting frame includes a limiting frame and a lower extension frame connected to both ends of the limiting frame, and the top end of the lower extension frame is connected to the telescopic arm;

[0036] A plurality of the limiting holes are arranged on the limiting frame.

[0037] By adopting the above technical solution, the present application has the following beneficial effects:

[0038] When the battery-exchange robot of the present application is lifting the battery box, the positioning component can cooperate with the matching seat to limit the shaking of the lifting device adapter, so that the lifting device can clamp the battery box stably and is less affected by the environment. Even under external force, it will not shake significantly, thereby improving the convenience of battery box lifting operation, improving battery transfer efficiency and safety, and avoiding the occurrence of safety accidents and asset damage.

[0039] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are part of this application and are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings described below are only some embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0041] Figure 1 A schematic diagram of a portion of the structure of a battery-swapping robot provided in an embodiment of the present application;

[0042] Figure 2 A schematic structural diagram of a retractable anti-sway mechanism of a battery-swapping robot provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of the structure of a hoist adapter device for a battery-swapping robot provided in an embodiment of the present application;

[0044] Figure 4 A schematic diagram of the structure of the matching seat of the battery-swapping robot provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of the structure of the matching seat of the battery-swapping robot provided in an embodiment of the present application without the bearing;

[0046] Figure 6 A schematic diagram of the structure of the support frame of the battery-swapping robot provided in an embodiment of the present application;

[0047] Figure 7 A schematic diagram of the structure of the rope limit frame of the battery swap robot provided in an embodiment of the present application;

[0048] Figure 8 for Figure 1 Enlarged view of point A in the middle.

[0049] In the figure: the sling adapter 1, the matching seat 11, the through groove 111, the outer expansion groove 112, the convex shaft 113, the spring seat 114, the positioning groove 1141, the bearing 115, the support frame 12, the positioning notch 121, the first connecting seat 122, the shaft hole 1221, the positioning column 123, the second connecting seat 124, the buffer assembly 13, the first buffer frame 131, the third connecting seat 1311, the fourth connecting seat 1312, the second buffer frame 132, the fifth Connecting seat 1321, first rotating shaft 133, second rotating shaft 134, retractable anti-sway mechanism 2, positioning component 21, scissor fork lifting frame 22, movable connecting rod 221, positioning shaft 2211, trigger part 23, supporting wheel 24, sling 3, clamp 31, lifting rope limit frame 4, limit frame 41, limit hole 411, lower extension frame 42, travel switch 421, guide groove 422, fixing frame 43, pulley 431, mounting shaft 432, lifting rope 5.

[0050] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0052] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0053] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] See also Figures 1 to 8As shown, an embodiment of the present application provides a battery swap robot, including: a main body (not shown), a telescopic arm (not shown), a sling adapter 1, a retractable anti-sway mechanism 2 and a sling 3. A walking mechanism (not shown) is provided on the main body, and the walking mechanism can be a roller, and the walking mechanism can drive the main body to move along the length direction of the battery swap station. The telescopic arm is arranged on the main body, and a lifting mechanism (not shown) is arranged on the telescopic arm, and the lifting mechanism has a lifting rope 5. The telescopic arm includes a plurality of movable arms, and adjacent movable arms can be movably connected, and the telescopic arm can be extended into and out of the battery swap station. The lifting mechanism can be a winch, one end of the lifting rope 5 is connected to the winch, and the other end is connected to the sling 3. The winch can realize the lifting and lowering movement of the sling 3 by winding the lifting rope 5. The lifting mechanism can also be an oil cylinder, and the movable end of the oil cylinder is connected to the lifting rope 5. The telescopic movement of the oil cylinder can drive the lifting rope 5 to move in a telescopic manner, so that the lifting rope 5 drives the lifting and lowering movement of the sling 3. The sling adapter 1 has a matching seat 11, and the matching seat 11 is connected to the sling rope 5. As mentioned above, the sling rope 5 is connected to the sling 3, which is an indirect connection, that is, the sling rope 5 is connected to the sling 3 through the sling adapter 1. The retractable anti-sway mechanism 2 is connected to the telescopic arm (on the movable wall at the end of the telescopic arm), and the retractable anti-sway mechanism 2 has a positioning component 21, and the positioning component 21 and the matching seat 11 are limited to limit the sling adapter 1 from shaking. The sling 3 is connected to the sling adapter 1, and during the lifting and lowering process of the sling 3, the retractable anti-sway mechanism 2 moves with the lifting and lowering of the sling adapter 1. When the battery-exchange robot of the present application is lifting the battery box, the positioning component can cooperate with the matching seat to limit the shaking of the lifting device adapter, so that the lifting device can clamp the battery box stably and is less affected by the environment. Even under external force, it will not shake significantly, thereby improving the convenience of battery box lifting operation, improving battery transfer efficiency and safety, and avoiding the occurrence of safety accidents and asset damage.

[0055] like Figure 1 and Figure 2As shown, the retractable anti-sway mechanism 2 includes a scissor fork lifting frame 22, and the scissor fork lifting frame 22 includes a plurality of connecting rod groups, each connecting rod group includes two cross-arranged movable connecting rods 221, and the movable connecting rods 221 of two adjacent connecting rod groups are hinged. The two movable connecting rods 221 of the connecting rod group at the bottom of the scissor fork lifting frame 22 are both connected to the positioning component 21. That is, the positioning component 21 is located on the rotation axis of the two movable connecting rods 221 of the connecting rod group at the bottom of the scissor fork lifting frame 22. The two movable connecting rods 221 can be connected by a connecting shaft, and the connecting shaft is connected to the positioning component 21. The two movable connecting rods 221 of the connecting rod group at the bottom of the scissor fork lifting frame 22 can be crossed or staggered. During the lifting process of the sling 3, the scissor fork lifting frame 22 drives the positioning component 21 to move synchronously. The scissor fork lifting frame 22 and the positioning component 21 cooperate with each other to move synchronously, which can prevent or reduce the battery box hoisted by the sling 3 from shaking violently during the rising and falling process. The retractable anti-sway mechanism 2 can also be an oil cylinder, one end of which is fixed, and the other end (i.e., the retractable end) is connected to the sling adapter 1. The lifting and lowering movement of the oil cylinder can cooperate with the sling adapter 1 to play an anti-sway role.

[0056] like Figure 1 and Figure 2 As shown, the retractable anti-sway mechanism 2 includes two scissor fork lifting frames 22, which are located on both sides of the matching seat 11, and are respectively connected to the two ends of the positioning component 21. The two scissor fork lifting frames 22 are rotatably connected to the two ends of the positioning component 21. The two scissor fork lifting frames 22 are synchronously lifted and lowered, and can simultaneously drive the positioning component 21 to lift and lower, so that the positioning component 21 can remain stable and not shake in the direction along the length.

[0057] In one possible embodiment, Figure 1 , Figure 2 and Figure 4 As shown, the matching seat 11 has a through slot 111. The positioning component 21 is arranged through the through slot 111, and both ends of the positioning component 21 are respectively connected to the two scissor fork lifting frames 22.

[0058] like Figure 4 and Figure 5As shown, the two ends of the mating seat 11 are respectively provided with an outward expansion groove 112, the outward expansion groove 112 is connected to the through groove 111, and the outer diameter of the outward expansion groove 112 is larger than the through groove 111, and a bearing 115 is arranged in the outward expansion groove 112. The positioning component 21 is arranged through the bearing 115 and the through groove 111. The positioning component 21 and the through groove 111 can rotate relative to each other, and the bearing 115 can reduce the friction resistance between the positioning component 21 and the through groove 111.

[0059] like Figure 2 , Figure 3 and Figure 6 As shown, a positioning shaft 2211 is provided on the movable link 221 of the link group at the bottom end of the scissor fork lifting frame 22. The sling adapter device 1 has a support frame 12, the matching seat 11 is connected to the support frame 12, the sling 3 is connected to the support frame 12, and a positioning notch 121 is provided on the support frame 12. When the sling 3 is raised to the extreme position, the positioning shaft 2211 is limited to the positioning notch 121. The scissor fork lifting frame 22 limits the support frame 12 to prevent the sling adapter device 1 from shaking, thereby ensuring the accuracy and safety of the action execution of the battery-swapping robot of the present application.

[0060] like Figure 3 , Figure 4 and Figure 6 As shown, the support frame 12 is provided with first connection seats 122 on both sides of the matching seat 11 along the width direction, and the first connection seat 122 has an axial hole 1221. The matching seat 11 is provided with convex shafts 113 on both sides, and the convex shafts 113 are rotatably connected to the corresponding axial holes 1221. The convex shafts 113 and the connection holes are limitedly matched, and the positioning component 21 and the convex shafts 113 are perpendicular to each other, and the cooperation between the two can limit the degree of freedom of the support frame 12. Among them, the matching seat 11 is provided with spring seats 114 on both sides of the convex shaft 113 along the length direction of the matching seat 11, and a spring is provided between the spring seat 114 and the support frame 12. A positioning column 123 is vertically connected to the support frame 12, and a positioning groove 1141 is provided on the spring seat 114. The end of the positioning column 123 extends to the positioning groove 1141, and the spring is sleeved on the positioning column 123. One end of the spring abuts against the support frame 12, and the other end abuts against the spring seat 114.

[0061] When the hoist 3 is hoisting the battery box, the hoisting position may be uneven. For example, the front of the vehicle body on which the battery box is placed is higher than the back, causing the surface of the vehicle body to be not parallel to the ground, or the vehicle body on which the battery box is placed is parked on an uneven ground, causing the surface of the vehicle body to be unevenly tilted, etc., so that the battery box seating position has a certain tilt angle. The matching structure of the spring seat 114, the spring and the support frame 12 can enable the support frame 12 to have a certain swing angle according to the actual environment, and the spring will adaptively stretch or compress to adapt to the tilt of the top of the vehicle where the battery box is placed. When the hoist 3 lifts the battery box on the vehicle with an uneven road surface, the battery box returns to its original position under the action of gravity, and the spring recovers its deformation at this time, making the support frame 12 flat and no longer tilted.

[0062] In one possible embodiment, Figure 1 and Figure 3As shown, the sling adapter device 1 includes a buffer assembly 13, and the buffer assembly 13 includes a first buffer frame 131 and a second buffer frame 132. The first buffer frame 131 is connected to the support frame 12, and the first buffer frame 131 can reciprocate along the first direction relative to the support frame 12, and a first elastic component (not shown) is arranged between the first buffer frame 131 and the support frame 12. The second buffer frame 132 is connected to the first buffer frame 131, and the second buffer frame 132 can reciprocate along the second direction relative to the support frame 12, and a second elastic component (not shown) is arranged between the second buffer frame 132 and the second buffer frame 132. The sling 3 is connected to the second buffer frame 132. When the sling 3 grabs or releases the battery box, the sling 3 and the battery box to be clamped or the position where the battery box needs to be placed may not be directly aligned up and down in the direction perpendicular to the ground, and there will be a small deviation. A guide portion is provided on one of the sling 3 and the vehicle on which the battery box is installed, and a guide matching portion is provided on the other. When the battery box hoisted by the sling 3 contacts the vehicle, the guide portion and the guide matching portion are limited and matched. At this time, the sling 3 may need to be displaced in the first direction or / and the second direction, and the angle between the first direction or the second direction is 90 degrees. In the process of the guide portion and the guide matching portion, under the action of the guide portion and the guide matching portion, the second buffer frame 132 will drive the sling 3 to shift and will change adaptively. If the sling adapter 1 is set as a rigid structure, the position of the rigid structure is fixed and cannot be displaced, so that the sling 3 cannot smoothly grab the battery box, or cannot accurately unload the battery box at the set position. The buffer assembly 13 allows the sling 3 to have displacement space in the first direction and the second direction, and can adaptably change its position according to the actual seat position under the cooperation of the guide portion and the guide matching portion, so as to solve the problem of difficulty in grabbing or unloading when the sling 3 and the battery box are not facing each other up and down.

[0063] like Figure 3 As shown, two second connection seats 124 are provided on the side of the support frame 12 away from the matching seat 11 in the thickness direction, two sets of third connection seats 1311 are provided on the side of the first buffer frame 131 away from the sling 3, and two first rotating shafts 133 respectively penetrate the corresponding second connection seats 12, and both ends are fixedly connected to the corresponding third connection seats 1311. The first rotating shaft 133 and the second connection seat 124 are slidably connected, and the first elastic component is sleeved on the two first rotating shafts 133, and the two ends of the first elastic component respectively abut against the second connection seat 124 and the corresponding third connection seat 1311. The first elastic component can be a spring.

[0064] like Figure 3As shown, two groups of fourth connection seats 1312 are arranged on the side of the first buffer frame 131 close to the sling 3, and two fifth connection seats 1321 are arranged on the side of the second buffer frame 132 away from the sling 3, and two second rotating shafts 134 respectively penetrate the corresponding fifth connection seats 1321 at both ends and are fixedly connected to the corresponding fourth connection seats 1312. The second elastic components are sleeved on the two second rotating shafts 134, and the two ends of the second elastic components respectively abut against the fifth connection seats 1321 and the corresponding fourth connection seats 1312. The second rotating shaft 134 and the fifth connection seat 1321 are slidably connected. The second elastic component can be a spring. The buffer assembly 13 improves the fault tolerance of the battery-changing robot of the present application, so that the sling 3 can be displaced in the first direction and the second direction, wherein the first direction is the direction of the length of the first rotating shaft 133, and the second direction is the direction of the length of the second rotating shaft 134, so as to solve the problem of difficulty in grabbing or unloading when the sling 3 and the battery box are not facing each other up and down.

[0065] In one possible embodiment, Figure 1 and Figure 7 As shown, the battery-swap robot includes a rope limit frame 4, which is connected to the telescopic arm. The rope limit frame 4 has a plurality of limit holes 411, and each rope 5 is respectively passed through a corresponding limit hole 411. A plurality of pulleys 431 are arranged on the rope limit frame 4, and the limit holes 411 are located below the pulleys 431. Each rope 5 is respectively passed through a corresponding pulley 431 and then turned downward and extended, and respectively passed through a corresponding limit hole 411. The limit hole 411 limits the bottom of the rope 5 to prevent the bottom of the rope 5 from swinging too much.

[0066] like Figure 1 and Figure 7 As shown, the rope limit frame 4 includes a limit frame 41 and a lower extension frame 42 connected to both ends of the limit frame 41, and the top end of the lower extension frame 42 is connected to the telescopic arm. A plurality of limit holes 411 are arranged on the limit frame 41. The limit holes 411 are arranged in sequence along the length direction of the limit frame 41. The rope limit frame 4 includes two lower extension frames 42, and the two lower extension frames 42 are respectively connected to both sides of the fixed frame 43. The limit frame 41 is located on the side of the lower extension frame 42 away from the fixed frame 43, and the two ends of the limit frame 41 are respectively connected to the two lower extension frames 42.

[0067] like Figure 1 and Figure 7As shown, the rope limit frame 4 has a fixed frame 43, the fixed frame 43 is connected to the telescopic arm, and each pulley 431 is arranged on the fixed frame 43. The pulley 431 plays the role of changing the direction of the rope 5 and reducing friction resistance. The limit frame 41 is located below the fixed frame 43 and is spaced apart from the fixed frame 43. It should be noted that the lower extension frame 42 can be connected to the fixed frame 43, and indirectly connected to the telescopic arm through the fixed frame 43.

[0068] like Figure 1 and Figure 7 As shown, the fixing frame 43 is provided with a mounting shaft 432. Each of the pulleys 431 is rotatably provided on the mounting shaft 432, and each of the pulleys 431 is sequentially spaced along the length direction of the mounting shaft 432. The mounting shaft 432 is convenient for installing each of the pulleys 431, and the lifting mechanism drives the lifting rope 5 to move up and down around the pulley 431, and the lifting rope 5 and the pulley 431 are rollingly matched, so that the pulley 431 rotates with the mounting shaft 432 as the rotation axis.

[0069] In one possible embodiment, Figure 7 and Figure 8 As shown, a travel switch 421 is provided on the lower extension frame 42. A trigger part 23 is provided on the retractable anti-sway mechanism 2. When the hoist 3 is raised to the limit height, the trigger part 23 can trigger the travel switch 421. When the telescopic wall is telescopically moved, the trigger part 23 will move up and down. When the hoist 3 is raised to the limit height, the trigger part 23 will approach and trigger the travel switch 421, indicating that the hoist 3 has risen to the highest position, and the lifting mechanism will be controlled to stop working. The travel switch 421 can be a proximity switch. When the trigger part 23 approaches the travel switch 421, the travel switch 421 can be triggered to generate a corresponding arrival signal.

[0070] like Figure 7 and Figure 8 As shown, the lower extension frame 42 is provided with a guide groove 422, the guide groove 422 is extended in the longitudinal direction, the travel switch 421 is located at one side of the guide groove 422 in the width direction, and the trigger part 23 is penetrated in the guide groove 422. The guide groove 422 is a hollow groove, and during the lifting and lowering process of the travel switch 421 along the guide groove 422, when the hanger 3 is raised to the limit height, the trigger part 23 will pass through the travel switch 421.

[0071] The two movable links 221 of the connecting rod group are hinged by a shaft, and the shaft on the connecting rod group has the trigger part 23. The shaft can be the trigger part 23, or the end of the shaft that extends out of the guide groove 422 is the trigger part 23. The trigger part 23 can be a part of the shaft, or can be integrally formed with the shaft.

[0072] In one possible embodiment, Figure 2 and Figure 8 As shown, the battery-exchanging robot includes a support wheel 24, which is rotatably mounted on the shaft having the trigger portion 23, and the support wheel 24 is located in the guide groove 422. The width of the guide groove 422 is greater than the cross-sectional diameter of the shaft, and the diameter of the support wheel 24 is consistent with the width of the guide groove 422. The support wheel 24 and the guide groove 422 can be limitedly matched, so that the support wheel 24 can move up and down along the length direction of the guide groove 422.

[0073] The battery-swap robot of the present application adopts a retractable anti-sway mechanism 2. The two scissor-fork lifting frames 22 of the retractable anti-sway mechanism 2 can perform lifting movements. The lifting mechanism can provide power to the scissor-fork lifting frames 22, which can effectively prevent the battery box from shaking during the rising and falling processes. A buffer assembly 13 is provided on the sling adapter 1, so that the sling 3 will shift in the first direction and the second direction to adapt to the deviation between the battery box and the sling 3. When subjected to external forces (such as wind or collision with external structures), the lifting of the battery box is not affected, the work efficiency is high, and it is not easy to cause safety accidents and damage assets.

[0074] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this patent can make some changes or modify the technical contents suggested above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the solution of the present invention.

Claims

1. A battery-swapping robot, characterized in that: include: main body; A telescopic arm, the telescopic arm is arranged on the main body, a lifting mechanism is arranged on the telescopic arm, and the lifting mechanism has a lifting rope; A sling adapter device, the sling adapter device having a matching seat, the matching seat being connected to the sling rope; A retractable anti-sway mechanism, the retractable anti-sway mechanism is connected to the telescopic arm, the retractable anti-sway mechanism has a positioning component, the positioning component and the matching seat are limitedly matched to limit the shaking of the sling adapter; The sling is connected to the sling adapter. During the lifting process of the sling, the retractable anti-sway mechanism moves up and down with the sling adapter.

2. The battery-swapping robot according to claim 1, characterized in that: The retractable anti-sway mechanism comprises a scissor fork lifting frame, the scissor fork lifting frame comprises a plurality of connecting rod groups, each connecting rod group comprises two cross-arranged movable connecting rods, and the movable connecting rods of two adjacent connecting rod groups are hinged; The two movable connecting rods of the connecting rod group at the bottom end of the scissor fork lifting frame are both connected to the positioning component; During the lifting process of the sling, the scissor fork lifting frame drives the positioning component to move synchronously.

3. The battery-swapping robot according to claim 2, characterized in that: The retractable anti-sway mechanism comprises two scissor fork lifting frames, the two scissor fork lifting frames are located on both sides of the matching seat, and the two scissor fork lifting frames are respectively connected to the two ends of the positioning component.

4. The battery-swapping robot according to claim 3, characterized in that: The matching seat has a through groove; The positioning component is arranged to penetrate the through slot, and two ends of the positioning component are respectively connected to the two scissor fork lifting frames.

5. The battery-swapping robot according to claim 4, characterized in that: The two ends of the mating seat are respectively provided with outward expansion grooves, the outward expansion grooves are connected to the through grooves, and the outer diameter of the outward expansion grooves is larger than the through grooves, and the bearings are arranged in the outward expansion grooves; The positioning component is arranged to penetrate the bearing and the through groove.

6. The battery-swapping robot according to claim 2, characterized in that: A positioning shaft is provided on the movable connecting rod of the connecting rod group at the bottom end of the scissor fork lifting frame; The sling adapter device has a support frame, the matching seat is connected to the support frame, and the sling is connected to the support frame; A positioning notch is provided on the support frame; When the lifting device is raised to the extreme position, the positioning shaft limit is located in the positioning notch.

7. The battery-swapping robot according to claim 6, characterized in that: The support frame is provided with first connecting seats on both sides of the matching seat along the width direction, the first connecting seat has an axial hole, and the matching seat is provided with convex shafts on both sides, the convex shafts are rotatably connected to the corresponding axial holes; Wherein, the matching seat is provided with spring seats on both sides of the convex shaft along the length direction of the matching seat, and a spring is provided between the spring seat and the support frame.

8. The battery-swapping robot according to claim 6, characterized in that: The sling adapter device includes a buffer assembly; The buffer assembly includes a first buffer frame and a second buffer frame; The first buffer frame is connected to the support frame, the first buffer frame can reciprocate relative to the support frame along a first direction, and a first elastic component is arranged between the first buffer frame and the support frame; The second buffer frame is connected to the first buffer frame, the second buffer frame can reciprocate relative to the support frame along the second direction, and a second elastic component is arranged between the second buffer frame and the second buffer frame; the hanger is connected to the second buffer frame.

9. The battery-swapping robot according to claim 1, characterized in that: It includes a suspension rope limiting frame, and the suspension rope limiting frame is connected to the telescopic arm; The suspension rope limiting frame has a plurality of limiting holes; Each suspension rope is respectively passed through a corresponding limiting hole.

10. The battery-swapping robot according to claim 9, characterized in that: The suspension rope limiting frame comprises a limiting frame and a lower extension frame connected to both ends of the limiting frame, and the top end of the lower extension frame is connected to the telescopic arm; A plurality of the limiting holes are arranged on the limiting frame.

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