Mine card battery replacing robot

Abstract

The invention provides a mine card battery replacement robot which comprises a structural frame and further comprises a bearing frame in the structural frame, a walking mechanism is arranged at the bottom of the structural frame, a lifting mechanism is arranged on the outer side of the structural frame, an anti-falling protection device is arranged on the outer side of the structural frame, and a detection camera is arranged on one side of the structural frame. A telescopic mechanism is arranged at the top of the bearing frame, a rotating mechanism is arranged at the top of the bearing frame, a walking ground rail is arranged at the bottom of the structural frame, and a guide sky rail is arranged at the top of the structural frame. According to the mine card battery replacement robot, the state position of a battery is detected through the detection camera, the equipment angle is adjusted through the rotating mechanism to adapt to the battery angle, the equipment is locked through the locking mechanism and the locking mechanism after adjustment is completed, and mobile battery replacement of the battery in different directions is achieved through the multiple sets of driving structures.

Description

Technical Field

[0001] The present invention relates to the field of new energy technologies, and in particular to a mining truck battery-changing robot. Background Art

[0002] Electric mining trucks are electric-powered mining transport vehicles that are energy-saving, environmentally friendly, and highly efficient. Compared with traditional fuel-powered mining trucks, electric mining trucks use advanced electric drive technology to achieve zero emissions and low noise, while reducing maintenance costs. When electric mining trucks slow down or stop, the energy recovery system can convert the kinetic energy generated during braking into electrical energy and store it, improving energy efficiency. In addition, electric mining trucks have extremely high energy efficiency, do not require fuel consumption, reduce operating costs, and have stable performance, reducing the frequency of maintenance and repairs, thereby further improving work efficiency.

[0003] Chinese patent CN202310236354.5 discloses a battery swap robot and battery swap equipment, including a base, a sampling device, a first drive mechanism and a second drive mechanism. The sampling device is movably arranged relative to the base for extracting batteries; the first drive mechanism is arranged on the base and connected to the sampling device, and is used to drive the sampling device to move in at least two mutually perpendicular directions; the second drive mechanism is connected to the base, and is used to drive the base to rotate. The battery swap robot has a sampling device that can move relative to the base. The sampling device drives the sampling device to move in mutually perpendicular directions through the first drive mechanism, and drives the sampling device to rotate through the second drive mechanism, so that the sampling device can quickly move in multiple directions to grab batteries. The battery swap robot has a wide operating range, is lower cost and more practical than manual battery swap, and is safe, convenient and efficient.

[0004] However, the battery replacement device of this technical solution does not have the function of adjusting the angle of the power supply structure. In the actual docking of the mine car, it is unavoidable that the mine car will be skewed. As a result, when drawing power, the battery will be skewed and cannot be properly docked, which may easily cause the equipment to fall over, further damaging the battery. Summary of the invention

[0005] The purpose of the present invention is to address the shortcomings of the prior art and provide a mining truck battery replacement robot, which realizes the battery replacement function through a rotating mechanism in conjunction with an XYZ three-axial moving mechanism, thereby solving the problem of crooked battery replacement.

[0006] To achieve the above object, the present invention provides the following technical solutions: A mining truck battery-exchanging robot comprises a structural frame and a load-bearing frame inside the structural frame, a walking mechanism is arranged at the bottom of the structural frame, a lifting mechanism is arranged at the outside of the structural frame, an anti-fall protection device is arranged at the outside of the structural frame, a detection camera is arranged at one side of the structural frame, a telescopic mechanism is arranged at the top of the load-bearing frame, a rotating mechanism is arranged at the top of the load-bearing frame, a walking ground rail is arranged at the bottom of the structural frame, and a guide overhead rail is arranged at the top of the structural frame.

[0007] The walking mechanism includes a walking base arranged at the bottom of the structural frame, a walking drive motor is installed on the top of the walking base, a walking gear is installed at one end of the output shaft at the bottom of the walking drive motor, and two sets of walking guide wheels are also installed at the bottom of the walking base.

[0008] The walking mechanism also includes a driven base arranged on the other side of the bottom rod of the structural frame, two groups of driven gears are installed on one side of the driven base, two groups of driven guide wheels are installed on the bottom of the driven base, two groups of roller bases are installed on one side of the bottom rod of the structural frame, two groups of structural bearings are installed on the outer side of the roller base, and walking rollers are installed between the two groups of structural bearings. A cleaning brush is also installed on one side of the roller base, and two groups of limiting side guide wheels are also installed on the other side of the bottom rod of the structural frame.

[0009] The lifting mechanism includes two groups of lifting motors arranged on the outside of the structural frame, a lifting coupling is installed on the top of the lifting motor base, a lifting shaft is connected through the inside of the lifting coupling, driving sprocket wheels are installed at both ends of the lifting shaft, a lifting chain is arranged on the outside of the driving sprocket wheel, a counterweight lifting block is also arranged at the bottom of the lifting motor base, two groups of counterweight chain are connected to the top of the counterweight lifting block, two groups of driven sprocket wheels are installed on the top of the lifting motor base, two groups of chain tensioning wheels are installed on the top of the bottom rod of the structural frame, a metal side rod is fixedly connected to the inner wall of the vertical rod of the structural frame, a plurality of protection slots are opened on one side of the metal side rod, a frame side plate is also installed on the outside of the structural frame, and a plurality of lifting guide wheels are installed on the outside of the load-bearing frame.

[0010] The anti-fall protection device includes multiple groups of chain suspension seats arranged on the outside of the load-bearing frame, the chain suspension seats are movably connected with a force-bearing plate inside, the top of the force-bearing plate is penetrated and connected with a traction rod, the top of the traction rod is fixedly connected with a chain suspension member, and two groups of spring telescopic tubes are installed at the bottom of the force-bearing plate, one side of the force-bearing plate is movably connected with a movable block, one end of the movable block is fixedly connected to a limited movable shaft, the other end of the movable block is movably connected to a sliding shaft, and a limited sliding groove is provided on the outside of the other end of the movable block.

[0011] The detection camera includes an L-shaped support rod arranged on one side of the structural frame, a support base plate is installed on the top of the L-shaped support rod, a camera body is installed on the top of the support base plate, and a signal output terminal is arranged on the back of the camera body.

[0012] The telescopic mechanism includes multiple groups of structural arms arranged on the top of the load-bearing frame, one side of the structural arm is movably connected with a telescopic arm, the bottom of the structural arm is provided with a telescopic drive motor, and a transverse transmission shaft is provided between the multiple groups of structural arms.

[0013] The rotating mechanism includes a rotating frame arranged on the top of the load-bearing frame, a frame internal structure rod is arranged on the inner side of the rotating frame, the bottom of the frame internal structure rod is fixedly connected with a frame bottom plate, a rotating drive motor is installed at the bottom of the frame bottom plate, a rotating drive gear is installed at the top of the output shaft of the rotating drive motor, a rotating coupling is arranged at the top of the output shaft of the rotating drive motor, a slewing support bearing is installed at the top of the frame bottom plate, and a driven internal gear ring is arranged inside the slewing support bearing.

[0014] The walking ground rail includes two groups of guide rails arranged at the bottom of the structural frame, multiple groups of track grounding parts are fixedly connected to the bottom of the guide rails, track connecting parts are arranged at the connection between the guide rails, a driving rail is arranged between the two groups of guide rails, and two groups of driving side racks are fixedly connected to the outer side of the groove of the driving rail.

[0015] The guide ceiling rail comprises a power connection rail arranged on the top of the structural frame, and two groups of guide rails are arranged on the outer side of the power connection rail.

[0016] The beneficial effects of the present invention are: (1) The present invention uses a camera body to capture the outline of the mine car battery during battery replacement, and remotely transmits the collected signal to a control unit through its side signal output terminal. The control unit runs a rotation drive motor through a preset program, and drives the rotation drive gear to rotate through a rotating coupling. The gear engages with the driven internal gear ring, thereby driving the rotating frame and the upper telescopic mechanism to rotate as a whole on the slewing support bearing to adapt to the angle of the battery, thereby avoiding the situation where the mine car is not properly parked and the battery is skewed during battery replacement.

[0017] (2) The telescopic drive motor of the present invention can drive the gear on the transverse transmission shaft to rotate through gear transmission when powered on, and then drive the telescopic arm to extend and retract through the meshing of the gear on the shaft and the rack on the telescopic arm to move the battery in the Z-axis direction.

[0018] (3) When the travel drive motor of the present invention is powered on and started, the travel gear can be driven to rotate, and the gear is engaged with the drive side rack on the drive track, so that when the gear rotates along the rack, the entire device is driven to move, thereby realizing the movement of the battery in the X-axis direction.

[0019] (4) The present invention powers up two sets of lifting motors to drive the driving chain wheel on the lifting shaft to rotate through the lifting coupling, thereby driving the two sets of lifting chains to move, and the tail ends of the lifting chains are connected to the load-bearing frame, so as to achieve the movement of the battery in the Y-axis direction by using a counterweight.

[0020] (5) The present invention uses a traction rod to pull the load-bearing plate. When the chain breaks, the traction of the traction rod on the load-bearing plate disappears. At that time, the traction force of the springs in the two sets of spring telescopic tubes will move downward, and drive the movable clamping block to tilt upward, so that it can be further extended into the protective clamping groove on the metal side rod to clamp the entire load-bearing frame, effectively preventing the occurrence of falling.

[0021] In summary, the present invention has the advantages of high load-bearing capacity and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of a mining truck battery replacement robot of the present invention; Figure 2 This is a schematic diagram of the top view of a mining truck battery replacement robot of the present invention; Figure 3 This is a schematic diagram of the overall structure of a mining truck battery replacement robot device of the present invention; Figure 4 This is a schematic diagram of the disassembled structure of a mining truck battery replacement robot device of the present invention; Figure 5 This is a schematic diagram of the overall structure of a walking mechanism of a mining truck battery exchange robot according to the present invention; Figure 6 This is a bottom view structural diagram of a walking mechanism of a mining truck battery exchange robot according to the present invention; Figure 7 This is a schematic diagram of the walking drive motor structure of a mining truck battery exchange robot of the present invention; Figure 8 This is a schematic diagram of the driven gear structure of a mining truck battery exchange robot of the present invention; Fig. 9 This is a schematic diagram of the walking roller structure of a mining truck battery exchange robot of the present invention; Fig.10 This is a schematic diagram of the overall structure of a lifting mechanism of a mining truck battery exchange robot according to the present invention; Fig.11 This is a schematic diagram of the side-lying explosion structure of a lifting mechanism of a mining truck battery exchange robot according to the present invention; Fig.12This is a schematic diagram of the overall structure of a fall protection device for a mining truck battery exchange robot according to the present invention; Fig.13 This is a schematic diagram of the disassembled structure of a falling protection device for a mining truck battery exchange robot according to the present invention; Fig.14 This is a schematic diagram of the structure of a detection camera for a mining truck battery replacement robot according to the present invention; Fig.15 This is a schematic diagram of a load-bearing frame structure of a mining truck battery exchange robot according to the present invention; Fig.16 This is a schematic diagram of the telescopic mechanism structure of a mining truck battery exchange robot of the present invention; Fig.17 This is a schematic diagram of the overall structure of a rotating mechanism of a mining truck battery exchange robot according to the present invention; Fig.18 This is a schematic diagram of the partial structure of the rotating mechanism of a mining truck battery exchange robot according to the present invention.

[0023] The accompanying drawings of the present application are as follows: 1. structural frame; 2. load-bearing frame; 3. walking mechanism; 301. walking base; 302. walking drive motor; 303. walking gear; 304. walking guide wheel; 305. driven base; 306. driven gear; 307. driven guide wheel; 308. roller base; 309. structural bearing; 310. walking roller; 311. cleaning brush; 312. limiting side guide wheel; 4. lifting mechanism; 401. lifting Motor; 402, lifting coupling; 403, lifting shaft; 404, driving chain wheel; 405, lifting chain; 406, counterweight lifting block; 407, counterweight chain; 408, driven chain wheel; 409, chain tensioner; 410, metal side rod; 411, protection slot; 412, frame side plate; 413, lifting guide wheel; 5, anti-fall protection device; 501, chain suspension seat; 502, force plate; 503, traction rod; 504 , chain suspension; 505, spring telescopic tube; 506, movable block; 507, limit movable shaft; 508, sliding shaft; 509, limit slide; 6, detection camera; 601, L-shaped support rod; 602, support bottom plate; 603, camera body; 604, signal output terminal; 7, telescopic mechanism; 701, structural arm; 702, telescopic arm; 703, telescopic drive motor; 704, horizontal transmission shaft; 8, rotating mechanism; 801, rotating frame Frame; 802, structural rods in the frame; 803, frame bottom plate; 804, rotary drive motor; 805, rotary drive gear; 806, rotary coupling; 807, slewing support bearing; 808, driven inner gear ring; 9, walking ground rail; 901, guide rail; 902, rail grounding piece; 903, rail connector; 904, drive rail; 905, drive side rack; 10, guide ceiling rail; 1001, power supply rail; 1002, guide rail. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0027] Example: Figure 1-Figure 18 As shown, the present embodiment provides a mining truck battery exchange robot, including a structural frame 1, and also including a load-bearing frame 2 inside the structural frame 1, a walking mechanism 3 is arranged at the bottom of the structural frame 1, a lifting mechanism 4 is arranged at the outside of the structural frame 1, an anti-fall protection device 5 is arranged at the outside of the structural frame 1, a detection camera 6 is arranged on one side of the structural frame 1, a telescopic mechanism 7 is arranged at the top of the load-bearing frame 2, a rotating mechanism 8 is arranged at the top of the load-bearing frame 2, a walking ground rail 9 is arranged at the bottom of the structural frame 1, and a guide overhead rail 10 is arranged at the top of the structural frame 1.

[0028] The structural frame 1 provides support for the entire device, while the load-bearing frame 2 provides support for the battery, the telescopic mechanism 7 and the rotating mechanism 8.

[0029] The walking mechanism 3 includes a walking base 301 arranged at the bottom of the structural frame 1, a walking drive motor 302 is installed on the top of the walking base 301, a walking gear 303 is installed at one end of the output shaft at the bottom of the walking drive motor 302, and two sets of walking guide wheels 304 are also installed at the bottom of the walking base 301.

[0030] Among them, the walking base 301 is a connecting part of the walking drive motor 302. When the walking drive motor 302 is powered on and started, it can drive the walking gear 303 to rotate, and the gear is engaged with the driving side rack 905 on the driving track 904, so that when the gear rotates along the rack, it drives the overall movement of the device. The direction of movement can be controlled by controlling the steering of the walking drive motor 302, and it can be guided by two sets of walking guide wheels 304 during walking.

[0031] The walking mechanism 3 also includes a driven base 305 arranged on the other side of the bottom rod of the structural frame 1, two groups of driven gears 306 are installed on one side of the driven base 305, two groups of driven guide wheels 307 are installed on the bottom of the driven base 305, two groups of roller bases 308 are installed on one side of the bottom rod of the structural frame 1, two groups of structural bearings 309 are installed on the outer side of the roller base 308, a walking roller 310 is installed between the two groups of structural bearings 309, a cleaning brush 311 is also installed on one side of the roller base 308, and two groups of limiting side guide wheels 312 are also installed on the other side of the bottom rod of the structural frame 1.

[0032] Among them, the driven base 305 provides support for two sets of driven gears 306 and two sets of driven guide wheels 307, and the meshing of the two sets of driven gears 306 with the driving side rack 905 and the guidance of the two sets of driven guide wheels 307 further improves the stability of the overall walking of the device, avoiding the situation of tipping over due to uneven force; the use of two sets of structural bearings 309 in the roller base 308 realizes the rolling of the walking roller 310, thereby effectively reducing the friction resistance between the overall device and the track to improve the walking efficiency, and the two sets of limiting side guide wheels 312 can further improve the above efficiency.

[0033] The lifting mechanism 4 includes two sets of lifting motors 401 arranged on the outside of the structural frame 1, a lifting coupling 402 is installed on the top of the base of the lifting motor 401, a lifting shaft 403 is connected through the inside of the lifting coupling 402, driving chain wheels 404 are installed at both ends of the lifting shaft 403, and a lifting chain 405 is arranged on the outside of the driving chain wheel 404. A counterweight lifting block 406 is also arranged at the bottom of the base of the lifting motor 401. Two sets of counterweight chains 407 are connected to the top, two sets of driven chain wheels 408 are installed on the top of the base of the lifting motor 401, two sets of chain tensioning wheels 409 are installed on the top of the bottom rod of the structural frame 1, and the inner wall of the vertical rod of the structural frame 1 is fixedly connected with a metal side rod 410. A plurality of protective card slots 411 are provided on one side of the metal side rod 410. A frame side panel 412 is also installed on the outer side of the structural frame 1, and a plurality of lifting guide wheels 413 are installed on the outer side of the load-bearing frame 2.

[0034] Among them, the two sets of lifting motors 401 can drive the driving chain wheel 404 on the lifting shaft 403 to rotate through the lifting coupling 402 when energized, thereby driving the two sets of lifting chains 405 to move, and the tail ends of the lifting chains 405 are connected to the load-bearing frame 2, thereby realizing the lifting and lowering of the load-bearing frame 2 and the upper mechanism and the battery; the counterweight lifting block 406 is connected to the load-bearing frame 2 through one end of the two sets of counterweight block chains 407. During lifting, the weight of the counterweight lifting block 406 can be used to improve the lifting efficiency and reduce the loss of the motor. At the same time, it can balance and stabilize the lifting mechanism to prevent the chain from shaking and jittering due to imbalance during the lifting process.

[0035] The anti-fall protection device 5 includes multiple groups of chain suspension seats 501 arranged on the outside of the load-bearing frame 2, and the chain suspension seat 501 is movably connected with a force-bearing plate 502 inside, and a traction rod 503 is connected through the top of the force-bearing plate 502, and the top of the traction rod 503 is fixedly connected with a chain suspension member 504, and two groups of spring telescopic tubes 505 are installed at the bottom of the force-bearing plate 502. A movable clamping block 506 is movably connected to one side of the force-bearing plate 502, and one end of the movable clamping block 506 is fixedly connected to a limited movable shaft 507, and the other end of the movable clamping block 506 is movably connected to a sliding shaft 508, and a limited sliding groove 509 is provided on the outside of the other end of the movable clamping block 506.

[0036] Among them, the hooks at the bottom ends of the multiple groups of chain suspension seats 501 can be docked with the ports of the lifting chains 405, thereby connecting the load-bearing frame 2 as a whole to the chains, and the other end of the chain is connected to the traction rod 503 through the chain suspension member 504. Therefore, when the lifting chain 405 is in a normal state, the traction rod 503 will be pulled by gravity to pull the force-bearing plate 502 to the upper end of the inner cavity of the chain suspension seat 501, so that the active block 506 on the other side is in a retracted state and cannot block the lifting of the frame. When the chain breaks, the force-bearing plate 502 will move downward due to the traction force of the springs in the two groups of spring telescopic tubes 505, thereby driving the active block 506 to warp upward, and further allowing it to extend into the protective card slot 411 on the metal side rod 410 to jam the load-bearing frame 2 as a whole, effectively preventing the occurrence of falling.

[0037] The detection camera 6 includes an L-shaped support rod 601 arranged on one side of the structural frame 1, a support base plate 602 is installed on the top of the L-shaped support rod 601, a camera body 603 is installed on the top of the support base plate 602, and a signal output terminal 604 is arranged on the back of the camera body 603.

[0038] Among them, the L-shaped support rod 601 provides support for the camera body 603, and the camera body 603 can take pictures of the mine car battery when changing the battery, and remotely transmit the collected signal to the control unit through its side signal output terminal 604, and run the rotating mechanism 8 through the preset program of the control unit to adjust the device angle to adapt to the battery angle.

[0039] The telescopic mechanism 7 includes multiple groups of structural arms 701 arranged on the top of the load-bearing frame 2, one side of the structural arm 701 is movably connected with a telescopic arm 702, the bottom of the structural arm 701 is provided with a telescopic drive motor 703, and a horizontal transmission shaft 704 is provided between the multiple groups of structural arms 701.

[0040] Among them, the telescopic arm 702 is connected to the structural arm 701. When the telescopic drive motor 703 is energized, the gear on the horizontal transmission shaft 704 can be driven to rotate through gear transmission, and then the telescopic function of the telescopic arm 702 is driven through the engagement of the gear on the shaft with the rack on the telescopic arm 702, so as to facilitate the loading and unloading of the mine car battery.

[0041] The rotating mechanism 8 includes a rotating frame 801 arranged on the top of the load-bearing frame 2, a frame internal structure rod 802 is arranged on the inner side of the rotating frame 801, the bottom of the frame internal structure rod 802 is fixedly connected to the frame bottom plate 803, a rotating drive motor 804 is installed at the bottom of the frame bottom plate 803, a rotating drive gear 805 is installed on the top of the output shaft of the rotating drive motor 804, a rotating coupling 806 is arranged on the top of the output shaft of the rotating drive motor 804, a slewing support bearing 807 is installed on the top of the frame bottom plate 803, and a driven internal gear ring 808 is arranged inside the slewing support bearing 807.

[0042] Among them, the rotating frame 801 provides support for the upper components, and the frame is reinforced by the structural rod 802 inside the frame and docked with the driven internal gear ring 808 below, so that when the rotating drive motor 804 is energized, the rotating drive gear 805 is driven to rotate through the rotating coupling 806, and the gear is engaged with the driven internal gear ring 808, so that the rotating frame 801 and the upper telescopic mechanism 7 can be driven to rotate as a whole on the slewing support bearing 807 to adapt to the angle of the battery.

[0043] The walking ground rail 9 includes two sets of guide rails 901 arranged at the bottom of the structural frame 1, and multiple sets of rail grounding parts 902 are fixedly connected to the bottom of the guide rails 901. Rail connecting parts 903 are arranged at the connection between the guide rails 901. A driving rail 904 is arranged between the two sets of guide rails 901, and two sets of driving side racks 905 are fixedly connected to the outer side of the groove of the driving rail 904.

[0044] Among them, two sets of guide rails 901 can be engaged with multiple sets of guide wheels at the bottom of the structural frame 1 to guide the entire device; among them, multiple sets of rail grounding members 902 are rail grounding components, and rail connectors 903 are connecting components between rails.

[0045] The guide rail 10 comprises a power rail 1001 arranged on the top of the structural frame 1 , and two sets of guide rails 1002 are arranged outside the power rail 1001 .

[0046] Among them, the power rail 1001 is engaged with the circuit on the frame, so that the entire device can be powered when the device moves; and the two sets of guide rails 1002 can be engaged with multiple sets of guide wheels on the top of the structural frame 1 to guide the entire device.

[0047] Working principle: Before use, the driver parks the battery of the mine car to the side of the device and energizes the travel drive motor 302. When started, the travel gear 303 can be driven to rotate, and the gear is meshed with the driving side rack 905 on the drive track 904, so that the device as a whole can be driven to move when the gear rotates along the rack. The direction of movement can be controlled by controlling the steering of the travel drive motor 302. When walking, it can be limited and guided by multiple sets of guide wheels. After the device moves to a suitable position, the camera body 603 shoots and detects the battery contour of the mine car, and remotely transmits the collected signal to the control unit through the signal output terminal 604, and runs the rotation drive motor 804 through the program preset by the control unit. When the rotation drive motor 804 is powered on and started, the rotation drive gear 805 is driven to rotate through the rotating coupling 806. The gear is meshed with the driven inner gear ring 808, so that the rotating frame 801 and the upper telescopic mechanism 7 can be driven to rotate as a whole on the slewing support bearing 807 to adapt to the angle of the battery. Then, the telescopic drive motor 703 is powered on, and the telescopic drive motor 703 is powered on to start and drive the gear on the horizontal transmission shaft 704 to rotate through the gear transmission, and then the telescopic arm 702 is driven to extend and retract through the meshing of the gear on the shaft and the rack on the telescopic arm 702, so that one side of the telescopic arm 702 enters under the battery and preliminarily docks with the battery, and then the two sets of lifting motors 401 are powered on, and the power is turned on to drive the driving chain wheel 404 on the lifting shaft 403 to rotate through the lifting coupling 402, thereby driving the two sets of lifting chains 40 5 moves, and the tail end of the lifting chain 405 is connected to the load-bearing frame 2, so that the load-bearing frame 2 and the upper mechanism can be driven to rise as a whole to support the battery, and then the telescopic arm 702 is controlled to retract to move the battery in the Z-axis direction, and the battery can be moved in the Y-axis direction by the lifting motor 401 again, and moved in the X-axis direction by the travel drive motor 302, so that the battery can be moved to the shelf on the other side of the device, and the battery replacement function can be completed by cooperating with the battery replacement device on the other side of the vehicle parking area to supplement the vehicle battery; During the movement, when the chain breaks, the lifting assembly and the battery will lose speed and fall, and the force-bearing plate 502 will disappear under the influence of gravity. At that time, the traction force of the springs in the two sets of spring telescopic tubes 505 will move downward and drive the movable clamping block 506 to tilt upward, so that it can further extend into the protective clamping slot 411 on the metal side rod 410 to clamp the entire load-bearing frame 2, thereby improving the anti-fall effect.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mining truck battery replacement robot, comprising a structural frame (1), characterized in that: It also includes a load-bearing frame (2) inside the structural frame (1), a walking mechanism (3) is arranged at the bottom of the structural frame (1), a lifting mechanism (4) is arranged at the outside of the structural frame (1), an anti-fall protection device (5) is arranged at the outside of the structural frame (1), a detection camera (6) is arranged on one side of the structural frame (1), a telescopic mechanism (7) is arranged at the top of the load-bearing frame (2), a rotating mechanism (8) is arranged at the top of the load-bearing frame (2), a walking ground rail (9) is arranged at the bottom of the structural frame (1), and a guiding ceiling rail (10) is arranged at the top of the structural frame (1).

2. A mining truck battery replacement robot according to claim 1, characterized in that: The walking mechanism (3) comprises a walking base (301) arranged at the bottom of the structural frame (1); a walking drive motor (302) is installed on the top of the walking base (301); a walking gear (303) is installed at one end of the output shaft at the bottom of the walking drive motor (302); and two sets of walking guide wheels (304) are also installed at the bottom of the walking base (301).

3. A mining truck battery replacement robot according to claim 1, characterized in that: The walking mechanism (3) further comprises a driven base (305) arranged on the other side of the bottom rod of the structural frame (1); two groups of driven gears (306) are mounted on one side of the driven base (305); two groups of driven guide wheels (307) are mounted on the bottom of the driven base (305); two groups of roller bases (308) are mounted on one side of the bottom rod of the structural frame (1); two groups of structural bearings (309) are mounted on the outer sides of the roller bases (308); a walking roller (310) is mounted between the two groups of structural bearings (309); a cleaning brush (311) is also mounted on one side of the roller base (308); and two groups of position-limiting side guide wheels (312) are also mounted on the other side of the bottom rod of the structural frame (1).

4. A mining truck battery replacement robot according to claim 1, characterized in that: The lifting mechanism (4) comprises two groups of lifting motors (401) arranged outside the structural frame (1); a lifting coupling (402) is installed on the top of the base of the lifting motor (401); a lifting shaft (403) is connected through the inside of the lifting coupling (402); driving chain wheels (404) are installed at both ends of the lifting shaft (403); a lifting chain (405) is arranged on the outside of the driving chain wheel (404); a counterweight lifting block (406) is also arranged at the bottom of the base of the lifting motor (401); the counterweight lifting block (406) 6) are connected to the top of two groups of counterweight chains (407), the top of the lifting motor (401) base is installed with two groups of driven chain wheels (408), the top of the bottom rod of the structural frame (1) is installed with two groups of chain tensioning wheels (409), the inner wall of the vertical rod of the structural frame (1) is fixedly connected with a metal side rod (410), one side of the metal side rod (410) is provided with a plurality of groups of protective slots (411), the outer side of the structural frame (1) is also installed with a frame side plate (412), and the outer side of the load-bearing frame (2) is installed with a plurality of groups of lifting guide wheels (413).

5. The mining truck battery replacement robot according to claim 1, characterized in that: The anti-fall protection device (5) comprises a plurality of groups of chain suspension seats (501) arranged outside the load-bearing frame (2); a force-bearing plate (502) is movably connected inside the chain suspension seat (501); a traction rod (503) is connected through the top of the force-bearing plate (502); a chain suspension member (504) is fixedly connected to the top of the traction rod (503); two groups of spring telescopic tubes (505) are installed at the bottom of the force-bearing plate (502); a movable clamping block (506) is movably connected to one side of the force-bearing plate (502); one end of the movable clamping block (506) is fixedly connected to a limited movable shaft (507); the other end of the movable clamping block (506) is movably connected to a sliding shaft (508); and a limited sliding groove (509) is provided on the outer side of the other end of the movable clamping block (506).

6. A mining truck battery replacement robot according to claim 1, characterized in that: The detection camera (6) comprises an L-shaped support rod (601) arranged on one side of the structural frame (1), a support base plate (602) is installed on the top of the L-shaped support rod (601), a camera body (603) is installed on the top of the support base plate (602), and a signal output terminal (604) is arranged on the back of the camera body (603).

7. A mining truck battery replacement robot according to claim 1, characterized in that: The telescopic mechanism (7) comprises a plurality of groups of structural arms (701) arranged on the top of the load-bearing frame (2); a telescopic arm (702) is movably connected to one side of the structural arm (701); a telescopic drive motor (703) is arranged at the bottom of the structural arm (701); and a transverse transmission shaft (704) is arranged between the plurality of groups of structural arms (701).

8. The mining truck battery replacement robot according to claim 1, characterized in that: The rotating mechanism (8) comprises a rotating frame (801) arranged on the top of the load-bearing frame (2); a frame internal structure rod (802) is arranged on the inner side of the rotating frame (801); a frame bottom plate (803) is fixedly connected to the bottom of the frame internal structure rod (802); a rotating drive motor (804) is installed at the bottom of the frame bottom plate (803); a rotating drive gear (805) is installed at the top of the output shaft of the rotating drive motor (804); a rotating coupling (806) is arranged at the top of the output shaft of the rotating drive motor (804); a slewing support bearing (807) is installed at the top of the frame bottom plate (803); and a driven internal gear ring (808) is arranged inside the slewing support bearing (807).

9. The mining truck battery replacement robot according to claim 1, characterized in that: The walking ground rail (9) comprises two groups of guide rails (901) arranged at the bottom of the structural frame (1); the bottom of the guide rails (901) is fixedly connected to multiple groups of track grounding members (902); the connection between the guide rails (901) is provided with a track connecting member (903); a driving rail (904) is provided between the two groups of guide rails (901); and the outer side of the groove of the driving rail (904) is fixedly connected to two groups of driving side racks (905).

10. The mining truck battery replacement robot according to claim 1, characterized in that: The guide ceiling rail (10) comprises a power connection rail (1001) arranged on the top of the structural frame (1), and two sets of guide rails (1002) are arranged outside the power connection rail (1001).

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