Bidirectional telescopic arm and battery replacement robot thereof

Abstract

The invention provides a bidirectional telescopic arm and a battery replacement robot thereof, belongs to the technical field of telescopic arms, and solves the problems of high requirements on manufacturing and mounting precision and relatively high cost in the prior art. The fork comprises a first-stage fork body, the first-stage fork body is connected with a second-stage fork body in a sliding mode, a rack is fixedly arranged on the second-stage fork body, and a driving mechanism is arranged on the first-stage fork body. The motor driving assembly drives the driving chain wheel to rotate so as to drive the first driven chain wheel, the second driven chain wheel and the transmission chain set to rotate. The transmission chain set located between the first driven chain wheel and the second driven chain wheel is a horizontal driving section, and the horizontal driving section is meshed with the rack so as to drive the rack and the second-stage fork body to move. Three chains are arranged for transmission, the bearing capacity of a transmission chain set can be increased, racks are meshed with the middle chain, chain wheels are meshed with the chains on the two sides, and stable movement of the second-stage fork body is guaranteed. And the use cost and the manufacturing and mounting precision of the telescopic arm can be reduced by adopting a chain transmission mode.

Description

Technical Field

[0001] This invention belongs to the field of telescopic arm technology, specifically to a bidirectional telescopic arm and its battery swapping robot. Background Technology

[0002] With the increasing number of new energy electric vehicles, the demand for battery swapping stations is growing. Currently, various types of robots have emerged in the market, with the two most mainstream types being wire rope lifting and forklift lifting solutions. Wire rope lifting solutions lack sufficient positioning accuracy, have poor wind resistance, and are prone to wear, requiring frequent maintenance or replacement. Forklift lifting solutions, on the other hand, offer good overall rigidity, accurate positioning, strong wind resistance, and are maintenance-free during the warranty period, thus gaining widespread application.

[0003] Currently, rack and pinion forks are commonly used. For example, patent application CN118289680A discloses a high-precision narrow heavy-duty fork. This heavy-duty fork includes a drive mechanism and at least two sets of bidirectional telescopic fork arms. The drive mechanism drives the fork arms to extend and retract in both directions. All drive mechanisms use gear and rack meshing transmission, resulting in a low overall failure rate, long service life, and high fork extension and positioning accuracy. Furthermore, this fork has narrow fork arms and a compact structure, reducing costs and meeting the requirements of narrow loading spaces. It also uses a stepped extension mechanism with base, middle rail, and top rail components, allowing for minimal bending deformation while carrying heavy loads. However, rack and pinion transmission structures require high manufacturing and installation precision, and are relatively expensive. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a bidirectional telescopic arm and its battery-swapping robot. A motor drive assembly drives a primary sprocket to rotate, thereby causing a first driven sprocket, a second driven sprocket, and a transmission chain assembly to rotate. The transmission chain assembly located between the first and second driven sprockets is a horizontal drive segment, which meshes with a rack, thereby driving the rack and the secondary fork to move. The use of three chains for transmission increases the load-bearing capacity of the transmission chain assembly. The meshing of the rack with the middle chain and the meshing of the sprockets with the chains on both sides ensures stable movement of the rack and the secondary fork. The use of chain drive reduces the operating cost of the telescopic arm and improves manufacturing and installation accuracy.

[0005] The technical solution adopted in this invention is as follows: A bidirectional telescopic boom includes a primary fork, a secondary fork slidably connected to the primary fork, and a tertiary fork slidably connected to the secondary fork. The secondary fork is housed within the tertiary fork, and the primary fork is housed within the secondary fork. A rack is fixedly arranged along the length of the secondary fork. A drive mechanism is provided on the primary fork for cooperating with the rack to drive the secondary fork to move. The drive mechanism includes a motor drive assembly fixed to the primary fork, a drive sprocket rotatably arranged on the motor drive assembly, and a first driven sprocket and a second driven sprocket rotatably arranged on the primary fork, with the first and second driven sprockets located on the same horizontal plane. A drive chain assembly connected end-to-end is meshed on the drive sprocket, the first driven sprocket, and the second driven sprocket. The drive sprocket, the first driven sprocket, and the second driven sprocket include at least two sets of spaced meshing teeth. The drive chain assembly includes at least three chains connected side-by-side and rotating synchronously, wherein the chains on both sides mesh with the meshing teeth, and the chain in the middle meshes with the rack.

[0006] Preferably, a tension sprocket is rotatably disposed on the first-stage fork body, located between the second driven sprocket and the driving sprocket and meshing on the outside of the drive chain assembly, and the height position of the tension sprocket is higher than the height position of the second driven sprocket.

[0007] Preferably, the two ends of the secondary fork are connected to top members, and each top member abuts against a flexible traction member that is not connected end to end. One end of the flexible traction member is fixedly connected to the primary fork, and the other end of the flexible traction member is fixedly connected to the tertiary fork.

[0008] Preferably, the flexible tensioning element is a connecting rope or chain.

[0009] Preferably, the flexible tensioning element is a chain.

[0010] Preferably, the top component is a sprocket and the sprocket is rotatably connected to the secondary fork.

[0011] Preferably, both the secondary and tertiary forks are U-shaped frames, with the primary fork located inside the secondary fork and the secondary fork located inside the tertiary fork.

[0012] Preferably, the first-stage fork is provided with first guide rails on both sides along the length direction, and the inner side of the second-stage fork is provided with several first rollers that cooperate with the first guide rails; the third-stage fork is provided with second guide rails on both sides along the length direction, and the outer side of the second-stage fork is provided with several second rollers that cooperate with the second guide rails.

[0013] Preferably, wear-resistant strips are provided on the upper and lower inner sides of the first and second guide rails, and a gap is left between the upper wear-resistant strip and the first and second rollers.

[0014] A battery swapping robot, using the bidirectional telescopic arm, the battery swapping robot includes a lifting device fixedly connected to a primary fork body, and a lifting device connected to the bottom of a tertiary fork body.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: The motor drive assembly drives the drive sprocket to rotate, thereby causing the first driven sprocket, the second driven sprocket, and the transmission chain assembly to rotate. The transmission chain assembly located between the first and second driven sprockets is a horizontal drive section, which meshes with the rack, thereby driving the rack and the secondary fork to move. The use of three chains for transmission increases the load-bearing capacity of the transmission chain assembly. The meshing of the rack with the middle chain and the meshing of the sprockets with the chains on both sides ensures stable movement of the rack and the secondary fork. Using chain drive reduces the operating cost of the telescopic boom and improves manufacturing and installation accuracy. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention; Figure 2 This is a schematic diagram of the drive mechanism structure provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the cross-sectional structure of the two-stage fork provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the cross-sectional structure provided in an embodiment of the present invention; Figure 5 A schematic diagram of the bidirectional telescopic principle provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the end face structure of the transmission chain assembly provided in an embodiment of the present invention. Figure 7 This is a top view of the primary fork provided in an embodiment of the present invention.

[0018] Reference numerals: 1-First-stage fork body; 101-First guide rail; 102-First fixing part; 2-Drive mechanism; 201-Motor drive assembly; 202-Drive sprocket; 203-First driven sprocket; 204-Second driven sprocket; 205-Transmission chain assembly; 206-Tension sprocket; 207-Horizontal drive section; 3-Second-stage fork body; 301-First roller; 302-Second roller; 303-Rack; 304-Top component; 305-Flexible traction component; 4-Third-stage fork body; 401-Second guide rail; 402-Second fixing part; 5-Lifting device; 6-Wear-resistant strip. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] In the description of this invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, they are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0022] The following is combined with Figures 1-7 The present invention will be described in detail below.

[0023] Example:

[0024] A bidirectional telescopic arm, such as Figure 1 As shown, it includes a primary fork 1, a secondary fork 3 slidably connected to the primary fork 1, a tertiary fork 4 slidably connected to the secondary fork 3, the secondary fork 3 being housed within the tertiary fork 4, the primary fork 1 being housed within the secondary fork 3, a rack 303 fixedly mounted on the secondary fork 3 along its length, and a drive mechanism 2 on the primary fork 1 for cooperating with the rack 303 to drive the secondary fork 3 to move. Figure 2As shown, the drive mechanism 2 includes a motor drive assembly 201 fixed on the primary fork body 1. A drive sprocket 202 is rotatably mounted on the motor drive assembly 201, and a first driven sprocket 203 and a second driven sprocket 204 are rotatably mounted on the primary fork body 1. The first driven sprocket 203 and the second driven sprocket 204 are located on the same horizontal plane, and a drive chain assembly 205 connected end to end is meshed on the drive sprocket 202, the first driven sprocket 203, and the second driven sprocket 204. Figure 6 and 7 As shown, the driving sprocket 202, the first driven sprocket 203, and the second driven sprocket 204 include at least two sets of spaced meshing teeth. The transmission chain group 205 is provided with at least three chains that are connected side by side and rotate synchronously, wherein the chains on both sides mesh with the meshing teeth respectively, and the chain in the middle meshes with the rack 303.

[0025] The motor drive assembly 201 drives the drive sprocket 202 to rotate, thereby causing the first driven sprocket 203, the second driven sprocket 204, and the transmission chain assembly 205 to rotate. The transmission chain assembly 205, located between the first driven sprocket 203 and the second driven sprocket 204, is a horizontal drive section 207. The horizontal drive section 207 meshes with the rack 303, thereby driving the rack 303 and the secondary fork 3 to move. The use of three chains for transmission increases the load-bearing capacity of the transmission chain assembly. The rack 303 is aligned with the axis of symmetry of the secondary fork 3, and the rack 303 meshes with the middle chain, while the sprockets mesh with the chains on both sides, ensuring that the rack 303 and the secondary fork 3 can move stably along their length. Using chain drive reduces the operating cost of the telescopic boom and improves manufacturing and installation accuracy.

[0026] A tension sprocket 206 is rotatably mounted on the primary fork body 1, located between the second driven sprocket 204 and the driving sprocket 202, and meshing with the outside of the drive chain assembly 205. The height of the tension sprocket 206 is higher than that of the second driven sprocket 204. The tension sprocket 206 can tension the drive chain assembly 205 to ensure transmission stability. At the same time, the tension sprocket 206 can also reduce the portion of the drive chain assembly 205 protruding from the upper end of the primary fork body 1, preventing the drive chain assembly 205 from affecting the operation of other structures.

[0027] like Figure 3 As shown, the two ends of the secondary fork 3 are connected to top members 304. Each top member 304 abuts against a flexible pull member 305 that is not connected end to end. One end of the flexible pull member 305 is fixedly connected to the primary fork 1, and the other end of the flexible pull member 305 is fixedly connected to the tertiary fork 4. When the secondary fork 3 extends to either side, the top member 304 acts as a movable pulley, so that the tertiary fork 4 has an extension speed that is twice that of the secondary fork 3, thereby improving the overall working efficiency of the bidirectional telescopic boom.

[0028] like Figure 4 As shown, a first fixing part 102 is provided on the primary fork body 1, and a second fixing part 402 is provided on the tertiary fork body 4. The two ends of the flexible tension member 305 are respectively connected to the first fixing part 102 and the second fixing part 402. The first fixing part 102 and the second fixing part 402 can be screws, which pass through the holes in the flexible tension member 305 and are then threadedly connected to the primary fork body 1 and the tertiary fork body 4. The first fixing part 102 and the second fixing part 402 can also be fixed by other structures or connection methods, such as direct welding.

[0029] The specific scaling principle of this application is as follows: Figure 5 As shown, Figure 5 The top image shows the telescopic arm in its non-extended state. Figure 5 The middle image shows the telescopic arm extended to the left. Figure 5 The bottom diagram shows the telescopic arm extended to the right. When the telescopic arm extends to the left, the secondary fork 3 is driven to the left by the drive mechanism 2, and the top member 304 on the left pushes the flexible traction member 305 on the left. The flexible traction member 305 pulls on the tertiary fork 4, thereby extending the telescopic arm. When the telescopic arm extends to the right, the secondary fork 3 is driven to the right by the drive mechanism 2, and the top member 304 on the right pushes on the flexible traction member 305 on the right. The flexible traction member 305 pulls on the tertiary fork 4, thereby achieving bidirectional telescopic arm extension and retraction.

[0030] The flexible traction component 305 uses a connecting rope or chain. Both the connecting rope and chain can pull the third-stage fork 4 to move; to improve the tensile strength of the flexible traction component 305, a chain is preferred; furthermore, to reduce chain wear, the top component 304 is configured as a sprocket, and the sprocket is rotatably connected to the second-stage fork 3. Existing gear and rack transmission structures are prone to rigid damage under excessive transmission loads or overloads. The chain transmission of this application has significant advantages: 1. Chain transmission is more durable under heavy loads and impact loads, and has lower maintenance costs; 2. Chain transmission has stronger reliability in extreme environments and is applicable to a wider range of scenarios.

[0031] like Figure 4 As shown, both the secondary fork 3 and the tertiary fork 4 are U-shaped frames, with the primary fork 1 located inside the secondary fork 3 and the secondary fork 3 located inside the tertiary fork 4. That is, the primary fork 1, the secondary fork 3 and the tertiary fork 4 become wider in sequence, which can increase the working area of ​​the tertiary fork 4.

[0032] The first-stage fork 1 has first guide rails 101 arranged along its length on both sides. Several first rollers 301, cooperating with the first guide rails 101, are rotatably arranged on the inner side of the second-stage fork 3. During movement, the second-stage fork 3 rolls within the first guide rails 101 via the first rollers 301, thereby reducing wear between the first-stage fork 1 and the second-stage fork 3. The third-stage fork 4 has second guide rails 401 arranged along its length on both sides. Several second rollers 302, cooperating with the second guide rails 401, are rotatably arranged on the outer side of the second-stage fork 3. During movement, the third-stage fork 4 rolls within the second guide rails 401 via the second rollers 302, thereby reducing wear between the second-stage fork 3 and the third-stage fork 4.

[0033] Wear-resistant strips 6 are provided on the upper and lower inner sides of the first guide rail 101 and the second guide rail 401, with a gap between the upper wear-resistant strip 6 and the first roller 301 and the second roller 302. The wear-resistant strips 6 are used to reduce the wear of the guide rails. The upper and lower wear-resistant strips 6 can also be used to limit the vertical movement of the rollers in the guide rails. The gap between the upper wear-resistant strip 6 and the roller is to avoid affecting the rolling of the roller.

[0034] A battery swapping robot utilizes a bidirectional telescopic arm. The robot includes a lifting device fixedly connected to a primary fork 1, and a lifting device 5 connected to the bottom of a tertiary fork 4. The lifting device is existing technology and can employ a screw-driven lifting mechanism. The battery swapping robot uses the bidirectional extension and retraction of the telescopic arm and the lifting device 5 to lift fully charged or depleted batteries. The lifting device then raises and lowers the telescopic arm to place the fully charged or depleted battery, thus completing the battery swapping operation.

[0035] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bidirectional telescopic boom, comprising a primary fork (1), characterized in that, The primary fork (1) is slidably connected to the secondary fork (3), and the secondary fork (3) is slidably connected to the tertiary fork (4). The secondary fork (3) is housed within the tertiary fork (4), and the primary fork (1) is housed within the secondary fork (3). A rack (303) is fixedly provided on the secondary fork (3) along its length. A drive mechanism (2) is provided on the primary fork (1) for cooperating with the rack (303) to drive the secondary fork (3) to move. The drive mechanism (2) includes a motor drive assembly (201) fixed on the primary fork (1). A drive sprocket (202) is rotatably provided on the motor drive assembly (201). The primary fork (1) rotates... The drive sprocket (202), the first driven sprocket (203) and the second driven sprocket (204) are provided, and the first driven sprocket (203) and the second driven sprocket (204) are located on the same horizontal plane. The drive sprocket (202), the first driven sprocket (203) and the second driven sprocket (204) are meshed with a transmission chain group (205) connected end to end. The drive sprocket (202), the first driven sprocket (203) and the second driven sprocket (204) include at least two sets of spaced meshing teeth. The transmission chain group (205) is provided with at least three chains that are connected side by side and rotate synchronously, wherein the chains on both sides are meshed with the meshing teeth respectively, and the chain in the middle is meshed with the rack (303).

2. The bidirectional telescopic boom according to claim 1, characterized in that, The first-stage fork (1) is rotatably equipped with a tension sprocket (206) located between the second driven sprocket (204) and the driving sprocket (202) and meshed on the outside of the transmission chain group (205). The height of the tension sprocket (206) is higher than that of the second driven sprocket (204).

3. The bidirectional telescopic boom according to claim 1, characterized in that, The two ends of the secondary fork (3) are connected to top members (304), and each top member (304) abuts against a flexible pull member (305) that is not connected at the beginning and end. One end of the flexible pull member (305) is fixedly connected to the primary fork (1), and the other end of the flexible pull member (305) is fixedly connected to the tertiary fork (4).

4. A bidirectional telescopic boom according to claim 3, characterized in that, The flexible tensioning element (305) is made of a connecting rope or chain.

5. A bidirectional telescopic boom according to claim 4, characterized in that, The flexible tensioning element (305) is made of chain.

6. A bidirectional telescopic boom according to claim 5, characterized in that, The top component (304) is a sprocket and the sprocket is rotatably connected to the secondary fork body (3).

7. A bidirectional telescopic boom according to claim 1, characterized in that, Both the secondary fork (3) and the tertiary fork (4) are U-shaped frames, with the primary fork (1) located inside the secondary fork (3) and the secondary fork (3) located inside the tertiary fork (4).

8. A bidirectional telescopic boom according to claim 7, characterized in that, The first-stage fork (1) is provided with first guide rails (101) along the length direction on both sides, and the inner side of the second-stage fork (3) is provided with several first rollers (301) that cooperate with the first guide rails (101); the third-stage fork (4) is provided with second guide rails (401) along the length direction on both sides, and the outer side of the second-stage fork (3) is provided with several second rollers (302) that cooperate with the second guide rails (401).

9. A bidirectional telescopic boom according to claim 8, characterized in that, Wear-resistant strips (6) are provided on the upper and lower sides of the inner sides of the first guide rail (101) and the second guide rail (401), and there is a gap between the upper wear-resistant strip (6) and the first roller (301) and the second roller (302).

10. A battery-swapping robot, using the bidirectional telescopic arm according to any one of claims 1-9, characterized in that, The battery swapping robot includes a lifting device fixedly connected to the first-stage fork (1), and a lifting device (5) connected to the bottom of the third-stage fork (4).

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