Robot trolley, rigid lifting appliance robot and heavy truck battery replacing station

Abstract

The invention relates to a robot trolley, a rigid lifting appliance robot and a heavy truck battery replacing station. The robot trolley comprises an upper frame, a lower frame, a traction assembly and a connecting rod assembly. The lower frame is arranged under the upper frame; the traction assembly is arranged on the upper frame and comprises a positive and negative tooth screw rod, a traction seat, a movable traction wheel, a fixed traction wheel and a steel wire rope; the connecting rod assembly is connected between the upper frame and the lower frame and used for motion guiding. The rigid lifting appliance robot can provide stable rigid transmission, elastic deformation of the steel wire rope can be reduced, and stability is improved; the steel wire rope only serves as a medium for transmitting power, the path of the steel wire rope is strictly restrained by the driven traction wheel and the fixed traction wheel, multi-point rigid supporting is formed, stress is dispersed, and shaking is further reduced. And in addition, relative position deviation of the upper frame and the lower frame in the relative movement process is restrained in cooperation with the connecting rod assembly, rigid guiding is formed, and shaking is further reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swapping equipment, and in particular to a robot trolley, a rigid sling robot and a heavy truck battery swapping station. Background Art

[0002] With the increasing attention to environmental protection, the replacement of fuel vehicles by electric vehicles has become a development trend. Heavy trucks consume a large proportion of fuel and cause relatively heavy environmental pollution. Therefore, the development of electric heavy trucks has become an important part of solving environmental pollution problems. However, heavy trucks have a high demand for battery power, and the traditional charging method will seriously affect the use efficiency of heavy trucks. The use of battery swapping technology can greatly improve this problem. Therefore, electric heavy truck battery swapping stations have received more and more attention and further development.

[0003] An electric heavy truck battery swapping station generally includes a battery compartment for battery storage and charging, and a hoisting robot for battery replacement. However, at present, most hoisting robots use a driving structure such as a winch to achieve hoisting. Although such a structure makes the contact process between the hoisting robot and the battery a flexible contact and can protect the battery, in special usage scenarios such as ports where strong winds often occur, the sling may swing greatly, affecting the normal progress of the battery swapping process and posing a safety hazard. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problem that most hoisting robots used in electric heavy truck battery swapping stations in the prior art use a driving structure such as a winch to achieve hoisting. Although such a structure makes the contact process between the hoisting robot and the battery a flexible contact and can protect the battery, in special environmental scenarios such as strong winds, the sling will swing greatly, affecting the normal progress of the battery swapping process and posing a safety hazard.

[0005] To solve the above technical problem, the present invention provides a robot trolley, including, an upper frame; a lower frame, which is arranged directly below the upper frame; The traction assembly includes a fixed seat, a positive and negative thread screw rod, a first driving source, a traction seat, a moving traction wheel, a fixed traction wheel, and a steel wire rope. There are two fixed seats which are symmetrically connected to the upper frame. The positive and negative thread screw rod is rotatably connected between the two fixed seats. The positive and negative thread screw rod is connected to the first driving source for driving its rotation. And two traction seats which are respectively in sliding connection with the upper frame are threadedly connected to the positive and negative thread screw rod. At least two moving traction wheels are respectively rotatably arranged on the traction seats. A plurality of fixed traction wheels which are respectively opposite to the positions of the moving traction wheels are also rotatably connected to the upper frame. The moving traction wheel and the fixed traction wheel which are opposite in position correspond to one steel wire rope. One end of the steel wire rope is connected to the upper frame, and the other end is connected to the lower frame after successively passing around the moving traction wheel and the fixed traction wheel; The connecting rod assembly. At least two groups of the connecting rod assemblies are symmetrically arranged. Both groups of the connecting rod assemblies include a long connecting rod and a short connecting rod. One end of the long connecting rod is in sliding connection with the lower frame, and the other end is in rotational connection with the upper frame. One end of the short connecting rod is in rotational connection with the lower frame, and the other end is in rotational connection with the long connecting rod.

[0006] Preferably, it further includes a traveling assembly. The traveling assembly includes a main shaft rotatably connected to the upper frame. The main shaft is connected to a third driving source for driving its rotation. And a gear is coaxially connected to each of the two ends of the main shaft respectively.

[0007] Preferably, two rollers located on both sides of the gear are respectively rotatably connected to both ends of the upper frame.

[0008] Preferably, a first sliding rail is arranged on the lower frame. One end of the long connecting rod is in sliding connection with the first sliding rail through a first slider, and the other end of the long connecting rod is in rotational connection with the upper frame through a first connecting seat; One end of the short connecting rod is in rotational connection with the middle position of the long connecting rod, and the other end is in rotational connection with the lower frame through a second connecting seat.

[0009] Preferably, the first driving source is connected to the upper frame, and the output end of the first driving source is connected to one end of the positive and negative thread screw rod through a synchronous belt assembly.

[0010] A rigid sling robot includes the robot trolley as described in any one of the above, and further includes a robot carriage which includes a carriage frame and a rack. A driving wheel and a driven wheel are rotatably arranged on the carriage frame. The driving wheel is connected to a second driving source for driving it to roll in the X-axis direction. There are two racks, and both racks extend in the Y-axis direction and are arranged on the carriage frame at intervals in the X-axis direction.

[0011] Preferably, a spreader is further included. The spreader includes a spreader frame and a hook assembly. The spreader frame is suspended on the lower frame by a plurality of ring chains. Two sets of the hook assemblies are arranged on the spreader frame near its two ends respectively. Each hook assembly includes a mounting seat connected to the spreader frame. A telescopic driving source is movably connected to the mounting seat. The output end of the telescopic driving source is movably connected to a push plate. One cam is movably connected to each end of the push plate. The two cams are respectively connected to the spreader frame through a rotating shaft, and hooks are connected to the ends of the rotating shafts far away from the cams.

[0012] Preferably, the hook assembly further includes position sensors. There are two position sensors, which are arranged on the spreader frame at a circumferential interval around any one of the cams of the hook assembly, and an induction piece for the position sensors to sense is connected to the cam.

[0013] Preferably, a plurality of guiding members are arranged on the surface of the spreader frame away from the lower frame. Each guiding member includes two guiding plates connected together at a predetermined angle, and the free end of one of the guiding plates is connected to the spreader frame.

[0014] A heavy truck battery swapping station includes the rigid spreader robot as described in any one of the above.

[0015] The above technical solution of the present invention has the following beneficial effects compared with the prior art: A robot car, a rigid sling robot and a heavy truck battery swapping station according to the present invention. The robot car includes an upper frame, a lower frame, a traction assembly and a connecting rod assembly; the lower frame is arranged directly below the upper frame; the traction assembly includes two fixed seats arranged on the upper frame, a left - and - right - hand threaded screw rod is rotatably connected between the two fixed seats, two traction seats respectively slidably connected to the upper frame are threadedly connected to the left - and - right - hand threaded screw rod, at least two moving traction wheels are respectively rotatably arranged on the traction seats, and a plurality of fixed traction wheels respectively opposite to the positions of the moving traction wheels are also rotatably connected to the upper frame. A steel wire rope corresponds to a pair of a moving traction wheel and a fixed traction wheel in opposite positions. One end of the steel wire rope is connected to the upper frame, and the other end is connected to the lower frame after sequentially passing around the moving traction wheel and the fixed traction wheel; the connecting rod assemblies both include a long connecting rod and a short connecting rod. One end of the long connecting rod is slidably connected to the lower frame, and the other end is rotatably connected to the upper frame. One end of the short connecting rod is rotatably connected to the lower frame, and the other end is rotatably connected to the long connecting rod. The rigid sling robot can provide stable rigid transmission through the mechanical structure composed of the screw rod, the traction seat and the traction wheel, can reduce the elastic deformation of the steel wire rope during the traction process, and improve the stability; the steel wire rope only serves as a medium for transmitting power, and its path is strictly restricted by the moving traction wheel and the fixed traction wheel, forming a multi - point rigid support, dispersing the force and further reducing the shaking. And in cooperation with the connecting rod assembly, it suppresses the relative position deviation of the upper frame and the lower frame during the relative movement process, forms a rigid guide, and further reduces the redundant shaking of the degrees of freedom. At the same time, multiple groups of steel wire ropes can be synchronously tightened or released under the drive of the left - and - right - hand threaded screw rod, the fixed traction wheel and the moving traction wheel, can evenly disperse the load pressure, avoid deformation caused by single - point force, and further enhance the rigidity of the entire traction assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the content of the present invention easier to be clearly understood, the following further details the present invention according to the specific embodiments of the present invention in conjunction with the drawings, where Figure 1 is a schematic diagram of the overall structure of the rigid sling robot of the preferred embodiment of the present invention; Figure 2 is a schematic diagram of the structure of the robot car of the rigid sling robot of the preferred embodiment of the present invention; Figure 3 is a schematic diagram of the structure of the robot car of the rigid sling robot of the preferred embodiment of the present invention; Figure 4 is a schematic diagram of the structure of the traction assembly of the rigid sling robot of the preferred embodiment of the present invention; Figure 5 is a schematic diagram of the position of the connecting rod assembly of the robot car of the rigid sling robot of the preferred embodiment of the present invention; Figure 6 is a schematic diagram of the structure of the connecting rod assembly of the rigid sling robot of the preferred embodiment of the present invention; Figure 7 It is a schematic structural diagram of the sling of the rigid sling robot according to the preferred embodiment of the present invention; Figure 8 It is a schematic structural diagram of the hook assembly of the rigid sling robot according to the preferred embodiment of the present invention; Figure 9 is Figure 7 An enlarged view of part A of the rigid sling robot shown.

[0017] Explanation of reference numerals in the drawings of the specification: 1. Robot trolley; 11. Upper frame; 12. Lower frame; 13. Traction assembly; 131. Fixed seat; 132. Positive and negative thread screw rod; 133. First driving source; 134. Traction seat; 135. Moving traction wheel; 136. Fixed traction wheel; 137. Steel wire rope; 14. Link assembly; 141. Long link; 142. Short link; 143. First slider; 144. First slide rail; 145. First connection seat; 146. Second connection seat; 15. Walking assembly; 151. Main shaft; 152. Third driving source; 153. Gear; 154. Roller; 2. Robot cart; 21. Cart frame; 22. Rack; 23. Driving wheel; 24. Driven wheel; 25. Second driving source; 3. Sling; 31. Sling frame; 32. Ring chain; 33. Hook assembly; 331. Mounting seat; 332. Telescopic driving source; 333. Pushing plate; 334. Cam; 335. Hook; 336. Position sensor; 337. Inductive sheet; 338. Guide; 4. Electric control box. Detailed implementation manners

[0018] The present invention will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the embodiments cited do not limit the present invention. Embodiment 1

[0019] Referring to Figures 1 - 9 shown, a robot trolley of the present invention includes, Upper frame 11; Lower frame 12, which is arranged directly below the upper frame 11; The traction assembly 13 includes a fixed seat 131, a positive and negative thread lead screw 132, a first driving source 133, a traction seat 134, a moving traction wheel 135, a fixed traction wheel 136 and a steel wire rope 137. There are two fixed seats 131 which are symmetrically connected to the upper frame 11. A positive and negative thread lead screw 132 is rotatably connected between the two fixed seats 131. The positive and negative thread lead screw 132 is connected to a first driving source 133 for driving its rotation. And two traction seats 134 which are respectively slidably connected to the upper frame 11 are threadedly connected to the positive and negative thread lead screw 132. At least two moving traction wheels 135 are respectively rotatably arranged on the traction seats 134. A plurality of fixed traction wheels 136 which are respectively opposite to the positions of the moving traction wheels 135 are also rotatably connected to the upper frame 11. A steel wire rope 137 corresponds to a pair of the moving traction wheel 135 and the fixed traction wheel 136 which are opposite to each other. One end of the steel wire rope 137 is connected to the upper frame 11, and the other end is connected to the lower frame 12 after passing around the moving traction wheel 135 and the fixed traction wheel 136 in sequence; The connecting rod assembly 14 is symmetrically arranged in at least two groups. Each of the two groups of connecting rod assemblies 14 includes a long connecting rod 141 and a short connecting rod 142. One end of the long connecting rod 141 is slidably connected to the lower frame 12, and the other end is rotatably connected to the upper frame 11. One end of the short connecting rod 142 is rotatably connected to the lower frame 12, and the other end is rotatably connected to the long connecting rod 141.

[0020] Specifically, the upper frame 11 is a cuboid-shaped box mechanism. Inside the upper frame 11, there are two fixed seats 131 arranged at intervals in its length direction. A left-right hand lead screw 132 extending in the length direction of the upper frame 11 is rotatably connected between the two fixed seats 131. One end of the left-right hand lead screw 132 is connected to a motor arranged at the bottom of the upper frame 11 through a synchronous belt assembly. On two sections of the left-right hand lead screw 132 with different thread pitches, there is respectively a traction seat 134 threadedly connected. The two traction seats 134 are slidably connected to the bottom surface of the upper frame 11 through a second slide rail and a second slider. At the same time, at both ends of the two traction seats 134, there are two moving traction wheels 135 arranged in the width direction of the upper frame 11. The widths of the two traction seats 134 are different, so that the moving traction wheels 135 on the two traction seats 134 are staggered. And on one side where the two traction seats 134 are away from each other, there are two fixed traction wheels 136 rotatably arranged respectively corresponding to the positions of the two moving traction wheels 135 on one traction seat 134 away from it. A moving traction wheel 135 and a fixed traction wheel 136 corresponding to each other in position respectively correspond to a steel wire rope 137. One end of the steel wire rope 137 is connected to the second slide rail, and the other end extends vertically downward after passing around the corresponding moving traction wheel 135 and fixed traction wheel 136 in sequence and is connected to the lower frame 12 below. The first driving source 133 drives the left-right hand lead screw 132 to rotate, driving the two traction seats 134 to perform synchronous movement of approaching or separating from each other. The moving traction wheels 135 on the two traction seats 134 move with it, thereby changing the effective length of the steel wire rope 137 in the vertical direction, realizing the lifting movement of components such as the lower frame 12 and the lifting appliance 3 connected below it, and thus realizing the lifting and transportation of the battery.

[0021] It can be imagined that the mechanical structure composed of the lead screw, the traction seat and the traction wheels (the moving traction wheels 135 and the fixed traction wheels 136) of this robot trolley can provide stable rigid transmission, can reduce the elastic deformation of the steel wire rope 137 during the traction process, and improve the stability. The steel wire rope 137 is only used as a medium for transmitting power, and its path is strictly restricted by the moving traction wheels 135 and the fixed traction wheels 136, forming a multi-point rigid support, dispersing the force and further reducing the sway. And it cooperates with the link assembly 14 to suppress the relative position offset of the upper frame 11 and the lower frame 12 during the relative movement process, forming a rigid guide, and further reducing the redundant sway of the degrees of freedom. At the same time, multiple groups of steel wire ropes can be synchronously tightened or released under the drive of the left-right hand lead screw, the fixed traction wheels 136 and the moving traction wheels 135, which can evenly disperse the load pressure, avoid deformation caused by single-point force, and further enhance the rigidity of the entire traction assembly 13.

[0022] Refer to Figure 3As shown in the figure, further, it further includes a walking component 15. The walking component 15 includes a main shaft 151 rotatably connected to the upper frame 11. The main shaft 151 is connected to a third driving source 152 for driving its rotation, and two gears 153 are coaxially connected to both ends of the main shaft 151 respectively. Specifically, both the first driving source 133 and the third driving source 152 can adopt servo motors.

[0023] Further, two rollers 154 rotatably connected to the upper frame 11 are symmetrically arranged on both sides of the gear 153. The rollers 154 are in rolling connection with the trolley frame 21 along the Y-axis direction. Specifically, the rollers 154 serve as auxiliary moving parts, enabling the upper frame 11 to move stably on the trolley frame 21. Two parallel and spaced mounting plates are installed on the trolley frame 21. Two racks 22 are respectively installed in parallel on the tops of the two mounting plates, and the two racks 22 are located on the sides of the two mounting plates away from each other. The positions on the tops of the two mounting plates where no racks 22 are installed serve as the connection areas where the rollers 154 are in rolling connection with the mounting plates. And an annular extension extending to one side of the opposite surfaces of the two mounting plates is provided on the rollers 154 as a limiting part to limit the movement of the rollers 154 in the X-axis direction, ensuring that the entire robot trolley 1 can move stably along the Y-axis direction.

[0024] Referring to Figure 5 and Figure 6 As shown in the figure, further, a first slide rail is provided on the lower frame 12. One end of the long connecting rod 141 is slidably connected to the first slide rail 144 through a first slider 143, and the other end of the long connecting rod 141 is rotatably connected to the upper frame 11 through a first connecting seat 145; one end of the short connecting rod 142 is rotatably connected to the middle position of the long connecting rod 141, and the other end is rotatably connected to the lower frame 12 through a second connecting seat 146. Specifically, the connecting rod assembly 14 as a whole has a scissor structure, which can play a role in guiding and limiting during the relative movement of the lower frame 12 and the upper frame 11. The number of the connecting rod assemblies 14 can be set according to the actual situation to ensure the rigidity of the entire lifting robot.

[0025] Further, the first driving source 133 is connected to the upper frame 11, and the output end of the first driving source 133 is connected to one end of the positive and negative thread screw rod 132 through a synchronous belt assembly. Embodiment 2

[0026] The present invention also discloses a rigid sling robot, which includes the robot trolley 1 as in Embodiment 1, and also includes a robot gantry 2. The robot gantry 2 includes a gantry frame 21 and a rack 22. A driving wheel 23 and a driven wheel 24 are rotatably arranged on the gantry frame 21. The driving wheel 23 is connected to a second driving source 25 for driving it to roll in the X-axis direction. There are two racks 22, and both of the two racks 22 extend in the Y-axis direction and are arranged on the gantry frame 21 at intervals in the X-axis direction. Specifically, the robot gantry 2 is arranged on the top of the container (battery compartment) of the heavy truck battery swapping station. Two tracks extending along its length direction (assuming the extension direction of the track is the X direction) are symmetrically arranged on the top of the container. The gantry frame 21 can move on the track through the driving wheel 23 and the driven wheel 24, and can achieve automatic movement under the drive of the second driving source 25; a main shaft 151 extending in its length direction (Y-axis direction) is arranged on the upper frame 11. Both ends of the main shaft 151 extend outside the upper frame 11 and are respectively engaged with the two racks 22 arranged on the gantry frame 21 through a gear 153. The robot trolley 1 can be driven to move in the Y-axis direction as a whole by the drive of a third driving source 152 connected to the main shaft 151. Thus, the rigid sling robot as a whole can achieve the movement of the sling 3 in the X-axis direction and the Y-axis direction, so as to realize the grasping of batteries at different positions.

[0027] Refer to Figure 7 、 Figure 8 and Figure 9As shown in the figure, further, it also includes a sling 3. The sling includes a sling frame 31. The sling frame 31 is suspended on the lower frame 12 by a plurality of chain links 32. Two sets of hook assemblies 33 are arranged on the sling frame 31 near its two ends respectively. Each hook assembly 33 includes a mounting seat 331 connected to the sling frame 31. A telescopic driving source 332 is movably connected to the mounting seat 331. The output end of the telescopic driving source 332 is movably connected to a push plate 333. A cam 334 is movably connected to each end of the push plate 333. The two cams 334 are respectively connected to the sling frame 31 through a rotating shaft, and a hook 335 is connected to the end of the rotating shaft away from the cam 334. Specifically, the sling frame 31 is hoisted at the bottom of the lower frame 12 by the chain links 32. The structure of the chain links 32 can make the sling 3 in flexible contact with the battery when contacting the battery, so as to play a role in protecting the battery. Specifically, the sling frame 31 is a rectangular frame structure. The two sets of hook assemblies 33 are respectively arranged at positions near the two ends of the sling frame 31, and the two cams 334 of each set of hook assemblies 33 are symmetrically arranged at positions near the two side edges of the sling frame 31. After the sling 3 moves in place driven by the robot trolley 2 and the robot carriage 1, the output shaft of the telescopic driving source 332 extends and drives the two cams 334 to rotate through the push plate 333, so as to drive the two hooks 335 connected to the cams 334 to rotate to the position of locking the battery, realizing the grasping of the battery. It can be imagined that according to the specific size and dimensions of the battery, the setting of the hook assemblies 33 can be increased or decreased, as long as it is ensured that the battery can be clamped and can maintain balance and stability during the movement.

[0028] Further, the hook assembly 33 also includes a position sensor 336. There are two position sensors 336. The two position sensors 336 are arranged on the sling frame 31 at a circumferential interval around any one of the cams 334 of this hook assembly 33, and an induction piece 337 for the position sensor 336 to sense is connected to this cam 334. Specifically, the positions of the two position sensors 336 respectively correspond to the positions of the hooks 335 in the natural state and the positions when locking the battery. By sensing the induction piece 337, the position states of the respective hooks 335 are determined, so as to ensure the smooth and safe progress of the battery swapping process.

[0029] Further, a plurality of guiding members 338 are arranged on the surface of the sling frame 31 away from the lower frame 12. The guiding members 338 include two guiding plates connected together at a predetermined angle, and the free end of one of the guiding plates is connected to the sling frame 31. Specifically, the guiding members 338 can play a role of guiding and limiting through the inclined surface, so that the sling 3 enters the correct hoisting position after contacting the battery, facilitating the hook assembly 33 to lock and grasp the battery.

[0030] Further, it also includes an electric control box 4. The electric control box 4 is used to supply power to the robot and control the drive. Embodiment III

[0031] The present invention also discloses a heavy truck battery swapping station, which includes a rigid lifting robot as in Embodiment II.

[0032] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A robot car, characterized in that: including, upper frame; lower frame, which is arranged directly below the upper frame; traction assembly, which includes a fixed seat, a positive and negative thread screw rod, a first driving source, a traction seat, a moving traction wheel, a fixed traction wheel and a steel wire rope. There are two fixed seats, which are symmetrically connected to the upper frame. The positive and negative thread screw rod is rotatably connected between the two fixed seats. The positive and negative thread screw rod is connected to the first driving source for driving its rotation. And two traction seats that are respectively slidably connected to the upper frame are threadedly connected to the positive and negative thread screw rod. At least two moving traction wheels are respectively rotatably arranged on the traction seats. A plurality of fixed traction wheels that are respectively opposite to the positions of the moving traction wheels are also rotatably connected to the upper frame. The moving traction wheel and the fixed traction wheel that are opposite in position correspond to a steel wire rope. One end of the steel wire rope is connected to the upper frame, and the other end is connected to the lower frame after passing around the moving traction wheel and the fixed traction wheel in sequence; link assembly, at least two groups of link assemblies are symmetrically arranged. Both groups of link assemblies include a long link and a short link. One end of the long link is slidably connected to the lower frame, and the other end is rotatably connected to the upper frame. One end of the short link is rotatably connected to the lower frame, and the other end is rotatably connected to the long link.

2. The robot car according to claim 1, wherein: It further includes a traveling assembly, which includes a main shaft rotatably connected to the upper frame. The main shaft is connected to a third driving source for driving its rotation. And a gear is coaxially connected to each end of the main shaft respectively.

3. The robot trolley according to claim 2, characterized in that: Two rollers located on both sides of the gear are respectively rotatably connected to both ends of the upper frame.

4. The robot car according to claim 1, wherein: A first slide rail is arranged on the lower frame. One end of the long link is slidably connected to the first slide rail through a first slider, and the other end of the long link is rotatably connected to the upper frame through a first connecting seat; One end of the short link is rotatably connected to the middle position of the long link, and the other end is rotatably connected to the lower frame through a second connecting seat.

5. The robot trolley according to claim 1, characterized in that: The first driving source is connected to the upper frame, and the output end of the first driving source is connected to one end of the positive and negative thread screw rod through a synchronous belt assembly.

6. A rigid sling robot, comprising a robot trolley according to any one of claims 1-5, characterized in that: It further includes a robot trolley, which includes a trolley frame and a rack. A driving wheel and a driven wheel are rotatably arranged on the trolley frame. The driving wheel is connected to a second driving source for driving it to roll in the X-axis direction. There are two racks, and both racks extend in the Y-axis direction and are arranged on the trolley frame at intervals in the X-axis direction.

7. The rigid sling robot according to claim 6, wherein: It further includes a spreader, which includes a spreader frame and a hook assembly. The spreader frame is suspended on the lower frame through a plurality of chain links. Two groups of hook assemblies that are respectively close to both ends are arranged on the spreader frame. Each hook assembly includes a mounting seat connected to the spreader frame. A telescopic driving source is movably connected to the mounting seat. The output end of the telescopic driving source is movably connected to a push plate. A cam is movably connected to each end of the push plate. The two cams are respectively connected to the spreader frame through a rotating shaft. And a hook is connected to one end of the rotating shaft away from the cam.

8. The rigid sling robot according to claim 7, wherein: The hook assembly further includes position sensors. There are two position sensors, which are arranged on the spreader frame at a circumferential interval around any one of the cams of the hook assembly, and an induction piece for the position sensors to sense is connected to the cam.

9. The rigid sling robot according to claim 7, wherein: A plurality of guiding members are arranged on a surface of the spreader frame away from the lower frame. The guiding member includes two guiding plates connected together at a predetermined angle, and the free end of one of the guiding plates is connected to the spreader frame.

10. A heavy truck battery swapping station, characterized in that: It includes a rigid spreader robot according to any one of claims 6-9.

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