A telescopic arm adjustable battery replacing robot

Abstract

The application discloses a telescopic arm adjustable battery replacing robot, and relates to the technical field of battery replacing robots, which comprises a moving seat and a first telescopic arm slidingly connected to the inner side of the moving seat, and a second telescopic arm slidingly connected to the inner side of the first telescopic arm, wherein the bottom of the second telescopic arm is provided with a lifting appliance. The first telescopic arm and the second telescopic arm are matched, a two-stage nested structure of the first telescopic arm and the second telescopic arm is adopted, and the hierarchical driving of two groups of chain drives (first expansion: the first telescopic arm moves; second expansion: the second telescopic arm drives the lifting appliance to move) is matched, so that a telescopic stroke of 3800 mm can be realized, the standard forks can be completely replaced, the demand of long-distance position adjustment of the lifting appliance can be met, the structure can be compact and space-saving after being retracted, and the practicability of the device as a whole is improved.

Description

Technical Field

[0001] This invention relates to the field of battery swapping robot technology, specifically a battery swapping robot with an adjustable telescopic arm. Background Technology

[0002] Existing battery swapping robots have fixed arm structures (fixed length) during implementation, which limits their ability to drive the lifting device for battery swapping operations. If a single-stage telescopic arm is used to achieve a long stroke (e.g., ≥3000mm), the large arm span can easily lead to insufficient structural rigidity under heavy loads (e.g., 5T), resulting in severe deflection (bending and sagging) and even lifting device displacement. If the telescopic stroke is shortened to improve rigidity, it cannot meet the battery swapping robot's need for long-distance adjustment of the lifting device position (e.g., docking battery boxes at different workstations), thus limiting its applicable scenarios. Therefore, we provide a battery swapping robot with an adjustable telescopic arm to solve the above problems. Summary of the Invention

[0003] The purpose of this invention is to provide a battery swapping robot with an adjustable telescopic arm, in order to solve the problem that the fixed structure of the electric robot arm in the prior art cannot meet the needs of the battery swapping robot for long-distance position adjustment of the lifting device.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a telescopic arm adjustable battery swapping robot, comprising: a movable base and a first telescopic arm slidably connected to the inner side of the movable base; a second telescopic arm slidably connected to the inner side of the first telescopic arm, with a lifting device installed at the bottom of the second telescopic arm; a chain drive, comprising two sets of chain drives, one set of chain drives installed at the top of the movable base and the other set of chain drives installed at the bottom of the first telescopic arm, each set of chain drives having a connecting block installed on the inner chain, one set of connecting blocks being fixedly connected to the first telescopic arm and the other set of connecting blocks being fixedly connected to the second telescopic arm; a traction auxiliary device located between the movable base, the first telescopic arm, and the second telescopic arm, for traction of the second telescopic arm; and an auxiliary adjustment component located between the movable base, the first telescopic arm, and the second telescopic arm, for position adjustment in conjunction with the traction auxiliary device.

[0005] As a further embodiment of the present invention: both sides of the first telescopic arm and the second telescopic arm are provided with sliding grooves, and multiple auxiliary plates are fixedly connected to the inner side of the movable seat and the first telescopic arm. Each auxiliary plate is rotatably connected to an auxiliary wheel on its inner side, and the auxiliary wheel abuts against the inner side of the sliding groove and matches the diameter of the sliding groove.

[0006] As a further embodiment of the present invention: the traction aid includes a first support frame fixedly connected to the top of the movable seat, a stand is provided on the top of the first support frame, a winding shaft is rotatably connected to the inner side of the stand, a steel wire rope is wound on the outer wall of the winding shaft, a drive motor is also installed on one side of the stand, and the output end of the drive motor is fixedly connected to the winding shaft, a connecting seat is provided on the top of the second telescopic arm, a fixed shaft is fixedly connected to the inner side of the connecting seat, and the other end of the steel wire rope is fixedly connected to the top of the fixed shaft.

[0007] As a further embodiment of the present invention: the traction aid further includes a second support plate fixedly connected to the top of the first telescopic arm, a second support frame fixedly connected to the top of the second support plate, a support wheel rotatably connected to the inner side of the second support frame, and the wire rope adhering to the outer wall of the support wheel.

[0008] As a further embodiment of the present invention: the auxiliary adjustment component includes a fourth support plate fixedly connected to one end of the second support plate, a third T-shaped block fixedly connected to the bottom of the second support frame, the third T-shaped block being slidably connected to the inner side of the fourth support plate, and a guide groove matching the third T-shaped block being opened on the inner side of the fourth support plate and the second support plate, a power spring being installed between the third T-shaped block and the guide groove, and an auxiliary pulling component being provided between the fourth support plate and the connecting seat.

[0009] As a further embodiment of the present invention: the auxiliary adjustment component further includes a first support plate fixedly connected to one end of the first support frame, a first T-shaped block slidably connected to the inner side of the first support plate, the top of the first T-shaped block being fixedly connected to the stand, and an auxiliary spring installed between the first support plate and the first T-shaped block.

[0010] As a further embodiment of the present invention: the auxiliary adjustment component includes a third support plate fixedly connected to the top of the second telescopic arm, the inner side of the third support plate is provided with a T-shaped groove, the inner side of the T-shaped groove is slidably connected with a second T-shaped block, and the top of the second T-shaped block is fixedly connected to the connecting seat.

[0011] As a further embodiment of the present invention: the auxiliary adjustment component further includes a connecting rod fixedly connected to one end of the fourth support plate, a connecting block fixedly connected to the inner side of the connecting seat, a fourth T-shaped block fixedly connected to one side of the connecting block, and the fourth T-shaped block slidably connected to the inner side of the connecting rod.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. By setting up the cooperation of components such as the first telescopic arm and the second telescopic arm, a two-level nested structure of "first telescopic arm + second telescopic arm" is adopted. With the graded drive of two sets of chain drives (first-level extension: the first telescopic arm moves; second-level extension: the second telescopic arm drives the spreader to move), a maximum telescopic stroke of 3800mm can be achieved, completely replacing standard forks. It has a large load capacity of up to 5T, low cost, and the main body uses channel steel, which is cheaper than forks of the same specification. It can meet the needs of long-distance position adjustment of the spreader. At the same time, the structure can be compact and save space after retraction, thereby improving the overall practicality of the device.

[0014] 2. By setting up a traction auxiliary device, when the first and second telescopic booms extend laterally (especially when the second telescopic boom extends the spreader under heavy load), the weight of the spreader and the load will cause the second telescopic boom to "bend downward". The wire rope is connected to the second telescopic boom through a fixed shaft. During the synchronous release of the drive motor, it always provides a continuous upward pulling force, which can directly offset part of the downward torque generated by the heavy load. This suppresses the bending deformation of the second telescopic boom from the root, avoids the spreader position displacement due to excessive deflection, and ensures the structural foundation for the power swapping docking.

[0015] 3. By coordinating components such as the second support frame, during the retraction of the first and second telescopic arms, the second support frame slides relative to the second support plate after being blocked by the moving seat. When the first telescopic arm is fully retracted into the moving seat, the second support frame slides onto the fourth support plate, forming support through the fourth support plate. After the first telescopic arm is retracted, when the second telescopic arm is retracted, since the second support frame remains stationary while the wire rope is constantly being wound, the upright is subjected to traction and slides on the top of the first support plate through the first T-shaped block. At the same time, the connecting seat slides relative to the T-shaped groove due to the resistance of the connecting rod. When the first and second telescopic arms are retracted, the above-mentioned structure ensures that the wire rope can always provide traction to the second telescopic arm without affecting its retraction, ensuring continuous traction of the wire rope throughout the retraction process without failure, preventing instability of the second telescopic arm, and avoiding positional displacement and structural jamming during dynamic adaptation during retraction, thus ensuring smooth retraction of the device and improving the overall practicality of the device. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle;

[0018] Figure 3 For the present invention Figure 1 Enlarged view at point B in the middle;

[0019] Figure 4 For the present invention Figure 1 Enlarged view at point C;

[0020] Figure 5 This is a schematic diagram of the auxiliary wheel abutting against the slide groove according to the present invention;

[0021] Figure 6 This is a schematic diagram of the traction assist device structure of the present invention;

[0022] Figure 7 This is a schematic diagram of the connection between the connecting rod and the connecting block of the present invention;

[0023] Figure 8 This is a schematic diagram of the fourth support plate structure of the present invention.

[0024] In the diagram: 1. Moving seat; 2. Auxiliary spring; 3. First telescopic arm; 4. Second telescopic arm; 5. Chain driver; 6. First support frame; 7. Lifting device; 8. Drive motor; 9. Rewinding shaft; 10. Wire rope; 11. First T-block; 12. First support plate; 13. Stand; 14. Slide groove; 15. Second support frame; 16. Connecting seat; 17. Second support plate; 18. Connecting block; 19. Third support plate; 20. T-slot; 21. Second T-block; 22. Fixed shaft; 23. Support wheel; 24. Third T-block; 25. Fourth support plate; 26. Connecting rod; 27. Auxiliary plate; 28. Auxiliary wheel; 29. ​​Fourth T-block; 30. Connecting block; 31. Power spring. Detailed Implementation

[0025] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The following describes embodiments of the invention based on its overall structure.

[0027] Please see Figures 1 to 8 This embodiment provides a telescopic arm adjustable battery swapping robot, including: a mobile base 1 and a first telescopic arm 3 slidably connected to the inner side of the mobile base 1; a second telescopic arm 4, which is slidably connected to the inner side of the first telescopic arm 3, and a lifting device 7 is installed at the bottom of the second telescopic arm 4; and a chain driver 5, which is provided in two sets, one set of chain drivers 5 is installed on the top of the mobile base 1 and the other set of chain drivers 5 is installed on the bottom of the first telescopic arm 3. A connecting block 18 is installed on the inner chain of both sets of chain drivers 5. One set of connecting blocks 18 is fixedly connected to the first telescopic arm 3 and the other set of connecting blocks 18 is fixedly connected to the second telescopic arm 4.

[0028] Both sides of the first telescopic arm 3 and the second telescopic arm 4 are provided with sliding grooves 14. Multiple auxiliary plates 27 are fixedly connected to the inner side of the movable seat 1 and the first telescopic arm 3. Each auxiliary plate 27 is rotatably connected to an auxiliary wheel 28 on its inner side. The auxiliary wheel 28 abuts against the inner side of the sliding groove 14 and matches the diameter of the sliding groove 14. When the first telescopic arm 3 and the second telescopic arm 4 move respectively, the auxiliary wheel 28 and the sliding groove 14 cooperate to form a limit and support.

[0029] First, the chain drive 5, composed of a chain, gears, mounting base, servo motor, and other components, drives the first telescopic arm 3 or the second telescopic arm 4 to move laterally via chain transmission. When the lifting device 7 needs to be extended a long distance, the chain drive 5 at the top of the moving base 1 is activated first, causing the first telescopic arm 3 to move laterally under the drive of the chain drive 5 for a first-stage extension. When further extension is needed, the chain drive 5 at the bottom of the first telescopic arm 3 is activated, driving the second telescopic arm 4 to move the lifting device 7 laterally again for a second-stage extension. Reversing these steps allows the device to retract.

[0030] The device adopts a two-level nested structure of "first telescopic arm 3 + second telescopic arm 4" and is equipped with two sets of chain drive 5 for graded drive (first-level extension: first telescopic arm 3 moves; second-level extension: second telescopic arm 4 drives spreader 7 to move). It can achieve a maximum telescopic stroke of 3800mm, completely replace standard forks, meet the needs of long-distance position adjustment of spreader, and at the same time, the structure can be compact and space-saving after retraction, thereby improving the overall practicality of the device.

[0031] If it is necessary to move the movable seat 1 laterally, a frame can be added to the movable seat 1 as required and the frame can be fixed in a designated place. Then, a drive structure (a technology already available in the prior art) can be added between the movable seat 1 and the frame to drive the movable seat 1 to move laterally inside the frame.

[0032] Please see Figures 2-8 A traction aid is located between the movable seat 1, the first telescopic arm 3, and the second telescopic arm 4, and is used to traction the second telescopic arm 4. The traction aid includes a first support frame 6 fixedly connected to the top of the movable seat 1. A stand 13 is provided on the top of the first support frame 6. A winding shaft 9 is rotatably connected to the inner side of the stand 13. A wire rope 10 is wound on the outer wall of the winding shaft 9. A drive motor 8 is also installed on one side of the stand 13, and the output end of the drive motor 8 is fixedly connected to the winding shaft 9. A connecting seat 16 is provided on the top of the second telescopic arm 4. A fixed shaft 22 is fixedly connected to the inner side of the connecting seat 16, and the other end of the wire rope 10 is fixedly connected to the top of the fixed shaft 22. The traction aid also includes a second support plate 17 fixedly connected to the top of the first telescopic arm 3. A second support frame 15 is fixedly connected to the top of the second support plate 17. A support wheel 23 is rotatably connected to the inner side of the second support frame 15, and the wire rope 10 is attached to the outer wall of the support wheel 23.

[0033] During the lateral expansion of the first telescopic arm 3 and the second telescopic arm 4, the drive motor 8 is started, and the output end of the drive motor 8 drives the winding shaft 9 to release the wire rope 10. This ensures that the second telescopic arm 4 always has an additional traction force through the wire rope 10 during the gradual extension process. At the same time, the wire rope 10 is supported by the second support frame 15 and the support wheel 23, so that the second telescopic arm 4 always has an additional vertical upward pulling force during the adjustment process.

[0034] When the first and second telescopic booms extend laterally (especially when the second telescopic boom 4 extends the spreader 7 under heavy load), the weight of the spreader 7 and the load will cause the second telescopic boom 4 to have a "downward bending" deflection. The wire rope 10 is connected to the second telescopic boom 4 through the fixed shaft 22. During the synchronous release of the drive motor 8, it always provides a continuous upward pulling force, which can directly offset part of the downward torque generated by the heavy load. This suppresses the bending deformation of the second telescopic boom 4 from the root, avoids the spreader 7 from shifting position due to excessive deflection, and ensures the structural foundation for the power swapping docking.

[0035] Meanwhile, the support wheel 23 on the second support frame 15 is in contact with the outer wall of the wire rope 10. On the one hand, it can accurately limit the transmission direction of the wire rope 10 (ensuring that the tension always acts on the second telescopic arm 4 in the vertical direction), and avoid the wire rope 10 from being laterally offset, which would cause the "tension direction to be skewed" (such as the telescopic arm may be laterally displaced by the oblique tension). On the other hand, the rolling friction of the support wheel 23 replaces the sliding friction between the wire rope 10 and other components, which greatly reduces the wear of the wire rope 10, extends its service life, and reduces the resistance when the telescopic arm is extended, ensuring a smoother movement process.

[0036] Please see Figures 2-8An auxiliary adjustment component, located between the movable seat 1, the first telescopic arm 3, and the second telescopic arm 4, is used to adjust the position in conjunction with the traction auxiliary device. The auxiliary adjustment component includes a fourth support plate 25 fixedly connected to one end of the second support plate 17. A third T-shaped block 24 is fixedly connected to the bottom of the second support frame 15. The third T-shaped block 24 is slidably connected to the inner side of the fourth support plate 25, and the inner sides of the fourth support plate 25 and the second support plate 17 have guide grooves that match the third T-shaped block 24. A power spring 31 is installed between the third T-shaped block 24 and the guide groove. An auxiliary pulling assembly is provided between the fourth support plate 25 and the connecting seat 16. The auxiliary adjustment component also includes a first support plate 12 fixedly connected to one end of the first support frame 6. A first T-shaped block 11 is slidably connected to the inner side of the plate 12. The top of the first T-shaped block 11 is fixedly connected to the stand 13. An auxiliary spring 2 is installed between the first support plate 12 and the first T-shaped block 11. The auxiliary adjustment component includes a third support plate 19 fixedly connected to the top of the second telescopic arm 4. A T-shaped groove 20 is opened on the inner side of the third support plate 19. A second T-shaped block 21 is slidably connected to the inner side of the T-shaped groove 20. The top of the second T-shaped block 21 is fixedly connected to the connecting seat 16. The auxiliary adjustment component also includes a connecting rod 26 fixedly connected to one end of the fourth support plate 25. A connecting block 30 is fixedly connected to the inner side of the connecting seat 16. A fourth T-shaped block 29 is fixedly connected to one side of the connecting block 30, and the fourth T-shaped block 29 is slidably connected to the inner side of the connecting rod 26.

[0037] During the retraction of the first telescopic arm 3 and the second telescopic arm 4, the second support frame 15, after being blocked by the movable seat 1, slides relative to the second support plate 17. When the first telescopic arm 3 is fully retracted into the inside of the movable seat 1, the second support frame 15 slides onto the fourth support plate 25, forming support through the fourth support plate 25. After the first telescopic arm 3 is retracted, when the second telescopic arm 4 is retracted, since the second support frame 15 remains stationary while the wire rope 10 is constantly being wound, the upright 13 is subjected to traction force through the first T-block 11. The top of the support plate 12 slides, while the connecting seat 16 slides relative to the T-groove 20 due to the resistance of the connecting rod 26. When the first telescopic arm 3 and the second telescopic arm 4 are retracted, the above structure ensures that the wire rope 10 can always pull the second telescopic arm 4 without affecting its retraction. This ensures that the wire rope 10 continues to pull without failure throughout the retraction process, preventing the second telescopic arm 4 from becoming unstable. At the same time, the dynamic adaptation during retraction prevents positional deviation and structural jamming, thus ensuring smooth retraction of the device and improving the overall practicality of the device.

[0038] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A battery swapping robot with an adjustable telescopic arm, characterized in that, include: The movable seat (1) and the first telescopic arm (3) slidably connected to the inside of the movable seat (1); The second telescopic boom (4) is slidably connected to the inner side of the first telescopic boom (3), and a lifting device (7) is installed at the bottom of the second telescopic boom (4). Chain driver (5), the chain driver (5) is provided in two sets, one set of the chain driver (5) is installed on the top of the movable seat (1), and the other set of the chain driver (5) is installed on the bottom of the first telescopic arm (3). A connecting block (18) is installed on the inner chain of both sets of chain drivers (5). One set of the connecting block (18) is fixedly connected to the first telescopic arm (3), and the other set of the connecting block (18) is fixedly connected to the second telescopic arm (4). A traction aid is located between the movable seat (1), the first telescopic arm (3), and the second telescopic arm (4) for traction of the second telescopic arm (4); An auxiliary adjustment component is located between the movable seat (1), the first telescopic arm (3), and the second telescopic arm (4) and is used to cooperate with the traction auxiliary device for position adjustment; Both sides of the first telescopic arm (3) and the second telescopic arm (4) are provided with sliding grooves (14). The inner sides of the movable seat (1) and the first telescopic arm (3) are fixedly connected with multiple auxiliary plates (27). Each auxiliary plate (27) is rotatably connected to an auxiliary wheel (28) on its inner side. The auxiliary wheel (28) abuts against the inner side of the sliding groove (14) and matches the diameter of the sliding groove (14). The traction aid includes a first support frame (6) fixedly connected to the top of the movable seat (1), a stand (13) is provided on the top of the first support frame (6), a winding shaft (9) is rotatably connected to the inner side of the stand (13), a wire rope (10) is wound on the outer wall of the winding shaft (9), a drive motor (8) is also installed on one side of the stand (13), and the output end of the drive motor (8) is fixedly connected to the winding shaft (9). A connecting seat (16) is provided on the top of the second telescopic arm (4), a fixed shaft (22) is fixedly connected to the inner side of the connecting seat (16), and the other end of the wire rope (10) is fixedly connected to the top of the fixed shaft (22). The traction aid also includes a second support plate (17) fixedly connected to the top of the first telescopic arm (3), a second support frame (15) fixedly connected to the top of the second support plate (17), a support wheel (23) rotatably connected to the inner side of the second support frame (15), and the wire rope (10) is attached to the outer wall of the support wheel (23). The auxiliary adjustment component includes a fourth support plate (25) fixedly connected to one end of the second support plate (17), a third T-shaped block (24) fixedly connected to the bottom of the second support frame (15), the third T-shaped block (24) being slidably connected to the inner side of the fourth support plate (25), and the inner side of the fourth support plate (25) and the second support plate (17) having a guide groove matching the third T-shaped block (24), a power spring (31) being installed between the third T-shaped block (24) and the guide groove, and an auxiliary pulling component being provided between the fourth support plate (25) and the connecting seat (16).

2. The telescopic arm adjustable battery swapping robot according to claim 1, characterized in that, The auxiliary adjustment component also includes a first support plate (12) fixedly connected to one end of the first support frame (6), a first T-shaped block (11) is slidably connected to the inner side of the first support plate (12), the top of the first T-shaped block (11) is fixedly connected to the stand (13), and an auxiliary spring (2) is installed between the first support plate (12) and the first T-shaped block (11).

3. The telescopically adjustable battery swapping robot according to claim 2, characterized in that, The auxiliary adjustment component includes a third support plate (19) fixedly connected to the top of the second telescopic arm (4). A T-shaped groove (20) is provided on the inner side of the third support plate (19). A second T-shaped block (21) is slidably connected to the inner side of the T-shaped groove (20). The top of the second T-shaped block (21) is fixedly connected to the connecting seat (16).

4. The telescopic arm adjustable battery swapping robot according to claim 3, characterized in that, The auxiliary adjustment component also includes a connecting rod (26) fixedly connected to one end of the fourth support plate (25), a connecting block (30) fixedly connected to the inner side of the connecting seat (16), a fourth T-shaped block (29) fixedly connected to one side of the connecting block (30), and the fourth T-shaped block (29) slidably connected to the inner side of the connecting rod (26).

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