Battery replacement robot

Abstract

The invention provides a battery replacing robot, and belongs to the technical field of mounting a storage battery on a vehicle or dismounting the storage battery from the vehicle. The battery replacing robot comprises a walking frame and a telescopic mechanism, the telescopic mechanism comprises at least two stages of telescopic units, each stage of telescopic unit comprises a first-stage telescopic unit and a last-stage telescopic unit provided with a lifting appliance, and a first-stage driving mechanism is arranged between the first-stage telescopic unit and the walking frame; and the next-stage telescopic unit of every two adjacent stages of telescopic units is installed on the upper-stage telescopic unit in a guiding mode, and an inter-unit driving mechanism is independently installed on the upper-stage telescopic unit so as to independently drive the next-stage telescopic unit to move. When the lifting appliance is used, the speed of the last-stage telescopic unit in the moving process is not overlapped, the situation that the whole battery replacing robot is unstable due to the too high speed can be avoided, meanwhile, the position of the lifting appliance can be changed by independently adjusting the position of a certain-stage telescopic unit, the stroke is not overlapped, and adjustment of tiny movement amount is conveniently achieved.

Description

Technical Field

[0001] The invention relates to a battery-changing robot, and belongs to the technical field of installing a battery on a vehicle, or removing a battery from the vehicle. Background Art

[0002] When a vehicle replaces its battery at a battery swap station, it is necessary to remove the depleted battery from the vehicle and place it on a battery storage device, and then remove a fully charged battery from the battery storage device and place it on the vehicle. The battery storage device can be a transfer vehicle to transport the fully charged depleted batteries to a centralized charging station for charging. The battery swap robot is required to take and place depleted and fully charged batteries.

[0003] The utility model patent with authorization announcement number CN219565043U discloses an electric heavy-duty truck-mounted mobile battery-swapping mechanism and a mobile battery-swapping vehicle, wherein the mobile battery-swapping mechanism (i.e., a battery-swapping robot) includes a linear track, a walking mechanism, a frame, a telescopic mechanism and a sling, the walking mechanism is installed on the linear track, the walking mechanisms on both sides are provided with frames upward, the telescopic mechanism is arranged on the top of the frames, the telescopic mechanism includes a fixed stage, an intermediate stage, and a terminal stage, the sling is arranged at the terminal stage, the fixed stage is fixed to the top of the frame, the intermediate stage is arranged on the inner side of the fixed stage, and the terminal stage is arranged on the inner side of the intermediate stage, and the three are synchronously telescoped through a set of driving mechanisms. A gear rack driving mechanism is provided between the fixed stage and the intermediate stage, and a chain synchronous driving mechanism is provided between the intermediate stage and the terminal stage. The chain synchronous driving mechanism comprises fixed sprockets installed at both ends of the upper part of the intermediate track of the intermediate stage, and annular chains are sleeved and installed on the two fixed sprockets. The upper part of the annular chain is fixed to the reinforcing beam on the upper part of the fixed stage through a fixed block, and the lower part of the annular chain is fixed to the terminal bracket of the terminal stage through a moving block. When the intermediate track performs telescopic movement driven by the gear rack mechanism, the fixed block remains stationary, causing the position of the annular chain to change along the fixed sprocket, thereby causing the moving block to drive the terminal bracket to produce telescopic movement relative to the intermediate track.

[0004] The middle stage and the end stage in the telescopic mechanism are telescopic synchronously, that is, when the middle stage telescopes, the end stage will further telescope on the basis of the middle stage, which will cause the end stage to move too fast. The battery box itself has a certain weight, and too fast a transfer speed will cause the entire battery swap robot to be unstable. In addition, when the position of the sling needs to be fine-tuned to align with the battery box, the small movement of the middle stage will cause the end stage's movement stroke to double, making it difficult for the sling to align with the battery box and inconvenient to adjust. Summary of the invention

[0005] The purpose of the present invention is to provide a battery-swapping robot to solve the problem that the intermediate stage and the terminal stage in the telescopic mechanism of the existing battery-swapping robot are synchronously telescoped, resulting in the terminal stage moving too fast, which in turn causes the entire battery-swapping robot to be unstable. At the same time, it also solves the problem that when fine-tuning the position of the sling, the moving stroke of the terminal stage is relatively large, which makes it difficult to align the sling with the battery box and inconvenient to adjust.

[0006] To achieve the above objectives, the battery-swapping robot of the present invention adopts the following technical solutions: A battery-swapping robot comprises a traveling frame and a telescopic mechanism installed on the top of the traveling frame, the telescopic mechanism comprising at least two stages of telescopic units, each stage of the telescopic units comprising a first-stage telescopic unit cooperating with the guide of the traveling frame and a final-stage telescopic unit equipped with a sling, a first-stage driving mechanism for driving the first-stage telescopic unit to telescopically move relative to the traveling frame is arranged between the first-stage telescopic unit and the traveling frame, the guide of the next-stage telescopic unit of two adjacent stages of the telescopic units is installed on the previous-stage telescopic unit, and an inter-unit driving mechanism is independently installed on the previous-stage telescopic unit, the inter-unit driving mechanism comprising a driving member connected to the next-stage telescopic unit to independently drive the next-stage telescopic unit to telescopically move relative to the previous-stage telescopic unit.

[0007] The beneficial effect of the above technical solution is that: the present invention belongs to the invention creation of changing the relationship between elements, and changes the working relationship between the telescopic units at various levels. Specifically, an inter-unit driving mechanism is independently installed on the upper telescopic unit, and the inter-unit driving mechanism includes a driving member connected to the lower telescopic unit to independently drive the telescopic movement of the lower telescopic unit relative to the upper telescopic unit. In this way, when the inter-unit driving mechanism is not working, the upper telescopic unit and the lower telescopic unit move at the same speed. When the upper telescopic unit moves into place, the inter-unit driving mechanism independently controls the telescopic movement of the lower telescopic unit relative to the upper telescopic unit. By analogy, the speed of the last telescopic unit will not be superimposed during the movement, so it can be avoided that the speed is too fast and the entire battery exchange robot is unstable. At the same time, the telescopic units at various levels can act independently, and the position of the sling can be changed by adjusting the position of a certain telescopic unit separately, and the stroke will not be superimposed, which is convenient for adjusting the small movement amount, thereby facilitating the alignment of the sling with the battery box.

[0008] Furthermore, the inter-unit driving mechanism is a sprocket chain driving mechanism, which includes a sprocket pair installed on the upper-level telescopic unit, an annular chain that cooperates with the sprocket pair for transmission, and a rotational power source that drives one of the sprockets in the sprocket pair to rotate, and the driving member is a driving plate fixed on the annular chain.

[0009] Furthermore, the sprocket pair is installed on the bottom surface of the first-stage telescopic unit; a first-stage rack is installed on the top surface of the first-stage telescopic unit, a first-stage power source is installed on the top of the traveling frame, and a first-stage gear meshing with the first-stage rack is installed on the output end of the first-stage power source, or a first-stage power source is installed on the top surface of the first-stage telescopic unit, a first-stage gear is installed on the output end of the first-stage power source, and a first-stage rack meshing with the first-stage gear is installed on the top surface of the traveling frame.

[0010] Furthermore, a first-stage rack is installed on the top surface of the first-stage telescopic unit, a first-stage power source is installed on the top of the traveling frame, and a first-stage gear meshing with the first-stage rack is installed at the output end of the first-stage power source, or a first-stage power source is installed on the top surface of the first-stage telescopic unit, a first-stage gear is installed at the output end of the first-stage power source, and a first-stage rack meshing with the first-stage gear is installed on the top surface of the traveling frame.

[0011] Furthermore, each level of telescopic units has a frame structure, and a pair of sprockets are respectively installed on the two parallel beams of the upper level telescopic unit. Each pair of sprockets is driven by an annular chain and is equipped with a rotating power source, and a driving plate is fixed on each annular chain.

[0012] Furthermore, the sling includes a sling body and a lifting mechanism connected to the sling body, the lifting mechanism guide is installed on the final telescopic unit, and a final drive mechanism is arranged between the lifting mechanism and the final telescopic unit for driving the lifting mechanism to telescopically move relative to the final telescopic unit.

[0013] Furthermore, a final-stage power source is installed on the lifting mechanism, a final-stage gear is installed at the output end of the final-stage power source, and a final-stage rack meshing with the final-stage gear is installed on the final-stage telescopic unit.

[0014] Further, the tooth surface of the final-stage rack is arranged toward the lifting mechanism, and the rotation axis of the final-stage gear extends vertically.

[0015] Further, the tooth surface of the primary rack is arranged upward, and the rotation axis of the primary gear extends horizontally.

[0016] Furthermore, the walking frame includes two vertical frames arranged at intervals along the longitudinal direction, and connecting frames are respectively connected between the lateral ends of the tops of the two vertical frames, and fixed frames are respectively fixed at the lateral ends of the first-stage telescopic unit, one of the fixed frames is located between the two connecting frames and is used to cooperate with at least one connecting frame to limit the movement limit position of the first-stage telescopic unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a usage state diagram of an embodiment of a battery-swapping robot of the present invention; Figure 2 A three-dimensional diagram of an embodiment of a battery-swapping robot according to the present invention; Figure 3 for Figure 2 A partial enlarged view of the Figure 4 This is a cross-sectional view of an embodiment of the battery-swapping robot of the present invention (the cross-section passes through the guide wheel of the lifting mechanism); Figure 5 for Figure 4 The structural diagram after hiding the last-stage telescopic unit; Figure 6 for Figure 5 The structural diagram after hiding the first-level telescopic unit.

[0018] In the figure: 1. stand; 2. first-stage telescopic unit; 3. final-stage telescopic unit; 4. sling body; 5. lifting mechanism; 6. battery box; 7. guide rail; 8. electric control cabinet; 9. sprocket; 10. ring chain; 11. driving plate; 12. first-stage rack; 13. first-stage power source; 14. first-stage gear; 15. final-stage rack; 16. final-stage power source; 17. final-stage gear; 18. connecting frame; 19. fixing frame; 20. baffle; 21. first-stage guide wheel; 22. second-stage guide wheel; 23. third-stage guide wheel. DETAILED DESCRIPTION

[0019] In view of the technical problems existing in the prior art, the basic concept of the present invention is to provide an inter-unit driving mechanism that can independently control the telescopic movement of the next-level telescopic unit relative to the previous-level telescopic unit. The inter-unit driving mechanism is independently installed on the previous-level telescopic unit. After the previous-level telescopic unit moves into place, the inter-unit driving mechanism drives the next-level telescopic unit to move telescopically relative to the previous-level telescopic unit, thereby avoiding excessive speed and excessive stroke of the final telescopic unit.

[0020] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0021] Embodiment 1 of the battery-swapping robot of the present invention: like Figure 1 and Figure 2 As shown, the battery-swapping robot includes a walking frame and a telescopic mechanism installed on the top of the walking frame. The walking frame includes two vertical frames 1 arranged at intervals along the longitudinal direction. The bottom of each vertical frame 1 is provided with walking wheels and is equipped with a driving mechanism for driving the walking wheels to rotate, so that the walking frame can walk on two guide rails 7, and the two guide rails 7 extend longitudinally.

[0022] In the present invention, the telescopic mechanism includes at least two telescopic units, and the next telescopic unit in the adjacent two telescopic units is guided and installed on the previous telescopic unit, and the previous telescopic unit is independently installed with an inter-unit driving mechanism, and the inter-unit driving mechanism includes a driving member connected to the next telescopic unit to independently drive the next telescopic unit to telescopically move relative to the previous telescopic unit, so that when the inter-unit driving mechanism is not working, the previous telescopic unit and the next telescopic unit move at the same speed, and when the previous telescopic unit moves into place, the next telescopic unit is independently controlled by the inter-unit driving mechanism to telescopically move relative to the previous telescopic unit, and so on, and the speed of the last telescopic unit will not be superimposed during the movement, so that the instability of the entire battery-changing robot caused by excessive speed can be avoided. At the same time, the telescopic units of each level can act independently, and the position of the sling can be changed by adjusting the position of a certain telescopic unit separately, and the stroke will not be superimposed, which is convenient for adjusting the small movement amount, thereby facilitating the alignment of the sling with the battery box 6.

[0023] Specifically in this embodiment, the telescopic mechanism includes only two telescopic units, namely, a first-stage telescopic unit 2 coordinated with the traveling frame guide and a final-stage telescopic unit 3 equipped with a sling. Both telescopic units are frame structures with relatively stable structures. A first-stage driving mechanism for driving the first-stage telescopic unit 2 to telescopically move relative to the traveling frame is provided between the first-stage telescopic unit 2 and the traveling frame. Figure 3 As shown, a first-stage rack 12 is installed on the top surface of the first-stage telescopic unit 2, and a first-stage power source 13 is installed on the top of the vertical frame 1 on one side. The first-stage power source 13 can be a motor or a combination of a motor + a reducer. A first-stage gear 14 meshing with the first-stage rack 12 is installed at the output end of the first-stage power source 13. In this way, when the first-stage power source 13 drives the first-stage gear 14 to rotate, under the meshing action of the first-stage gear 14 and the first-stage rack 12, the first-stage telescopic unit 2 can be driven to perform lateral telescopic movement along the two vertical frames 1, with a simple structure and convenient control.

[0024] The above-mentioned inter-unit driving mechanism is a sprocket chain driving mechanism, combined with Figure 3 , Figure 4 and Figure 5As shown, the inter-unit driving mechanism includes a sprocket pair installed on the first-stage telescopic unit 2, an annular chain 10 that cooperates with the sprocket pair in transmission, and a rotating power source (not shown in the figure) that drives a sprocket 9 in the sprocket pair to rotate. The rotating power source can be a motor or a combination of a motor and a reducer. The above-mentioned driving member is a driving plate 11 fixed on the annular chain 10, which is convenient for fixing with the final telescopic unit 3. When in use, when the first-stage driving mechanism controls the telescopic movement of the first-stage telescopic unit 2 relative to the walking frame and the rotating power source is not working, the first-stage telescopic unit 2 and the final telescopic unit 3 move at the same speed. When the first-stage telescopic unit 2 moves into place, the rotating power source starts to work to drive the sprocket 9 to rotate, thereby driving the annular chain 10 to move, and then driving the final telescopic unit 3 to perform lateral telescopic movement relative to the first-stage telescopic unit 2 through the driving plate 11. The inter-unit driving mechanism in the form of a sprocket chain is convenient for installation and arrangement.

[0025] Furthermore, the sprocket pair is installed on the bottom surface of the first-stage telescopic unit 2, so that the annular chain 10 is located below the first-stage telescopic unit 2, so that the first-stage driving mechanism that drives the first-stage telescopic unit 2 to move is located above the first-stage telescopic unit 2, and the inter-unit driving mechanism that drives the final-stage telescopic unit 3 to move by the first-stage telescopic unit 2 is located below the first-stage telescopic unit 2, thereby making full use of the upper and lower spaces of the first-stage telescopic unit 2 and making the structure relatively compact.

[0026] Furthermore, since the first-stage telescopic unit 2 is a frame structure, it includes two parallel beams, and a pair of sprocket pairs are installed on the bottom surface of each beam. The two sprockets 9 in the sprocket pair are respectively located at the two ends of the beam, and each pair of sprocket pairs is driven by an annular chain 10 and is equipped with a rotating power source. A driving plate 11 is fixed on each annular chain 10, so that force can be applied to the final telescopic unit 3 from both sides, so that the force on the final telescopic unit 3 is more balanced and the movement is smoother.

[0027] In this embodiment, if Figure 1~Figure 3 As shown, the sling includes a sling body 4 and a lifting mechanism 5 connected to the sling body 4, and the lifting mechanism 5 is used to control the rise and fall of the sling body 4 to adjust the sling body 4 to a suitable height, so as to facilitate cooperation with the battery box 6. The sling body 4 includes a lifting structure for lifting the battery box 6. The specific structure and working principle of the sling body 4 and the lifting mechanism 5 belong to the prior art and are not introduced in the present invention.

[0028] In the present invention, the lifting mechanism 5 includes an outer frame, and the outer frame is guided and installed on the final telescopic unit 3 on both sides in the lateral direction. A final driving mechanism is arranged between the lifting mechanism 5 and the final telescopic unit 3 for driving the lifting mechanism 5 to perform lateral telescopic movement relative to the final telescopic unit 3. In this way, when the final telescopic unit 3 is in motion and the final driving mechanism is not working, the final telescopic unit 3 drives the lifting mechanism 5 to move at the same speed. When the final telescopic unit 3 moves into place, the telescopic movement of the lifting mechanism 5 can be further controlled by the final driving mechanism, so that the sling body 4 can have a larger movement stroke.

[0029] Specifically, the lifting mechanism 5 is equipped with a final power source 16, the output end of the final power source 16 is equipped with a final gear 17, and the final telescopic unit 3 is equipped with a final rack 15 meshing with the final gear 17, wherein the final power source 16 can be a motor or a combination of a motor and a reducer. When the final power source 16 is working, the final gear 17 can be driven to rotate, and under the meshing action of the final gear 17 and the final rack 15, the lifting mechanism 5 can be driven to perform a lateral telescopic movement along the final telescopic unit 3, further changing the lateral position of the sling body 4, with a simple structure and convenient control.

[0030] like Figure 3 As shown, a connecting frame 18 is connected between the lateral ends of the tops of the two uprights 1, and a fixing frame 19 is fixed to the lateral ends of the first-stage telescopic unit 2. Both the two connecting frames 18 and the two fixing frames 19 are inverted U-shaped structures, and one of the fixing frames 19 is located between the two connecting frames 18. The two connecting frames 18 are defined to be arranged front and back. When the first-stage telescopic unit 2 moves backward to the extreme position, the fixing frame 19 located between the two connecting frames 18 will stop with the connecting frame 18 on the rear side, thereby limiting the extreme position of the backward movement of the first-stage telescopic unit 2, and the first-stage telescopic unit 2 is in a retracted state. Baffles 20 are fixed on the top surfaces of the two uprights 1. When the first-stage telescopic unit 2 moves forward to the extreme position, the fixing frame 19 located between the two connecting frames 18 will stop with the baffle 20, thereby limiting the extreme position of the forward movement of the first-stage telescopic unit 2, and the first-stage telescopic unit 2 is in an extended state.

[0031] In addition, Figure 3As shown, the tooth surface of the first-stage rack 12 is arranged upward, the rotation axis of the first-stage gear 14 extends horizontally, and the first-stage power source 13 is fixed on the stand 1 without moving, which can reduce the height of the first-stage telescopic unit 2 and facilitate its smooth passage through the front connecting frame 18. At the same time, the tooth surface of the final-stage rack 15 is arranged toward the lifting mechanism 5, and the rotation axis of the final-stage gear 17 extends vertically, which can reduce the height of the lifting mechanism 5 and facilitate its smooth passage through the front connecting frame 18 and the fixed frame 19. In addition, the first-stage rack 12 is located on one longitudinal side of the final-stage telescopic unit 3, and the final-stage rack 15 is located on the other longitudinal side of the final-stage telescopic unit 3, which is convenient for the installation of the first-stage rack 12 and the final-stage rack 15 and the arrangement of the first-stage power source 13 and the final-stage power source 16, and the structure is relatively compact.

[0032] In addition, if Figure 4 , Figure 5 and Figure 6 As shown, multiple first-level guide wheels 21 arranged at intervals in the transverse direction are installed on the inner side of the two vertical frames 1, and first-level guide grooves for the first-level guide wheels 21 to be embedded are respectively provided on both longitudinal sides of the first-level telescopic unit 2, so as to guide the movement of the first-level telescopic unit 2. At the same time, multiple second-level guide wheels 22 arranged at intervals in the transverse direction are respectively installed on the side of the first-level telescopic unit 2 facing away from the first-level guide groove, and second-level guide grooves for the second-level guide wheels 22 to be embedded are respectively provided on both longitudinal sides of the final telescopic unit 3, so as to guide the movement of the final telescopic unit 3. Three-level guide grooves are respectively provided on the side of the final telescopic unit 3 facing away from the second-level guide groove, and three-level guide wheels 23 embedded in the three-level guide grooves are respectively installed on both longitudinal sides of the outer frame of the lifting mechanism 5, so as to guide the movement of the lifting mechanism 5. In this way, roller guides are used between the telescopic units at all levels of the telescopic mechanism, between the first-level telescopic unit and the traveling frame, and between the final telescopic unit and the sling, so that the friction of movement is relatively small.

[0033] In addition, since the above-mentioned first-stage power source 13, rotating power source, and final-stage power source 16 all use motors, and the driving mechanism for driving the travel wheel to rotate also includes a motor, in order to facilitate the control of each motor and power supply to each electrical component, an electric control cabinet 8 is fixed on the travel frame.

[0034] The battery-swapping robot in this embodiment is a one-way battery-swapping robot. Two battery-swapping robots can be set on the guide rail 7. The first battery-swapping robot is responsible for removing the deflated battery from the vehicle and placing it between the two guide rails 7. The other battery-swapping robot removes the deflated battery and places it on the battery storage device. At the same time, it takes out a fully charged battery from the battery storage device and places the fully charged battery between the two guide rails 7. The first battery-swapping robot then removes the fully charged battery and installs it on the vehicle.

[0035] In other embodiments of the battery-exchanging robot: the baffle may no longer be fixed on the top of the two vertical frames. At this time, the fixed frame located between the two connecting frames may respectively cooperate with the two connecting frames to stop, thereby limiting the movement limit positions of the first-stage telescopic unit in two directions.

[0036] In other embodiments of the battery-swapping robot: fixed frames may no longer be provided at both lateral ends of the first-stage telescopic unit, and baffles are no longer fixed on the tops of the two vertical frames. At this time, the battery-swapping robot is a bidirectional battery-swapping robot, and the telescopic units of each stage in the telescopic mechanism can extend the walking frame on one side in the lateral direction, or move to the other side and extend the walking frame from the other side. At this time, only one battery-swapping robot is provided on the guide rail, which first removes the depleted battery from the vehicle, and then transfers it to the battery storage device, and then removes a fully charged battery from the battery storage device and installs it on the vehicle.

[0037] In other embodiments of the battery-exchanging robot: the first-stage driving mechanism can also be in the form of a first-stage power source installed on the top surface of the first-stage telescopic unit, a first-stage gear installed on the output end of the first-stage power source, and a first-stage rack meshing with the first-stage gear installed on the top surface of the walking frame.

[0038] In other embodiments of the battery-exchanging robot: when the first-stage rack is arranged on the first-stage telescopic unit, the tooth surface of the first-stage rack can be arranged toward the vertical frame, and the rotation axis of the first-stage gear extends vertically. Similarly, when the first-stage rack is arranged on the vertical frame, the tooth surface of the first-stage rack can be arranged toward the first-stage telescopic unit, and the rotation axis of the first-stage gear also extends vertically.

[0039] In other embodiments of the battery-exchanging robot: the tooth surface of the final-stage rack can also be arranged upward, and in this case the rotation axis of the final-stage gear extends horizontally.

[0040] In other embodiments of the battery-exchanging robot: the final drive mechanism can also use a cylinder or an electric push rod. In this case, the cylinder or electric push rod is installed on the final telescopic unit, and the telescopic rod end of the cylinder or electric push rod is connected to the lifting mechanism to control the telescopic movement of the lifting mechanism relative to the final telescopic unit.

[0041] In other embodiments of the battery-exchanging robot: the first-stage driving mechanism can also use a cylinder or an electric push rod. In this case, the cylinder or electric push rod is installed on the walking frame, and the telescopic rod end of the cylinder or electric push rod is connected to the first-stage telescopic unit to control the telescopic movement of the first-stage telescopic unit relative to the walking frame.

[0042] In other embodiments of the battery-exchanging robot: the telescopic mechanism may also include three or more telescopic units, and the inter-unit driving mechanism between two adjacent telescopic units may adopt a cylinder or an electric push rod. At this time, the cylinder or electric push rod is installed on the upper telescopic unit, and the telescopic rod end of the cylinder or electric push rod is connected to the lower telescopic unit to drive the lower telescopic unit to telescopically move relative to the upper telescopic unit. At this time, the driving member is a driving plate or a driving block connected to the end of the telescopic rod.

[0043] In other embodiments of the battery-swapping robot: the sling may not include a lifting mechanism and may only consist of the sling body.

[0044] In other embodiments of the battery-swapping robot: regardless of whether the sling includes a lifting mechanism, the sling and the final telescopic unit can be fixed, and no telescopic movement will occur between the two.

[0045] In other embodiments of the battery-swapping robot: when the inter-unit driving mechanism is a sprocket chain driving mechanism, there may be only one pair of sprockets installed on the upper-level telescopic unit, and only one ring chain and one driving plate are configured.

[0046] In other embodiments of the battery-exchanging robot: when the inter-unit driving mechanism is a sprocket chain driving mechanism, and the first-stage driving mechanism is a gear rack driving mechanism, the first-stage rack and sprocket pair can be both arranged on the bottom surface of the first-stage telescopic unit, or both arranged on the top surface of the first-stage telescopic unit. For ease of arrangement, one can be on one longitudinal side of the first-stage telescopic unit, and the other can be on the other longitudinal side.

[0047] In other embodiments of the battery-exchanging robot: the guiding form between the first-stage telescopic unit and the walking frame and between the telescopic units at each stage can also be a combination of a guide rail and a slider.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The patent protection scope of the present invention shall be based on the claims. All equivalent structural changes made using the contents of the description and drawings of the present invention should also be included in the protection scope of the present invention.

Claims

1. A battery-swapping robot, characterized in that: It includes a traveling frame and a telescopic mechanism installed on the top of the traveling frame, the telescopic mechanism includes at least two levels of telescopic units, each level of telescopic units includes a first-level telescopic unit coordinated with the guide of the traveling frame and a final-level telescopic unit installed with a sling, a first-level driving mechanism for driving the first-level telescopic unit to telescopically move relative to the traveling frame is arranged between the first-level telescopic unit and the traveling frame, the guide of the next-level telescopic unit in two adjacent levels of telescopic units is installed on the previous-level telescopic unit, and the previous-level telescopic unit is independently installed with an inter-unit driving mechanism, the inter-unit driving mechanism includes a driving member connected to the next-level telescopic unit to independently drive the next-level telescopic unit to telescopically move relative to the previous-level telescopic unit.

2. The battery-swapping robot according to claim 1, characterized in that: The inter-unit driving mechanism is a sprocket chain driving mechanism, which includes a sprocket pair installed on the upper-level telescopic unit, an annular chain that cooperates with the sprocket pair for transmission, and a rotating power source that drives one of the sprockets in the sprocket pair to rotate, and the driving member is a driving plate fixed on the annular chain.

3. The battery-swapping robot according to claim 2, characterized in that: The sprocket pair is installed on the bottom surface of the first-stage telescopic unit; a first-stage rack is installed on the top surface of the first-stage telescopic unit, a first-stage power source is installed on the top of the traveling frame, and a first-stage gear meshing with the first-stage rack is installed on the output end of the first-stage power source, or a first-stage power source is installed on the top surface of the first-stage telescopic unit, a first-stage gear is installed on the output end of the first-stage power source, and a first-stage rack meshing with the first-stage gear is installed on the top surface of the traveling frame.

4. The battery-swapping robot according to claim 1, characterized in that: A first-stage rack is installed on the top surface of the first-stage telescopic unit, a first-stage power source is installed on the top of the traveling frame, and a first-stage gear meshing with the first-stage rack is installed at the output end of the first-stage power source, or a first-stage power source is installed on the top surface of the first-stage telescopic unit, a first-stage gear is installed at the output end of the first-stage power source, and a first-stage rack meshing with the first-stage gear is installed on the top surface of the traveling frame.

5. The battery-swapping robot according to claim 2 or 3, characterized in that: Each level of telescopic unit is a frame structure. A pair of sprockets are installed on the two parallel beams of the upper telescopic unit. Each pair of sprockets is driven by an annular chain and is equipped with a rotating power source. A driving plate is fixed on each annular chain.

6. The battery-swapping robot according to any one of claims 1 to 4, characterized in that: The sling comprises a sling body and a lifting mechanism connected to the sling body. The lifting mechanism is guided and installed on the final telescopic unit. A final driving mechanism for driving the lifting mechanism to telescopically move relative to the final telescopic unit is arranged between the lifting mechanism and the final telescopic unit.

7. The battery-swapping robot according to claim 6, characterized in that: The lifting mechanism is provided with a final power source, an output end of the final power source is provided with a final gear, and the final telescopic unit is provided with a final rack meshing with the final gear.

8. The battery-swapping robot according to claim 7, characterized in that: The tooth surface of the final gear rack is arranged toward the lifting mechanism, and the rotation axis of the final gear rack extends vertically.

9. The battery-swapping robot according to claim 3 or 4, characterized in that: The tooth surface of the first-stage rack is arranged upward, and the rotation axis of the first-stage gear extends horizontally.

10. The battery-swapping robot according to any one of claims 1 to 4, characterized in that: The walking frame includes two vertical frames arranged at intervals along the longitudinal direction, and connecting frames are respectively connected between the lateral ends of the tops of the two vertical frames. Fixed frames are respectively fixed to the lateral ends of the first-stage telescopic unit, one of the fixed frames is located between the two connecting frames and is used to cooperate with at least one connecting frame to limit the movement limit position of the first-stage telescopic unit.

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